{"id":"https://openalex.org/W4375959284","doi":"https://doi.org/10.1145/3588432.3591528","title":"Synthesizing Dexterous Nonprehensile Pregrasp for Ungraspable Objects","display_name":"Synthesizing Dexterous Nonprehensile Pregrasp for Ungraspable Objects","publication_year":2023,"publication_date":"2023-07-19","ids":{"openalex":"https://openalex.org/W4375959284","doi":"https://doi.org/10.1145/3588432.3591528"},"language":"en","primary_location":{"id":"doi:10.1145/3588432.3591528","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3588432.3591528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Special Interest Group on Computer Graphics and Interactive Techniques Conference Conference Proceedings","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2305.04654","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000520338","display_name":"Sirui Chen","orcid":"https://orcid.org/0000-0002-4446-3627"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["HK","US"],"is_corresponding":false,"raw_author_name":"Sirui Chen","raw_affiliation_strings":["Faculty of Engineering, Department of Computer Science, University of Hong Kong, Hong Kong and School of Engineering, Department of Computer Science, Stanford University, USA"],"raw_orcid":"https://orcid.org/0000-0002-4446-3627","affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Department of Computer Science, University of Hong Kong, Hong Kong and School of Engineering, Department of Computer Science, Stanford University, USA","institution_ids":["https://openalex.org/I889458895","https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089508535","display_name":"Albert Wu","orcid":"https://orcid.org/0000-0003-1894-8716"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Albert Wu","raw_affiliation_strings":["Stanford University, United States of America"],"raw_orcid":"https://orcid.org/0000-0003-1894-8716","affiliations":[{"raw_affiliation_string":"Stanford University, United States of America","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048338914","display_name":"C. Karen Liu","orcid":"https://orcid.org/0000-0001-5926-0905"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Karen Liu","raw_affiliation_strings":["Stanford University, United States of America"],"raw_orcid":"https://orcid.org/0000-0001-5926-0905","affiliations":[{"raw_affiliation_string":"Stanford University, United States of America","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"10"},"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":0.9980000257492065,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/grasp","display_name":"GRASP","score":0.7601509094238281},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7214475870132446},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6753730773925781},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.612764835357666},{"id":"https://openalex.org/keywords/desk","display_name":"Desk","score":0.5708741545677185},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5567156672477722},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4919597804546356},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.43912506103515625},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4388967454433441},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43809932470321655},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3962312936782837},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.1367066204547882},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10784223675727844}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7601509094238281},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7214475870132446},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6753730773925781},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.612764835357666},{"id":"https://openalex.org/C2776545233","wikidata":"https://www.wikidata.org/wiki/Q1064858","display_name":"Desk","level":2,"score":0.5708741545677185},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5567156672477722},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4919597804546356},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.43912506103515625},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4388967454433441},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43809932470321655},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3962312936782837},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.1367066204547882},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10784223675727844},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3588432.3591528","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3588432.3591528","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Special Interest Group on Computer Graphics and Interactive Techniques Conference Conference