{"id":"https://openalex.org/W2069301502","doi":"https://doi.org/10.1109/robot.2010.5509339","title":"Efficient grasping of novel objects through dimensionality reduction","display_name":"Efficient grasping of novel objects through dimensionality reduction","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2069301502","doi":"https://doi.org/10.1109/robot.2010.5509339","mag":"2069301502"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509339","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110070385","display_name":"Benjamin Balaguer","orcid":null},"institutions":[{"id":"https://openalex.org/I156087764","display_name":"University of California, Merced","ror":"https://ror.org/00d9ah105","country_code":"US","type":"education","lineage":["https://openalex.org/I156087764"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Benjamin Balaguer","raw_affiliation_strings":["School of Engineering, University of California, Merced, CA, USA","School of Engineering University of California Merced USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of California, Merced, CA, USA","institution_ids":["https://openalex.org/I156087764"]},{"raw_affiliation_string":"School of Engineering University of California Merced USA","institution_ids":["https://openalex.org/I156087764"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081177797","display_name":"Stefano Carpin","orcid":"https://orcid.org/0000-0003-3837-7463"},"institutions":[{"id":"https://openalex.org/I156087764","display_name":"University of California, Merced","ror":"https://ror.org/00d9ah105","country_code":"US","type":"education","lineage":["https://openalex.org/I156087764"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefano Carpin","raw_affiliation_strings":["School of Engineering, University of California, Merced, CA, USA","School of Engineering University of California Merced USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering, University of California, Merced, CA, USA","institution_ids":["https://openalex.org/I156087764"]},{"raw_affiliation_string":"School of Engineering University of California Merced USA","institution_ids":["https://openalex.org/I156087764"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5110070385"],"corresponding_institution_ids":["https://openalex.org/I156087764"],"apc_list":null,"apc_paid":null,"fwci":1.4452,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.85611169,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1279","last_page":"1285"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8411219120025635},{"id":"https://openalex.org/keywords/dimensionality-reduction","display_name":"Dimensionality reduction","score":0.8046289682388306},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7729182243347168},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.695896327495575},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.6360646486282349},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6102017164230347},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.6013473272323608},{"id":"https://openalex.org/keywords/principal-component-analysis","display_name":"Principal component analysis","score":0.5894057154655457},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5853198766708374},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5456703901290894},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5399376153945923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5264036059379578},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.4878976047039032},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.476164311170578},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4590957760810852},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.44450023770332336},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42579689621925354},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.41997942328453064},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.41292890906333923},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1658937633037567}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8411219120025635},{"id":"https://openalex.org/C70518039","wikidata":"https://www.wikidata.org/wiki/Q16000077","display_name":"Dimensionality reduction","level":2,"score":0.8046289682388306},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7729182243347168},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.695896327495575},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.6360646486282349},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6102017164230347},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.6013473272323608},{"id":"https://openalex.org/C27438332","wikidata":"https://www.wikidata.org/wiki/Q2873","display_name":"Principal component analysis","level":2,"score":0.5894057154655457},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5853198766708374},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5456703901290894},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5399376153945923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5264036059379578},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.4878976047039032},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.476164311170578},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4590957760810852},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.44450023770332336},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42579689621925354},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.41997942328453064},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.41292890906333923},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1658937633037567},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509339","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509339","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W13447594","https://openalex.org/W1829663505","https://openalex.org/W1877090692","https://openalex.org/W2041376653","https://openalex.org/W2067090082","https://openalex.org/W2082334970","https://openalex.org/W2098737176","https://openalex.org/W2108461802","https://openalex.org/W2116469178","https://openalex.org/W2119902046","https://openalex.org/W2121647436","https://openalex.org/W2135463994","https://openalex.org/W2138983671","https://openalex.org/W2139721641","https://openalex.org/W6674955401"],"related_works":["https://openalex.org/W1995622179","https://openalex.org/W4391160746","https://openalex.org/W1484111231","https://openalex.org/W1552543208","https://openalex.org/W2074396517","https://openalex.org/W2166963679","https://openalex.org/W2187269125","https://openalex.org/W1641615907","https://openalex.org/W1977095816","https://openalex.org/W2088811509"],"abstract_inverted_index":{"A":[0],"learning":[1],"method":[2],"capable":[3],"of":[4,46,113,122],"empowering":[5],"a":[6,11,58,67,119,138],"robot":[7],"to":[8,42,50,55,87,118],"successfully":[9],"grasp":[10],"novel":[12],"object":[13],"through":[14],"vision":[15],"has":[16],"recently":[17],"been":[18],"demonstrated,":[19],"and":[20,37,93,134],"generated":[21],"much":[22],"interest":[23],"in":[24,53,61],"the":[25,44,74,100,111,114],"robotics":[26],"community.":[27],"In":[28],"this":[29,34],"paper":[30],"we":[31,80],"carefully":[32],"analyze":[33],"new":[35],"approach":[36],"apply":[38],"dimensionality":[39],"reduction":[40,102],"techniques":[41],"decrease":[43],"number":[45],"features":[47,90],"that":[48,99],"need":[49],"be":[51],"computed":[52],"order":[54],"classify":[56],"whether":[57],"given":[59],"pixel":[60],"an":[62],"image":[63],"is":[64],"associated":[65],"with":[66],"good":[68],"or":[69],"bad":[70],"grasping":[71],"point.":[72],"Exploiting":[73],"ideas":[75],"behind":[76],"principal":[77],"component":[78],"analysis,":[79],"formulate":[81],"two":[82,115],"hypotheses":[83,116,126],"about":[84],"possible":[85],"ways":[86],"eliminate":[88],"certain":[89],"from":[91],"training":[92],"classification.":[94],"We":[95],"then":[96],"experimentally":[97],"verify":[98],"feature":[101],"significantly":[103],"improves":[104],"speed":[105],"while":[106],"retaining":[107],"classification":[108],"accuracy.":[109],"Overall,":[110],"combination":[112],"leads":[117],"speedup":[120],"factor":[121],"almost":[123],"ten.":[124],"The":[125],"are":[127],"validated":[128],"on":[129,137],"third":[130],"party":[131],"synthetic":[132],"data":[133],"also":[135],"demonstrated":[136],"seven":[139],"degrees-of-freedom":[140],"manipulator.":[141]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}