{"id":"https://openalex.org/W4225710745","doi":"https://doi.org/10.1109/tro.2023.3238910","title":"Hybrid Robotic Grasping With a Soft Multimodal Gripper and a Deep Multistage Learning Scheme","display_name":"Hybrid Robotic Grasping With a Soft Multimodal Gripper and a Deep Multistage Learning Scheme","publication_year":2023,"publication_date":"2023-02-06","ids":{"openalex":"https://openalex.org/W4225710745","doi":"https://doi.org/10.1109/tro.2023.3238910"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3238910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3238910","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2202.12796","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102886445","display_name":"Fukang Liu","orcid":"https://orcid.org/0000-0002-8915-3382"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Fukang Liu","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055546056","display_name":"Fuchun Sun","orcid":"https://orcid.org/0000-0003-3546-6305"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuchun Sun","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029662229","display_name":"Bin Fang","orcid":"https://orcid.org/0000-0002-9149-7336"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Fang","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004917438","display_name":"Songyu Sun","orcid":"https://orcid.org/0009-0009-4517-9714"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Songyu Sun","raw_affiliation_strings":["University of California, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041101317","display_name":"Huaping Liu","orcid":"https://orcid.org/0000-0002-4042-6044"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaping Liu","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102886445"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":13.8582,"has_fulltext":false,"cited_by_count":77,"citation_normalized_percentile":{"value":0.99348861,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"39","issue":"3","first_page":"2379","last_page":"2399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9055702686309814},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.7558695673942566},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7247936129570007},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5859540104866028},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5557592511177063},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5150084495544434},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5050299763679504},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5042768716812134},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3882245421409607},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38712042570114136},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3324204683303833},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06832554936408997}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9055702686309814},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7558695673942566},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7247936129570007},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5859540104866028},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5557592511177063},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5150084495544434},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5050299763679504},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5042768716812134},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3882245421409607},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38712042570114136},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3324204683303833},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06832554936408997},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2023.3238910","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3238910","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2202.12796","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.12796","pdf_url":"https://arxiv.org/pdf/2202.12796","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2202.12796","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2202.12796","pdf_url":"https://arxiv.org/pdf/2202.12796","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8658252860","display_name":null,"funder_award_id":"62173197","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322392","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1515749184","https://openalex.org/W1522301498","https://openalex.org/W1677182931","https://openalex.org/W1847353717","https://openalex.org/W1861492603","https://openalex.org/W1888892744","https://openalex.org/W1980602022","https://openalex.org/W1986533639","https://openalex.org/W1999156278","https://openalex.org/W2036637075","https://openalex.org/W2038447902","https://openalex.org/W2041376653","https://openalex.org/W2055524690","https://openalex.org/W2082511574","https://openalex.org/W2108598243","https://openalex.org/W2145339207","https://openalex.org/W2154963