Proceedings","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2305.04654","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2305.04654","pdf_url":"https://arxiv.org/pdf/2305.04654","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2305.04654","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2305.04654","pdf_url":"https://arxiv.org/pdf/2305.04654","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.5400000214576721,"display_name":"Life in Land"}],"awards":[{"id":"https://openalex.org/G6465166197","display_name":"CCRI: ENS: Activity-Centric Interactive Environments for Embodied AI","funder_award_id":"2120095","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/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W601228132","https://openalex.org/W1505952289","https://openalex.org/W1510186039","https://openalex.org/W1542761027","https://openalex.org/W1674160379","https://openalex.org/W1794703952","https://openalex.org/W1968976745","https://openalex.org/W1969583232","https://openalex.org/W1970101292","https://openalex.org/W1976935191","https://openalex.org/W2028098496","https://openalex.org/W2063189785","https://openalex.org/W2106215490","https://openalex.org/W2122115534","https://openalex.org/W2129787803","https://openalex.org/W2137267908","https://openalex.org/W2139760425","https://openalex.org/W2149729559","https://openalex.org/W2157139838","https://openalex.org/W2161697934","https://openalex.org/W2188365844","https://openalex.org/W2235901111","https://openalex.org/W2584986912","https://openalex.org/W2763994565","https://openalex.org/W2963121255","https://openalex.org/W2963677339","https://openalex.org/W2981030070","https://openalex.org/W2990747716","https://openalex.org/W3004103739","https://openalex.org/W3081268564","https://openalex.org/W3099926824","https://openalex.org/W3101435634","https://openalex.org/W3106087774","https://openalex.org/W3127246939","https://openalex.org/W3185319321","https://openalex.org/W3186881096","https://openalex.org/W3200128452","https://openalex.org/W3202782837","https://openalex.org/W3207908209","https://openalex.org/W4200010608","https://openalex.org/W4226340130","https://openalex.org/W4232170474","https://openalex.org/W4237513810","https://openalex.org/W4246329541","https://openalex.org/W4252493648","https://openalex.org/W4285102453","https://openalex.org/W4304732338","https://openalex.org/W4312544766","https://openalex.org/W4320013936","https://openalex.org/W6910365999"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W2515493494"],"abstract_inverted_index":{"Daily":[0],"objects":[1,201],"embedded":[2],"in":[3,113,205],"a":[4,14,21,26,35,48,79,89,124,131],"contextual":[5],"environment":[6],"are":[7,52,63,159,186],"often":[8],"ungraspable":[9],"initially.":[10],"Whether":[11],"it":[12],"is":[13,41,72,118],"book":[15],"sandwiched":[16],"by":[17,165,171],"other":[18],"books":[19],"on":[20,32,179,214],"fully":[22],"packed":[23],"bookshelf":[24],"or":[25],"piece":[27],"of":[28,37,110,126,141,218],"paper":[29],"lying":[30],"flat":[31],"the":[33,45,104,108,138,142,145,166,172,206],"desk,":[34],"series":[36],"nonprehensile":[38,69,99,184],"pregrasp":[39,70],"maneuvers":[40],"required":[42,187],"to":[43,58,74,93,120,129,161,188,199],"manipulate":[44],"object":[46,112,143,156],"into":[47,136],"graspable":[49],"state.":[50],"Humans":[51],"proficient":[53],"at":[54],"utilizing":[55],"environmental":[56],"contacts":[57],"achieve":[59],"manipulation":[60],"tasks":[61],"that":[62,82,102,158,193],"otherwise":[64],"impossible,":[65],"but":[66],"synthesizing":[67],"such":[68],"behaviors":[71],"challenging":[73,181],"existing":[75],"methods.":[76],"We":[77,175,190],"present":[78],"novel":[80],"method":[81,150,178,195],"combines":[83],"graph":[84],"search,":[85],"optimal":[86],"control,":[87],"and":[88,97,144,155,168,216],"learning-based":[90],"objective":[91],"function":[92],"synthesize":[94],"physically":[95,163],"realistic":[96],"diverse":[98],"pre-grasp":[100],"motions":[101],"leverage":[103],"external":[105],"contacts.":[106],"Since":[107],"\u201cgraspability\u201d":[109],"an":[111,224],"context":[114],"with":[115],"its":[116],"surrounding":[117],"difficult":[119],"define,":[121],"we":[122,210],"utilize":[123],"dataset":[125],"dexterous":[127,173],"grasps":[128],"learn":[130],"metric":[132],"which":[133],"implicitly":[134],"takes":[135],"account":[137],"exposed":[139],"surface":[140],"finger":[146],"tip":[147],"locations.":[148],"Our":[149],"can":[151,196],"efficiently":[152],"discover":[153],"hand":[154],"trajectories":[157],"certified":[160],"be":[162,197],"feasible":[164],"simulation":[167],"kinematically":[169],"achievable":[170],"hand.":[174],"evaluate":[176],"our":[177,194,219],"eight":[180],"scenarios":[182],"where":[183],"pre-grasps":[185],"succeed.":[189],"also":[191],"show":[192],"applied":[198],"unseen":[200],"different":[202],"from":[203],"those":[204],"training":[207],"dataset.":[208],"Finally,":[209],"report":[211],"quantitative":[212],"analyses":[213],"generalization":[215],"robustness":[217],"method,":[220],"as":[221,223],"well":[222],"ablation":[225],"study.":[226]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2023-05-10T00:00:00"}