{"id":"https://openalex.org/W3164946289","doi":"https://doi.org/10.1126/scirobotics.abd8803","title":"Modeling, learning, perception, and control methods for deformable object manipulation","display_name":"Modeling, learning, perception, and control methods for deformable object manipulation","publication_year":2021,"publication_date":"2021-05-12","ids":{"openalex":"https://openalex.org/W3164946289","doi":"https://doi.org/10.1126/scirobotics.abd8803","mag":"3164946289","pmid":"https://pubmed.ncbi.nlm.nih.gov/34043538"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.abd8803","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abd8803","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-298296","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067144254","display_name":"Hang Yin","orcid":"https://orcid.org/0000-0002-3599-440X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Hang Yin","raw_affiliation_strings":["Robotics, Perception, and Learning (RPL), School of Electrical Engineering and Computer Science, Royal Institute for Technology (KTH), Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0002-3599-440X","affiliations":[{"raw_affiliation_string":"Robotics, Perception, and Learning (RPL), School of Electrical Engineering and Computer Science, Royal Institute for Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113153297","display_name":"Anastasia Varava","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anastasia Varava","raw_affiliation_strings":["Robotics, Perception, and Learning (RPL), School of Electrical Engineering and Computer Science, Royal Institute for Technology (KTH), Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics, Perception, and Learning (RPL), School of Electrical Engineering and Computer Science, Royal Institute for Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["Robotics, Perception, and Learning (RPL), School of Electrical Engineering and Computer Science, Royal Institute for Technology (KTH), Stockholm, Sweden"],"raw_orcid":"https://orcid.org/0000-0003-2965-2953","affiliations":[{"raw_affiliation_string":"Robotics, Perception, and Learning (RPL), School of Electrical Engineering and Computer Science, Royal Institute for Technology (KTH), Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5067144254"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":20.1592,"has_fulltext":false,"cited_by_count":289,"citation_normalized_percentile":{"value":0.99826754,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"6","issue":"54","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9941999912261963,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.685815691947937},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6475627422332764},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6245614886283875},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6191357970237732},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5397658348083496},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.503039538860321},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5009620189666748},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34961408376693726},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.17042401432991028}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.685815691947937},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6475627422332764},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6245614886283875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6191357970237732},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5397658348083496},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.503039538860321},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5009620189666748},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34961408376693726},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.17042401432991028},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007858","descriptor_name":"Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010465","descriptor_name":"Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010465","descriptor_name":"Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D010465","descriptor_name":"Perception","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000706","qualifier_name":"statistics & numerical data","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000706","qualifier_name":"statistics & numerical data","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000706","qualifier_name":"statistics & numerical data","is_major_topic":false},{"descriptor_ui":"D055585","descriptor_name":"Physical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055585","descriptor_name":"Physical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055585","descriptor_name":"Physical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D055595","descriptor_name":"Mechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1126/scirobotics.abd8803","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.abd8803","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:34043538","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34043538","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":"Journal Article"},{"id":"pmh:oai:DiVA.org:kth-298296","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-298296","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"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"}],"best_oa_location":{"id":"pmh:oai:DiVA.org:kth-298296","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-298296","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I86987016","host_organization_name":"KTH Royal Institute of Technology","host_organization_lineage":["https://openalex.org/I86987016"],"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":[{"score":0.6800000071525574,"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320940","display_name":"Stiftelsen f\u00f6r\u00a0Strategisk