{"id":"https://openalex.org/W4382657775","doi":"https://doi.org/10.1109/tro.2023.3286115","title":"Grasp It Like a Pro 2.0: A Data-Driven Approach Exploiting Basic Shape Decomposition and Human Data for Grasping Unknown Objects","display_name":"Grasp It Like a Pro 2.0: A Data-Driven Approach Exploiting Basic Shape Decomposition and Human Data for Grasping Unknown Objects","publication_year":2023,"publication_date":"2023-06-30","ids":{"openalex":"https://openalex.org/W4382657775","doi":"https://doi.org/10.1109/tro.2023.3286115"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2023.3286115","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3286115","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arpi.unipi.it/bitstream/11568/1197007/1/TRO23_Palleschi.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067444544","display_name":"Alessandro Palleschi","orcid":"https://orcid.org/0000-0001-5739-1741"},"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":"Alessandro Palleschi","raw_affiliation_strings":["Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-5739-1741","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047597226","display_name":"Franco Angelini","orcid":"https://orcid.org/0000-0003-2559-9569"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Franco Angelini","raw_affiliation_strings":["Dipartimento di Ingegneria dell&#x0027;Informazione, Universit&#x00E0; di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2559-9569","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria dell&#x0027;Informazione, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054507574","display_name":"Chiara Gabellieri","orcid":"https://orcid.org/0000-0002-0051-2941"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Chiara Gabellieri","raw_affiliation_strings":["Robotics and Mechatronics Group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, AE, Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-0051-2941","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, AE, Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043251053","display_name":"Do Won Park","orcid":"https://orcid.org/0009-0003-0168-546X"},"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":"Do Won Park","raw_affiliation_strings":["Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0009-0003-0168-546X","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003804011","display_name":"Lucia Pallottino","orcid":"https://orcid.org/0000-0002-9480-8857"},"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":"Lucia Pallottino","raw_affiliation_strings":["Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9480-8857","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"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"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8635-5571","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042460018","display_name":"Manolo Garabini","orcid":"https://orcid.org/0000-0002-5873-3173"},"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":["Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5873-3173","affiliations":[{"raw_affiliation_string":"Centro di Ricerca &#x201C;Enrico Piaggio,&#x201D;, Universit&#x00E0; di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1365,"has_fulltext":true,"cited_by_count":27,"citation_normalized_percentile":{"value":0.92617368,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"39","issue":"5","first_page":"4016","last_page":"4036"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9909999966621399,"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":0.9869999885559082,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9644001722335815},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.8266886472702026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6269977688789368},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6106148958206177},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6073866486549377},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5845984220504761},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.5559327602386475},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.49157699942588806},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.4750383198261261},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4425176978111267},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41614237427711487},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2091333270072937}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9644001722335815},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.8266886472702026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6269977688789368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6106148958206177},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6073866486549377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5845984220504761},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.5559327602386475},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.49157699942588806},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.4750383198261261},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4425176978111267},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41614237427711487},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2091333270072937},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2023.3286115","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2023.3286115","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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:arpi.unipi.it:11568/1197007","is_oa":true,"landing_page_url":"https://hdl.handle.net/11568/1197007","pdf_url":"https://arpi.unipi.it/bitstream/11568/1197007/1/TRO23_Palleschi.pdf","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:ris.utwente.nl:openaire/9f5dc97a-fd53-49e3-b100-bf4909866a2f","is_oa":true,"landing_page_url":"https://research.utwente.nl/en/publications/9f5dc97a-fd53-49e3-b100-bf4909866a2f","pdf_url":"https://ris.utwente.nl/ws/files/322893362/Grasp_It_Like_a_Pro_2.0_A_Data-Driven_Approach_Exploiting_Basic_Shape_Decomposition_and_Human_Data_for_Grasping_Unknown_Objects.pdf","source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Palleschi, A, Angelini, F, Gabellieri, C, Park, D W, Pallottino, L, Bicchi, A & Garabini, M 2023, 'Grasp It Like a Pro 2.0 : A Data-Driven Approach Exploiting Basic Shape Decomposition and Human Data for Grasping