{"id":"https://openalex.org/W2910474428","doi":"https://doi.org/10.1126/scirobotics.aau4984","title":"Learning ambidextrous robot grasping policies","display_name":"Learning ambidextrous robot grasping policies","publication_year":2019,"publication_date":"2019-01-17","ids":{"openalex":"https://openalex.org/W2910474428","doi":"https://doi.org/10.1126/scirobotics.aau4984","mag":"2910474428","pmid":"https://pubmed.ncbi.nlm.nih.gov/33137754"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aau4984","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aau4984","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020901032","display_name":"Jeffrey Mahler","orcid":"https://orcid.org/0000-0003-3204-3024"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jeffrey Mahler","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, CA 94720, USA","Department of Industrial Engineering and Operations Research, UC Berkeley, Berkeley, CA 94720, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Industrial Engineering and Operations Research, UC Berkeley, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090422109","display_name":"Matthew Matl","orcid":"https://orcid.org/0000-0003-0173-2820"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Matl","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, CA 94720, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087111141","display_name":"Vishal Satish","orcid":"https://orcid.org/0000-0001-9544-6491"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vishal Satish","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, CA 94720, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084920041","display_name":"Michael Danielczuk","orcid":"https://orcid.org/0000-0002-3858-2312"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Danielczuk","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, CA 94720, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084381618","display_name":"Bill DeRose","orcid":"https://orcid.org/0000-0001-7722-0114"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bill DeRose","raw_affiliation_strings":["Department of Industrial Engineering and Operations Research, UC Berkeley, Berkeley, CA 94720, USA"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Operations Research, UC Berkeley, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069821312","display_name":"Stephen McKinley","orcid":"https://orcid.org/0000-0001-8939-8411"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stephen McKinley","raw_affiliation_strings":["Department of Industrial Engineering and Operations Research, UC Berkeley, Berkeley, CA 94720, USA"],"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering and Operations Research, UC Berkeley, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, CA 94720, USA","Department of Industrial Engineering and Operations Research, UC Berkeley, Berkeley, CA 94720, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Industrial Engineering and Operations Research, UC Berkeley, Berkeley, CA 94720, USA","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5020901032"],"corresponding_institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":51.0547,"has_fulltext":false,"cited_by_count":573,"citation_normalized_percentile":{"value":0.99977235,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"4","issue":"26","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":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":0.9945999979972839,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9811999797821045,"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/computer-science","display_name":"Computer science","score":0.45691072940826416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42777135968208313},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.4232531487941742},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3737030625343323},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.36930930614471436},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34773221611976624}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45691072940826416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42777135968208313},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.4232531487941742},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3737030625343323},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.36930930614471436},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34773221611976624}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.aau4984","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aau4984","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:33137754","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33137754","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":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1513325188","display_name":null,"funder_award_id":"1734633","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306132","display_name":"American Society for Engineering Education","ror":"https://ror.org/03ac64295"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W1495615928","https://openalex.org/W1503925285","https://openalex.org/W1564897360","https://openalex.org/W1677182931","https://openalex.org/W1888892744","https://openalex.org/W1980602022","https://openalex.org/W1986533639","https://openalex.org/W1999156278","https://openalex.org/W2033819227","https://openalex.org/W2036637075","https://openalex.org/W2041376653","https://openalex.org/W2050609926","https://openalex.org/W2063189785","https://openalex.org/W2088043683","https://openalex.org/W2152864241","https://openalex.org/W2153400869","https://openalex.org/W2162000109","https://openalex.org/W2168359464","https://openalex.org/W2201912979","https://openalex.org/W2414685554","https://openalex.org/W2485911221","https://openalex.org/W2522117491","https://openalex.org/W2560647685","https://openalex.org/W2600030077","https://openalex.org/W2605102758","https://openalex.org/W2725320964","https://openalex.org/W2737420227","https://openalex.org/W2737979835","https://openalex.org/W2767050701","https://openalex.org/W2773721443","https://openalex.org/W2804400276","https://openalex.org/W2804941773","https://openalex.org/W2894687498","https://openalex.org/W2904207885","https://openalex.org/W2914656440","https://openalex.org/W2952629144","https://openalex.org/W2962736495","https://openalex.org/W2962737955","https://openalex.org/W2962746398","https://openalex.org/W2962787403","https://openalex.org/W2962793652","https://openalex.org/W2962899390","https://openalex.org/W2962957005","https://openalex.org/W2962957031","https://openalex.org/W2963033241","https://openalex.org/W2963048676","https://openalex.org/W2963394817","https://openalex.org/W2964239605","https://openalex.org/W2964259080","https://openalex.org/W2966885779","https://openalex.org/W3098436915","https://openalex.org/W3101442004","https://openalex.org/W3103806245","https://openalex.org/W3112422759","https://openalex.org/W4241088297"],"related_works":["https://openalex.org/W4391375266","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"],"abstract_inverted_index":{"Universal":[0],"picking":[1],"(UP),":[2],"or":[3,58],"reliable":[4],"robot":[5,54,132],"grasping":[6],"of":[7,11,36,76,85,98,126,143,157],"a":[8,17,70,82,106,109,130,155],"diverse":[9],"range":[10,35],"novel":[12,147],"objects":[13,148],"from":[14,124],"heaps,":[15],"is":[16,38],"grand":[18],"challenge":[19],"for":[20,81,105],"e-commerce":[21],"order":[22],"fulfillment,":[23],"manufacturing,":[24],"inspection,":[25],"and":[26,34,47,100,108,121],"home":[27],"service":[28],"robots.":[29],"Optimizing":[30],"the":[31,136],"rate,":[32],"reliability,":[33],"UP":[37],"difficult":[39],"due":[40],"to":[41,73,145],"inherent":[42],"uncertainty":[43],"in":[44],"sensing,":[45],"control,":[46],"contact":[48],"physics.":[49],"This":[50],"paper":[51],"explores":[52],"\"ambidextrous\"":[53],"grasping,":[55],"where":[56],"two":[57,134],"more":[59,158],"heterogeneous":[60],"grippers":[61,86],"are":[62],"used.":[63],"We":[64,102],"present":[65],"Dexterity":[66],"Network":[67],"(Dex-Net)":[68],"4.0,":[69],"substantial":[71],"extension":[72],"previous":[74],"versions":[75],"Dex-Net":[77,137],"that":[78],"learns":[79],"policies":[80,104],"given":[83],"set":[84],"by":[87],"training":[88],"on":[89,114],"synthetic":[90,117],"datasets":[91],"using":[92],"domain":[93],"randomization":[94],"with":[95,133,149],"analytic":[96],"models":[97],"physics":[99],"geometry.":[101],"train":[103],"parallel-jaw":[107],"vacuum-based":[110],"suction":[111],"cup":[112],"gripper":[113],"5":[115],"million":[116],"depth":[118],"images,":[119],"grasps,":[120],"rewards":[122],"generated":[123],"heaps":[125],"three-dimensional":[127],"objects.":[128],"On":[129],"physical":[131],"grippers,":[135],"4.0":[138],"policy":[139],"consistently":[140],"clears":[141],"bins":[142],"up":[144],"25":[146],"reliability":[150],"greater":[151],"than":[152,159],"95%":[153],"at":[154],"rate":[156],"300":[160],"mean":[161],"picks":[162],"per":[163],"hour.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":67},{"year":2024,"cited_by_count":94},{"year":2023,"cited_by_count":96},{"year":2022,"cited_by_count":86},{"year":2021,"cited_by_count":99},{"year":2020,"cited_by_count":86},{"year":2019,"cited_by_count":32}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
