{"id":"https://openalex.org/W4225319149","doi":"https://doi.org/10.1145/3528223.3530091","title":"Learning high-DOF reaching-and-grasping via dynamic representation of gripper-object interaction","display_name":"Learning high-DOF reaching-and-grasping via dynamic representation of gripper-object interaction","publication_year":2022,"publication_date":"2022-07-01","ids":{"openalex":"https://openalex.org/W4225319149","doi":"https://doi.org/10.1145/3528223.3530091"},"language":"en","primary_location":{"id":"doi:10.1145/3528223.3530091","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3528223.3530091","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-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/A5038237311","display_name":"Qijin She","orcid":"https://orcid.org/0000-0003-0422-969X"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]},{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qijin She","raw_affiliation_strings":["National University of Defense Technology and Shenzhen University, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology and Shenzhen University, China","institution_ids":["https://openalex.org/I170215575","https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013892799","display_name":"Ruizhen Hu","orcid":"https://orcid.org/0000-0002-6798-0336"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruizhen Hu","raw_affiliation_strings":["Shenzhen University, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen University, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051130170","display_name":"Juzhan Xu","orcid":"https://orcid.org/0000-0002-5132-238X"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juzhan Xu","raw_affiliation_strings":["Shenzhen University, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen University, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100660510","display_name":"Min Liu","orcid":"https://orcid.org/0000-0003-2291-6266"},"institutions":[{"id":"https://openalex.org/I4210160531","display_name":"Chinese People's Liberation Army","ror":"https://ror.org/05tf9r976","country_code":"CN","type":"funder","lineage":["https://openalex.org/I4210160531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Liu","raw_affiliation_strings":["Chinese Academy of Military Science, China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Military Science, China","institution_ids":["https://openalex.org/I4210160531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000248352","display_name":"Kai Xu","orcid":"https://orcid.org/0000-0002-9054-0216"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Xu","raw_affiliation_strings":["National University of Defense Technology, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034304352","display_name":"Hui Huang","orcid":"https://orcid.org/0000-0003-3212-0544"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Huang","raw_affiliation_strings":["Shenzhen University, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen University, China","institution_ids":["https://openalex.org/I180726961"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5038237311"],"corresponding_institution_ids":["https://openalex.org/I170215575","https://openalex.org/I180726961"],"apc_list":null,"apc_paid":null,"fwci":10.7244,"has_fulltext":false,"cited_by_count":91,"citation_normalized_percentile":{"value":0.99105943,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"41","issue":"4","first_page":"1","last_page":"14"},"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":0.9948999881744385,"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":0.9896000027656555,"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":0.8194047212600708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7149140238761902},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6906145215034485},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6818258762359619},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6527746915817261},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5116549134254456},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5018727779388428},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.4883536994457245},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.45589685440063477},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1658780574798584}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8194047212600708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7149140238761902},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6906145215034485},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6818258762359619},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6527746915817261},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5116549134254456},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5018727779388428},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.4883536994457245},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.45589685440063477},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1658780574798584},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3528223.3530091","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3528223.3530091","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5133417063","display_name":null,"funder_award_id":"2018AAA0102200","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G7377722460","display_name":null,"funder_award_id":"61872250, 