{"id":"https://openalex.org/W7136744844","doi":"https://doi.org/10.1109/tase.2026.3674643","title":"Grasp It Like a Pro 3.0: An Expert-Based Data-Driven Algorithm for Grasping Unknown Objects in Cluttered Environments","display_name":"Grasp It Like a Pro 3.0: An Expert-Based Data-Driven Algorithm for Grasping Unknown Objects in Cluttered Environments","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7136744844","doi":"https://doi.org/10.1109/tase.2026.3674643"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2026.3674643","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3674643","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11568/1359487","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129512431","display_name":"Gabriele Gambino","orcid":null},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Gambino","raw_affiliation_strings":["Dipartimento di Ingegneria dell’Informazione, Centro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0009-0002-1822-9316","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell’Informazione, Centro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114618287","display_name":"Simone Tolomei","orcid":"https://orcid.org/0009-0006-7928-3518"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Simone Tolomei","raw_affiliation_strings":["Dipartimento di Ingegneria dell’Informazione, Centro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0009-0006-7928-3518","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell’Informazione, Centro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129404584","display_name":"Franco Angelini","orcid":null},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Franco Angelini","raw_affiliation_strings":["Dipartimento di Ingegneria dell’Informazione, Centro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2559-9569","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell’Informazione, Centro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5129496489","display_name":"Manolo Garabini","orcid":null},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manolo Garabini","raw_affiliation_strings":["Dipartimento di Ingegneria dell’Informazione, Centro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5873-3173","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell’Informazione, Centro di Ricerca “Enrico Piaggio”, Università di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1300504238"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25942419,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"6579","last_page":"6590"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.16410000622272491,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.16410000622272491,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11574","display_name":"Artificial Intelligence in Games","score":0.07509999722242355,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11704","display_name":"Mobile Crowdsensing and Crowdsourcing","score":0.06360000371932983,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7297000288963318},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5422999858856201},{"id":"https://openalex.org/keywords/algorithm-design","display_name":"Algorithm design","score":0.3617999851703644},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3327000141143799},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.2937999963760376}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7297000288963318},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6402999758720398},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6032999753952026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6003999710083008},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5422999858856201},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4438000023365021},{"id":"https://openalex.org/C106516650","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm design","level":2,"score":0.3617999851703644},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3327000141143799},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.2937999963760376},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2727999985218048},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.2614000141620636},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2565999925136566}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2026.3674643","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3674643","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1359487","is_oa":true,"landing_page_url":"https://hdl.handle.net/11568/1359487","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/1359487","is_oa":true,"landing_page_url":"https://hdl.handle.net/11568/1359487","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3893888929","display_name":"Understanding Neutral Weed Communities - Crops Interactions and  Identification of Artificial Intelligence Algorithms for Species-Specific Weed Management Using Robots","funder_award_id":"101182891","funder_id":"https://openalex.org/F4320338438","funder_display_name":"HORIZON EUROPE Marie Sklodowska-Curie Actions"}],"funders":[{"id":"https://openalex.org/F4320338438","display_name":"HORIZON EUROPE Marie Sklodowska-Curie Actions","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Grasping":[0],"unknown":[1,40,145],"objects":[2,147],"in":[3,109,121,148],"clutter":[4,37],"remains":[5],"challenging":[6],"due":[7],"to":[8,103],"partial":[9],"occlusions,":[10],"self-occlusions,":[11],"and":[12,58,62,90,93,98,107,131,140],"frequent":[13],"object":[14,105],"interactions":[15],"during":[16],"execution.":[17],"In":[18],"this":[19],"paper":[20],"we":[21],"present":[22],"Grasp":[23,83],"It":[24],"Like":[25],"a":[26,31,77,114,132,138],"Pro":[27],"3.0":[28],"(GILP":[29],"3.0),":[30],"lightweight":[32],"learning-from-demonstration":[33],"pipeline":[34,95],"for":[35,143],"closed-loop":[36],"clearing":[38,135],"with":[39,87,118],"objects.":[41],"The":[42],"method":[43],"segments":[44],"the":[45,94],"scene":[46,134],"from":[47,65,76],"raw":[48],"RGB-D":[49],"point":[50],"clouds,":[51],"approximates":[52],"candidate":[53],"regions":[54],"via":[55],"MVBB":[56,67],"decomposition,":[57],"predicts":[59],"grasp":[60],"pose":[61],"interaction":[63],"wrench":[64],"compact":[66],"descriptors":[68],"using":[69],"two":[70],"histogram-based":[71],"gradient-boosted":[72],"decision-tree":[73],"regressors":[74],"trained":[75],"limited":[78],"number":[79],"of":[80],"human":[81],"demonstrations.":[82],"candidates":[84],"are":[85],"ranked":[86],"execution-oriented":[88],"feasibility":[89],"collision-aware":[91],"scoring,":[92],"iteratively":[96],"reacquires":[97],"replans":[99],"after":[100],"each":[101],"attempt":[102],"handle":[104],"motion":[106],"occlusions":[108],"clutter.":[110],"Real-robot":[111],"experiments":[112],"on":[113],"Franka":[115,119],"Emika":[116],"Panda":[117],"Hand":[120],"12":[122],"cluttered":[123,149],"scenes":[124],"(47":[125],"objects)":[126],"achieve":[127],"95.7%":[128],"perobject":[129],"success":[130],"91.7%":[133],"rate,":[136],"demonstrating":[137],"replicable":[139],"data-efficient":[141],"solution":[142],"grasping":[144],"everyday":[146],"environments.":[150]},"counts_by_year":[],"updated_date":"2026-03-24T05:59:24.953642","created_date":"2026-03-17T00:00:00"}