Unknown Objects', IEEE transactions on robotics, vol. 39, no. 5, pp. 4016-4036. https://doi.org/10.1109/TRO.2023.3286115","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arpi.unipi.it:11568/1197007","is_oa":true,"landing_page_url":"https://hdl.handle.net/11568/1197007","pdf_url":"https://arpi.unipi.it/bitstream/11568/1197007/1/TRO23_Palleschi.pdf","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","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/G1733109337","display_name":null,"funder_award_id":"1062/2021","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G3424478332","display_name":"Dynamic Agile Production Robots That Learn and Optimise Knowledge and Operations","funder_award_id":"101017274","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4998061797","display_name":"Socio-physical Interaction Skills for Cooperative Human-Robot Systems in Agile Production","funder_award_id":"871237","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8620465226","display_name":"Natural Intelligence for Robotic Monitoring of Habitats","funder_award_id":"101016970","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320317295","display_name":"Dipartimenti di Eccellenza","ror":null},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4382657775.pdf"},"referenced_works_count":67,"referenced_works":["https://openalex.org/W1503925285","https://openalex.org/W1510186039","https://openalex.org/W1572975105","https://openalex.org/W1820657498","https://openalex.org/W1966747088","https://openalex.org/W1981667747","https://openalex.org/W1997284122","https://openalex.org/W1999156278","https://openalex.org/W2005824379","https://openalex.org/W2008829122","https://openalex.org/W2016115400","https://openalex.org/W2036637075","https://openalex.org/W2041376653","https://openalex.org/W2049410986","https://openalex.org/W2064878003","https://openalex.org/W2101552762","https://openalex.org/W2106270058","https://openalex.org/W2109163007","https://openalex.org/W2118262422","https://openalex.org/W2123435073","https://openalex.org/W2156219259","https://openalex.org/W2156583822","https://openalex.org/W2164575107","https://openalex.org/W2172108647","https://openalex.org/W2201912979","https://openalex.org/W2212845239","https://openalex.org/W2219761336","https://openalex.org/W2414685554","https://openalex.org/W2570319460","https://openalex.org/W2591016451","https://openalex.org/W2600030077","https://openalex.org/W2625991364","https://openalex.org/W2736534894","https://openalex.org/W2736737714","https://openalex.org/W2773993404","https://openalex.org/W2793400769","https://openalex.org/W2802922816","https://openalex.org/W2894687498","https://openalex.org/W2910474428","https://openalex.org/W2913919845","https://openalex.org/W2950069298","https://openalex.org/W2962736495","https://openalex.org/W2962737955","https://openalex.org/W2963117514","https://openalex.org/W2963170432","https://openalex.org/W2963550225","https://openalex.org/W2977514244","https://openalex.org/W2984291916","https://openalex.org/W2986303149","https://openalex.org/W3004103739","https://openalex.org/W3004167188","https://openalex.org/W3005315974","https://openalex.org/W3006932462","https://openalex.org/W3008770127","https://openalex.org/W3035014292","https://openalex.org/W3048451413","https://openalex.org/W3091920452","https://openalex.org/W3099587965","https://openalex.org/W3101269502","https://openalex.org/W3101435634","https://openalex.org/W3105259478","https://openalex.org/W3169622581","https://openalex.org/W3186077919","https://openalex.org/W3194956791","https://openalex.org/W3203898101","https://openalex.org/W4214570817","https://openalex.org/W4229335893"],"related_works":["https://openalex.org/W2324418439","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W3035867307","https://openalex.org/W2157487448","https://openalex.org/W2613999385","https://openalex.org/W2387707337","https://openalex.org/W2078568084","https://openalex.org/W4200004409","https://openalex.org/W143055317"],"abstract_inverted_index":{"With":[0,158],"the":[1,87,110,114,117,122,127,145],"improvements":[2],"in":[3,15,104,150,171,189],"their":[4],"computational":[5],"and":[6,20,126,140,152,155],"physical":[7],"intelligence,":[8],"robots":[9],"are":[10,23],"now":[11],"capable":[12],"of":[13,54,147],"operating":[14],"real-world":[16],"environments.":[17],"However,":[18],"manipulation":[19],"grasping":[21],"capabilities":[22],"still":[24],"areas":[25],"that":[26,77,96],"require":[27],"significant":[28],"improvements.":[29],"To":[30],"address":[31],"this,":[32],"we":[33],"introduce":[34],"a":[35,45,51,59,93,98,159,167,180],"new":[36],"data-driven":[37],"grasp":[38,63,88,100],"planning":[39],"algorithm":[40,49,73,85,165],"called":[41],"Grasp":[42],"it":[43,183],"Like":[44],"Pro":[46],"2.0.":[47],"This":[48,107],"utilizes":[50],"small":[52],"number":[53],"human":[55],"demonstrations":[56],"to":[57,62,80,89],"teach":[58],"robot":[60],"how":[61],"arbitrary":[64],"objects.":[65,141,177,195],"By":[66],"decomposing":[67],"objects":[68],"into":[69],"basic":[70,123],"shapes,":[71],"our":[72,132,148,164],"generates":[74],"candidate":[75],"grasps":[76,173,191],"can":[78],"generalize":[79],"different":[81,138,176,194],"object's":[82],"geometry.":[83],"The":[84,142],"selects":[86],"execute":[90],"based":[91],"on":[92],"selection":[94],"policy":[95],"maximizes":[97],"novel":[99],"quality":[101],"metric":[102,108],"introduced":[103],"this":[105],"article.":[106],"considers":[109],"complex":[111],"interdependencies":[112],"between":[113],"predicted":[115],"grasp,":[116],"local":[118],"approximation":[119],"produced":[120],"by":[121],"shape":[124],"decomposition,":[125],"gripper":[128],"used.":[129],"We":[130],"evaluate":[131],"approach":[133],"against":[134],"multiple":[135],"baselines":[136],"using":[137],"grippers":[139],"results":[143],"demonstrate":[144],"effectiveness":[146],"method":[149],"generating":[151],"selecting":[153],"high-quality":[154],"reliable":[156],"grasps.":[157],"soft":[160],"underactuated":[161],"robotic":[162],"hand,":[163],"achieves":[166,184],"94.0%":[168],"success":[169,187],"rate":[170,188],"150":[172],"across":[174,192],"30":[175],"Similarly,":[178],"with":[179],"rigid":[181],"gripper,":[182],"an":[185],"85.0%":[186],"80":[190],"16":[193]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":8}],"updated_date":"2026-07-20T07:56:41.581041","created_date":"2025-10-10T00:00:00"}