Forskning","ror":"https://ror.org/044wr7g58"},{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"},{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":128,"referenced_works":["https://openalex.org/W1479694402","https://openalex.org/W1527127121","https://openalex.org/W1541173870","https://openalex.org/W1589205824","https://openalex.org/W1851340573","https://openalex.org/W1938204631","https://openalex.org/W1967411666","https://openalex.org/W1969865247","https://openalex.org/W1971858902","https://openalex.org/W1972746767","https://openalex.org/W1976029270","https://openalex.org/W1982920857","https://openalex.org/W1988207416","https://openalex.org/W1989564233","https://openalex.org/W1997944176","https://openalex.org/W2006104867","https://openalex.org/W2025259112","https://openalex.org/W2025468671","https://openalex.org/W2033323859","https://openalex.org/W2041434319","https://openalex.org/W2042249853","https://openalex.org/W2042408133","https://openalex.org/W2044877503","https://openalex.org/W2045448547","https://openalex.org/W2045965520","https://openalex.org/W2047444538","https://openalex.org/W2052461980","https://openalex.org/W2052776929","https://openalex.org/W2059133999","https://openalex.org/W2061490590","https://openalex.org/W2064952880","https://openalex.org/W2070401730","https://openalex.org/W2075402943","https://openalex.org/W2075673359","https://openalex.org/W2080578440","https://openalex.org/W2083331227","https://openalex.org/W2083951828","https://openalex.org/W2085100591","https://openalex.org/W2086210210","https://openalex.org/W2089630413","https://openalex.org/W2095560465","https://openalex.org/W2096404799","https://openalex.org/W2105537999","https://openalex.org/W2112961542","https://openalex.org/W2128456819","https://openalex.org/W2137549137","https://openalex.org/W2146990154","https://openalex.org/W2147168033","https://openalex.org/W2157129648","https://openalex.org/W2168580726","https://openalex.org/W2199659798","https://openalex.org/W2206421543","https://openalex.org/W2221845390","https://openalex.org/W2234984735","https://openalex.org/W2322971354","https://openalex.org/W2356023750","https://openalex.org/W2413466706","https://openalex.org/W2417145458","https://openalex.org/W2418298700","https://openalex.org/W2418720700","https://openalex.org/W2472053385","https://openalex.org/W2519715178","https://openalex.org/W2530006557","https://openalex.org/W2530616813","https://openalex.org/W2542262075","https://openalex.org/W2558355904","https://openalex.org/W2563593575","https://openalex.org/W2605907393","https://openalex.org/W2607172324","https://openalex.org/W2615384492","https://openalex.org/W2615693312","https://openalex.org/W2735636344","https://openalex.org/W2738522242","https://openalex.org/W2740869303","https://openalex.org/W2751069806","https://openalex.org/W2760078242","https://openalex.org/W2768409770","https://openalex.org/W2774715003","https://openalex.org/W2782435507","https://openalex.org/W2782818021","https://openalex.org/W2789645218","https://openalex.org/W2794322549","https://openalex.org/W2802700851","https://openalex.org/W2803099518","https://openalex.org/W2808041318","https://openalex.org/W2808405904","https://openalex.org/W2808844346","https://openalex.org/W2809146571","https://openalex.org/W2810883421","https://openalex.org/W2885777315","https://openalex.org/W2897005597","https://openalex.org/W2897577167","https://openalex.org/W2899614881","https://openalex.org/W2900582619","https://openalex.org/W2901496726","https://openalex.org/W2902716626","https://openalex.org/W2902791462","https://openalex.org/W2908861886","https://openalex.org/W2909532813","https://openalex.org/W2910184544","https://openalex.org/W2938604599","https://openalex.org/W2950069298","https://openalex.org/W2953406320","https://openalex.org/W2962843993","https://openalex.org/W2962867885","https://openalex.org/W2962871243","https://openalex.org/W2963219234","https://openalex.org/W2963265239","https://openalex.org/W2963892986","https://openalex.org/W2964091363","https://openalex.org/W2964262608","https://openalex.org/W2966271811","https://openalex.org/W2978940263","https://openalex.org/W2999786727","https://openalex.org/W3003169307","https://openalex.org/W3003785634","https://openalex.org/W3004230875","https://openalex.org/W3005798847","https://openalex.org/W3012514211","https://openalex.org/W3026627579","https://openalex.org/W3090004508","https://openalex.org/W3091243689","https://openalex.org/W3104509089","https://openalex.org/W3105162718","https://openalex.org/W3105293877","https://openalex.org/W3131655564","https://openalex.org/W3139957176","https://openalex.org/W4316362431"],"related_works":["https://openalex.org/W2628861693","https://openalex.org/W8302103","https://openalex.org/W3203087560","https://openalex.org/W2737719445","https://openalex.org/W4361279463","https://openalex.org/W3171631314","https://openalex.org/W4239098401","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W4392646554"],"abstract_inverted_index":{"Perceiving":[0],"and":[1,32,46,68,78,90,97,103,119,140,147,151,156],"handling":[2],"deformable":[3,161],"objects":[4],"is":[5],"an":[6],"integral":[7],"part":[8],"of":[9,28,61,75,82,160],"everyday":[10],"life":[11],"for":[12,73],"humans.":[13],"Automating":[14],"tasks":[15],"such":[16],"as":[17,122],"food":[18],"handling,":[19],"garment":[20],"sorting,":[21],"or":[22],"assistive":[23],"dressing":[24],"requires":[25],"open":[26,54,127],"problems":[27],"modeling,":[29],"perceiving,":[30],"planning,":[31,47],"control":[33,45],"to":[34,52,87,99,125,134,145],"be":[35,88,95],"solved.":[36],"Recent":[37],"advances":[38],"in":[39,116,154],"data-driven":[40,141],"approaches,":[41,142],"together":[42],"with":[43,58],"classical":[44],"can":[48,66,94],"provide":[49,100],"viable":[50],"solutions":[51],"these":[53],"challenges.":[55],"In":[56],"addition,":[57],"the":[59,123,136],"development":[60],"better":[62,80],"simulation":[63],"environments,":[64],"we":[65,109],"generate":[67],"study":[69],"scenarios":[70],"that":[71],"allow":[72],"benchmarking":[74],"various":[76],"approaches":[77],"gain":[79],"understanding":[81],"what":[83],"theoretical":[84],"developments":[85],"need":[86],"made":[89],"how":[91,144],"practical":[92],"systems":[93],"implemented":[96],"evaluated":[98],"flexible,":[101],"scalable,":[102],"robust":[104],"solutions.":[105],"To":[106],"this":[107,117],"end,":[108],"survey":[110],"more":[111],"than":[112],"100":[113],"relevant":[114],"studies":[115],"area":[118],"use":[120,146],"it":[121],"basis":[124],"discuss":[126],"problems.":[128],"We":[129],"adopt":[130],"a":[131,158],"learning":[132],"perspective":[133],"unify":[135],"discussion":[137],"over":[138],"analytical":[139],"addressing":[143],"integrate":[148],"model":[149],"priors":[150],"task":[152],"data":[153],"perceiving":[155],"manipulating":[157],"variety":[159],"objects.":[162]},"counts_by_year":[{"year":2026,"cited_by_count":44},{"year":2025,"cited_by_count":75},{"year":2024,"cited_by_count":70},{"year":2023,"cited_by_count":55},{"year":2022,"cited_by_count":39},{"year":2021,"cited_by_count":6}],"updated_date":"2026-08-27T14:10:00.468798","created_date":"2025-10-10T00:00:00"}
