{"id":"https://openalex.org/W4405778238","doi":"https://doi.org/10.1109/iros58592.2024.10801550","title":"Exploratory Motion Guided Tactile Learning for Shape-Consistent Robotic Insertion","display_name":"Exploratory Motion Guided Tactile Learning for Shape-Consistent Robotic Insertion","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405778238","doi":"https://doi.org/10.1109/iros58592.2024.10801550"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101875369","display_name":"Gang Yan","orcid":"https://orcid.org/0000-0003-0141-8102"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gang Yan","raw_affiliation_strings":["Waseda University,Faculty of Science and Engineering,Dept. of Modern Mechanical Engineering,Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Faculty of Science and Engineering,Dept. of Modern Mechanical Engineering,Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035579429","display_name":"Jinsong He","orcid":"https://orcid.org/0000-0003-4450-0296"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jinsong He","raw_affiliation_strings":["Waseda University,Faculty of Science and Engineering,Dept. of Modern Mechanical Engineering,Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Faculty of Science and Engineering,Dept. of Modern Mechanical Engineering,Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085522265","display_name":"Satoshi Funabashi","orcid":"https://orcid.org/0000-0002-6381-3522"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Funabashi","raw_affiliation_strings":["Waseda University,Faculty of Science and Engineering,Dept. of Modern Mechanical Engineering,Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Faculty of Science and Engineering,Dept. of Modern Mechanical Engineering,Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035429819","display_name":"Alexander Schmitz","orcid":"https://orcid.org/0000-0002-8962-771X"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Alexander Schmitz","raw_affiliation_strings":["Waseda University,Faculty of Science and Engineering,Dept. of Modern Mechanical Engineering,Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Faculty of Science and Engineering,Dept. of Modern Mechanical Engineering,Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080654277","display_name":"Shigeki Sugano","orcid":"https://orcid.org/0000-0002-9331-2446"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeki Sugano","raw_affiliation_strings":["Waseda University,Faculty of Science and Engineering,Dept. of Modern Mechanical Engineering,Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Faculty of Science and Engineering,Dept. of Modern Mechanical Engineering,Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2913,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.60087708,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4487","last_page":"4494"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9940999746322632,"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":0.9940999746322632,"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/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.9883999824523926,"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/motion","display_name":"Motion (physics)","score":0.6122550964355469},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5975725650787354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5884097218513489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5830271244049072},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39712780714035034}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6122550964355469},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5975725650787354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5884097218513489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5830271244049072},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39712780714035034}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801550","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1600744878","https://openalex.org/W2008731016","https://openalex.org/W2024400951","https://openalex.org/W2064675550","https://openalex.org/W2078895494","https://openalex.org/W2112535044","https://openalex.org/W2144091652","https://openalex.org/W2152164805","https://openalex.org/W2194775991","https://openalex.org/W2567455162","https://openalex.org/W2607241646","https://openalex.org/W2612089457","https://openalex.org/W2790961751","https://openalex.org/W2804941773","https://openalex.org/W2889324057","https://openalex.org/W2963634205","https://openalex.org/W2963886462","https://openalex.org/W3003449769","https://openalex.org/W3012366945","https://openalex.org/W3012461026","https://openalex.org/W3032921928","https://openalex.org/W3081200565","https://openalex.org/W3203302482","https://openalex.org/W3205355686","https://openalex.org/W3205950068","https://openalex.org/W4285102406","https://openalex.org/W4310789520","https://openalex.org/W4312342945","https://openalex.org/W4385430679","https://openalex.org/W4389665367","https://openalex.org/W6682849425","https://openalex.org/W6739901393"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Intelligent":[0],"robots":[1],"are":[2],"expected":[3],"to":[4,41,59,75,90],"do":[5],"manipulation":[6,25],"tasks":[7],"relying":[8,136],"on":[9,104,131,138],"real-time":[10],"sensing":[11,15,81,98],"feedback.":[12],"Especially,":[13],"tactile":[14,80,97,139],"plays":[16],"a":[17,29,35,47,83],"more":[18,20],"and":[19,61,82,163,183],"important":[21],"role":[22],"in":[23,46,171],"precise":[24],"tasks.":[26],"For":[27],"example,":[28],"1":[30],"mm":[31],"error":[32,93],"while":[33],"inserting":[34],"USB":[36,54],"stick,":[37],"which":[38],"is":[39,73,88,102,148],"hard":[40],"perceive":[42],"visually,":[43],"will":[44],"result":[45],"failed":[48],"insertion":[49,68,107,124],"or":[50],"even":[51],"break":[52],"the":[53,92,176,180,184],"stick.":[55],"In":[56],"this":[57],"paper,":[58],"estimate":[60,91],"compensate":[62],"residual":[63],"position":[64],"uncertainties":[65],"during":[66],"robotic":[67],"tasks,":[69],"an":[70,122],"exploration":[71,153],"motion":[72,154],"introduced":[74],"acquire":[76],"environment":[77],"information":[78,158,162,174],"by":[79],"state-of-the-art":[84],"transformer-based":[85],"neural":[86],"network":[87],"proposed":[89,144,165],"distance":[94],"from":[95,142],"long-duration":[96],"data.":[99],"Our":[100],"system":[101],"trained":[103],"over":[105],"2000":[106],"trials":[108],"with":[109,127],"basic":[110],"geometry":[111],"shaped":[112],"3D":[113],"printed":[114],"objects.":[115],"Without":[116],"any":[117],"prior":[118],"knowledge,":[119],"we":[120],"achieve":[121],"85%":[123],"success":[125],"rate":[126],"average":[128],"5":[129],"attempts":[130],"4":[132],"unseen":[133],"daily":[134],"objects":[135],"only":[137],"feedback":[140],"acquired":[141],"our":[143,151,164],"exploratory":[145],"motion.":[146],"It":[147],"noteworthy":[149],"that":[150],"designed":[152],"can":[155],"provide":[156],"insightful":[157],"about":[159],"extrinsic":[160],"contact":[161,177],"learning":[166],"model":[167],"exceeds":[168],"previous":[169],"baselines":[170],"extracting":[172],"useful":[173],"regarding":[175],"interaction":[178],"between":[179],"grasped":[181],"object":[182],"environment.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