62132021, U2001206, U21B2023, 62161146005","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W365028950","https://openalex.org/W1503925285","https://openalex.org/W1510186039","https://openalex.org/W1606226685","https://openalex.org/W1794703952","https://openalex.org/W1968630691","https://openalex.org/W1969583232","https://openalex.org/W1974537989","https://openalex.org/W1993251515","https://openalex.org/W2005756025","https://openalex.org/W2005824379","https://openalex.org/W2021683594","https://openalex.org/W2023106861","https://openalex.org/W2036637075","https://openalex.org/W2050449584","https://openalex.org/W2109299965","https://openalex.org/W2110762409","https://openalex.org/W2122115534","https://openalex.org/W2127833308","https://openalex.org/W2128990851","https://openalex.org/W2132476906","https://openalex.org/W2140173255","https://openalex.org/W2145339207","https://openalex.org/W2157139838","https://openalex.org/W2170940415","https://openalex.org/W2414685554","https://openalex.org/W2524140598","https://openalex.org/W2527587652","https://openalex.org/W2563595373","https://openalex.org/W2571420106","https://openalex.org/W2595740993","https://openalex.org/W2600030077","https://openalex.org/W2603737562","https://openalex.org/W2767050701","https://openalex.org/W2913919845","https://openalex.org/W2962736495","https://openalex.org/W2962759351","https://openalex.org/W2962837436","https://openalex.org/W2962875890","https://openalex.org/W2963231572","https://openalex.org/W2963390419","https://openalex.org/W2963654160","https://openalex.org/W2964239605","https://openalex.org/W2986708244","https://openalex.org/W2990435355","https://openalex.org/W2990613095","https://openalex.org/W2990747716","https://openalex.org/W3003296541","https://openalex.org/W3004082694","https://openalex.org/W3036206972","https://openalex.org/W3037767967","https://openalex.org/W3039599385","https://openalex.org/W3101442004","https://openalex.org/W3189967927","https://openalex.org/W3206600280","https://openalex.org/W3207908209","https://openalex.org/W4214717370","https://openalex.org/W4246995590","https://openalex.org/W6609577793","https://openalex.org/W6638325340"],"related_works":["https://openalex.org/W2045049461","https://openalex.org/W4381094582","https://openalex.org/W1978893398","https://openalex.org/W1977906818","https://openalex.org/W2657478029","https://openalex.org/W3146859979","https://openalex.org/W4224220472","https://openalex.org/W2080808138","https://openalex.org/W2626503888","https://openalex.org/W4387962997"],"abstract_inverted_index":{"We":[0,88],"approach":[1],"the":[2,21,27,44,48,51,66,103,113],"problem":[3],"of":[4,11,32,40,106,145],"high-DOF":[5,146],"reaching-and-grasping":[6],"via":[7],"learning":[8,26,140],"joint":[9],"planning":[10],"grasp":[12,118,164],"and":[13,29,50,76,134,154,173],"motion":[14],"with":[15,109,121,148,168],"deep":[16],"reinforcement":[17],"learning.":[18],"To":[19,54],"resolve":[20],"sample":[22,150],"efficiency":[23],"issue":[24],"in":[25,81],"high-dimensional":[28],"complex":[30,166],"control":[31,105,143],"dexterous":[33,163],"grasping,":[34],"we":[35,58],"propose":[36],"an":[37,135],"effective":[38,94,136],"representation":[39,98],"grasping":[41,147,170],"state":[42,97],"characterizing":[43,82],"spatial":[45,83,110],"interaction":[46],"between":[47,69,85],"gripper":[49],"target":[52,114],"object.":[53,115],"represent":[55],"gripper-object":[56],"interaction,":[57],"adopt":[59],"Interaction":[60],"Bisector":[61],"Surface":[62],"(IBS)":[63],"which":[64],"is":[65,92],"Voronoi":[67],"diagram":[68],"two":[70],"close":[71],"by":[72],"3D":[73,86],"geometric":[74],"objects":[75],"has":[77],"been":[78],"successfully":[79],"applied":[80],"relations":[84],"objects.":[87],"found":[89],"that":[90,159],"IBS":[91,128],"surprisingly":[93],"as":[95],"a":[96,126,130,141],"since":[99],"it":[100,160],"well":[101],"informs":[102],"finegrained":[104],"each":[107],"finger":[108],"relation":[111],"against":[112],"This":[116],"novel":[117,131],"representation,":[119],"together":[120],"several":[122],"technical":[123],"contributions":[124],"including":[125],"fast":[127],"approximation,":[129],"vector-based":[132],"reward":[133],"training":[137],"strategy,":[138],"facilitate":[139],"strong":[142],"model":[144],"good":[149],"efficiency,":[151],"dynamic":[152],"adaptability,":[153],"cross-category":[155],"generality.":[156],"Experiments":[157],"show":[158],"generates":[161],"high-quality":[162],"for":[165,175],"shapes":[167],"smooth":[169],"motions.":[171],"Code":[172],"data":[174],"this":[176],"paper":[177],"are":[178],"at":[179],"https://github.com/qijinshe/IBS-Grasping.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":34},{"year":2023,"cited_by_count":45},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