933","https://openalex.org/W2162556257","https://openalex.org/W2201912979","https://openalex.org/W2273215869","https://openalex.org/W2518073382","https://openalex.org/W2539246396","https://openalex.org/W2551680314","https://openalex.org/W2565234879","https://openalex.org/W2577404187","https://openalex.org/W2600030077","https://openalex.org/W2617932302","https://openalex.org/W2737420227","https://openalex.org/W2746553466","https://openalex.org/W2748291579","https://openalex.org/W2761645513","https://openalex.org/W2767050701","https://openalex.org/W2772679390","https://openalex.org/W2790686886","https://openalex.org/W2810785043","https://openalex.org/W2824754393","https://openalex.org/W2910474428","https://openalex.org/W2938159670","https://openalex.org/W2949408529","https://openalex.org/W2950069298","https://openalex.org/W2962746398","https://openalex.org/W2962759351","https://openalex.org/W2962793652","https://openalex.org/W2963033241","https://openalex.org/W2963446712","https://openalex.org/W2963678509","https://openalex.org/W2964198579","https://openalex.org/W2966885779","https://openalex.org/W2967574873","https://openalex.org/W2968410673","https://openalex.org/W2973761438","https://openalex.org/W3003266338","https://openalex.org/W3004136920","https://openalex.org/W3008273191","https://openalex.org/W3008388968","https://openalex.org/W3030301314","https://openalex.org/W3043159383","https://openalex.org/W3088310808","https://openalex.org/W3089157110","https://openalex.org/W3101442004","https://openalex.org/W3112422759","https://openalex.org/W3120546919","https://openalex.org/W3120778962","https://openalex.org/W3138732012","https://openalex.org/W3168035892","https://openalex.org/W4200292174","https://openalex.org/W4214717370","https://openalex.org/W4239072543","https://openalex.org/W6631190155","https://openalex.org/W6753243525","https://openalex.org/W6763848572"],"related_works":["https://openalex.org/W4312985843","https://openalex.org/W2583647647","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W2657478029","https://openalex.org/W3159512259","https://openalex.org/W4248427955","https://openalex.org/W2106333554","https://openalex.org/W2626503888","https://openalex.org/W2037306763"],"abstract_inverted_index":{"Grasping":[0],"has":[1],"long":[2],"been":[3],"considered":[4],"an":[5],"important":[6],"and":[7,16,31,75,132,145,213],"practical":[8],"task":[9],"in":[10,41,211,215],"robotic":[11,108],"manipulation.":[12],"Yet":[13],"achieving":[14],"robust":[15],"efficient":[17],"grasps":[18],"of":[19,45,89,142,168,183,185,198,209],"diverse":[20],"objects":[21,141,184],"is":[22,192],"challenging,":[23],"since":[24],"it":[25],"involves":[26],"gripper":[27,73,118,163],"design,":[28],"perception,":[29],"control,":[30],"learning,":[32],"etc.":[33],"Recent":[34],"learning-based":[35],"approaches":[36],"have":[37],"shown":[38,193],"excellent":[39],"performance":[40],"grasping":[42,58,109,121,157,169,199,204,221],"a":[43,90,98,111,154],"variety":[44],"novel":[46,155],"objects.":[47,70],"However,":[48],"these":[49],"methods":[50,77],"either":[51],"are":[52,65,78],"typically":[53],"limited":[54],"to":[55,67,104,164,194,219],"one":[56,149],"single":[57,220],"mode":[59],"or":[60],"else":[61],"more":[62,147],"end":[63],"effectors":[64],"needed":[66],"grasp":[68,146,187],"various":[69],"In":[71,93],"addition,":[72],"design":[74],"learning":[76,101],"commonly":[79],"developed":[80],"separately,":[81],"which":[82],"may":[83],"not":[84],"adequately":[85],"explore":[86],"the":[87,161,166,173,196,203],"ability":[88],"multimodal":[91,114,162],"gripper.":[92,115],"this":[94],"article,":[95],"we":[96],"present":[97],"deep":[99],"reinforcement":[100],"(DRL)":[102],"framework":[103,175],"achieve":[105],"multistage":[106],"hybrid":[107,156],"with":[110,119,140,160,180,206],"new":[112],"soft":[113,117],"A":[116],"three":[120],"modes":[122],"(i.e.,":[123,179,201],"<italic":[124,128,133],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[125,129,134],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">enveloping</i>":[126],",":[127,131],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">sucking</i>":[130],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">enveloping_then_sucking</i>":[135],")":[136],"can":[137],"both":[138],"deal":[139],"different":[143,177,181],"shapes":[144],"than":[148],"object":[150],"simultaneously.":[151],"We":[152,171],"propose":[153],"method":[158],"integrated":[159],"optimize":[165],"number":[167,197],"actions.":[170],"evaluate":[172],"DRL":[174],"under":[176],"scenarios":[178],"ratios":[182],"two":[186],"types).":[188],"The":[189],"proposed":[190],"algorithm":[191],"reduce":[195],"actions":[200],"enlarge":[202],"efficiency,":[205],"maximum":[207],"values":[208],"161.0%":[210],"simulations,":[212],"153.5%":[214],"real-world":[216],"experiments)":[217],"compared":[218],"modes.":[222]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":31},{"year":2024,"cited_by_count":29},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}