{"id":"https://openalex.org/W4412673722","doi":"https://doi.org/10.1145/3730880","title":"Designing Pin-pression Gripper and Learning its Dexterous Grasping with Online In-hand Adjustment","display_name":"Designing Pin-pression Gripper and Learning its Dexterous Grasping with Online In-hand Adjustment","publication_year":2025,"publication_date":"2025-07-27","ids":{"openalex":"https://openalex.org/W4412673722","doi":"https://doi.org/10.1145/3730880"},"language":"en","primary_location":{"id":"doi:10.1145/3730880","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3730880","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":null,"display_name":"Hewen Xiao","orcid":"https://orcid.org/0009-0002-3931-1829"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hewen Xiao","raw_affiliation_strings":["Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0009-0002-3931-1829","affiliations":[{"raw_affiliation_string":"Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100645085","display_name":"Xiuping Liu","orcid":"https://orcid.org/0000-0003-1712-6083"},"institutions":[{"id":"https://openalex.org/I27357992","display_name":"Dalian University of Technology","ror":"https://ror.org/023hj5876","country_code":"CN","type":"education","lineage":["https://openalex.org/I27357992"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiuping Liu","raw_affiliation_strings":["Dalian University of Technology, Dalian, China"],"raw_orcid":"https://orcid.org/0000-0003-1712-6083","affiliations":[{"raw_affiliation_string":"Dalian University of Technology, Dalian, China","institution_ids":["https://openalex.org/I27357992"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101826599","display_name":"Hang Zhao","orcid":"https://orcid.org/0000-0003-0648-9823"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Zhao","raw_affiliation_strings":["Wuhan University, Wuhan, China"],"raw_orcid":"https://orcid.org/0000-0003-0648-9823","affiliations":[{"raw_affiliation_string":"Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100414644","display_name":"Jian Liu","orcid":"https://orcid.org/0000-0001-9669-5502"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Liu","raw_affiliation_strings":["Software of School, Shenyang University of Technology, Shenyang, Liaoning, China"],"raw_orcid":"https://orcid.org/0000-0001-9669-5502","affiliations":[{"raw_affiliation_string":"Software of School, Shenyang University of Technology, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"last","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 (NUDT), Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-9054-0216","affiliations":[{"raw_affiliation_string":"National University of Defense Technology (NUDT), Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7779,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73067945,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"44","issue":"4","first_page":"1","last_page":"17"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9958999752998352,"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":0.991599977016449,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5351684093475342},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4438468813896179},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42884624004364014},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.39069491624832153},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38522377610206604},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.34874802827835083},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15113115310668945}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5351684093475342},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4438468813896179},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42884624004364014},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.39069491624832153},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38522377610206604},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.34874802827835083},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15113115310668945}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3730880","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3730880","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/G367237153","display_name":null,"funder_award_id":"62132021","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G448083289","display_name":null,"funder_award_id":"12494554","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4551908439","display_name":null,"funder_award_id":"62495081","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4589365904","display_name":null,"funder_award_id":"62272082","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7629415687","display_name":null,"funder_award_id":"62325211","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1503925285","https://openalex.org/W1510186039","https://openalex.org/W1566405224","https://openalex.org/W1892339738","https://openalex.org/W2014755626","https://openalex.org/W2021683594","https://openalex.org/W2029744358","https://openalex.org/W2152247404","https://openalex.org/W2201912979","https://openalex.org/W2414685554","https://openalex.org/W2460926736","https://openalex.org/W2533621232","https://openalex.org/W2789772528","https://openalex.org/W2811027829","https://openalex.org/W2824754393","https://openalex.org/W2962793652","https://openalex.org/W2963033241","https://openalex.org/W2963713397","https://openalex.org/W2973390148","https://openalex.org/W2986303149","https://openalex.org/W2990435355","https://openalex.org/W3002311960","https://openalex.org/W3004091482","https://openalex.org/W3011861320","https://openalex.org/W3035198432","https://openalex.org/W3039599385","https://openalex.org/W3056171435","https://openalex.org/W3104104643","https://openalex.org/W3107834591","https://openalex.org/W3189967927","https://openalex.org/W3206600280","https://openalex.org/W3213974477","https://openalex.org/W4249502209","https://openalex.org/W4288278663","https://openalex.org/W4376571587","https://openalex.org/W4377832165","https://openalex.org/W4386071465","https://openalex.org/W4390872441","https://openalex.org/W4401413684","https://openalex.org/W4401414016","https://openalex.org/W4404965674","https://openalex.org/W4404965864","https://openalex.org/W6600339457"],"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":{"We":[0,150],"introduce":[1],"a":[2,18,26,95,111,119,160],"novel":[3,171],"design":[4,39,173],"of":[5,29,32,61,72,90,103,156,169],"parallel-jaw":[6],"grippers":[7],"drawing":[8],"inspiration":[9],"from":[10],"pin-pression":[11,15,91,163],"toys.":[12],"The":[13],"proposed":[14],"gripper":[16,42,67,172],"features":[17],"distinctive":[19],"mechanism":[20],"in":[21,69],"which":[22],"each":[23],"finger":[24],"integrates":[25],"2D":[27],"array":[28],"pins":[30],"capable":[31],"independent":[33],"extension":[34],"and":[35,106,138,174],"retraction.":[36],"This":[37],"unique":[38],"allows":[40],"the":[41,52,59,62,66,82,86,131,166],"to":[43,49,51,135,145],"instantaneously":[44],"customize":[45],"its":[46],"finger's":[47],"shape":[48],"conform":[50],"object":[53],"being":[54],"grasped":[55],"by":[56],"dynamically":[57,80],"adjusting":[58,81],"extension/retraction":[60],"pins.":[63,83],"In":[64],"addition,":[65],"excels":[68],"in-hand":[70],"re-orientation":[71],"objects":[73,147],"for":[74,179],"enhanced":[75],"grasping":[76,88,115,140,175],"stability":[77],"again":[78],"via":[79],"To":[84,109],"learn":[85],"dynamic":[87],"skills":[89],"grippers,":[92],"we":[93,117],"devise":[94],"dedicated":[96],"reinforcement":[97],"learning":[98,121],"algorithm":[99],"with":[100,130,141],"careful":[101],"designs":[102],"state":[104],"representation":[105],"reward":[107],"shaping.":[108],"achieve":[110],"more":[112],"efficient":[113],"grasp-while-lift":[114],"mode,":[116],"propose":[118],"curriculum":[120],"scheme.":[122],"Extensive":[123],"evaluations":[124],"demonstrate":[125],"that":[126],"our":[127,170],"design,":[128],"together":[129],"learned":[132],"skills,":[133],"leads":[134],"highly":[136],"flexible":[137],"robust":[139],"much":[142],"stronger":[143],"generality":[144],"unseen":[146],"than":[148],"alternatives.":[149],"also":[151],"highlight":[152],"encouraging":[153],"physical":[154],"results":[155],"sim-to-real":[157],"transfer":[158],"on":[159],"physically":[161],"manufactured":[162],"gripper,":[164],"demonstrating":[165],"practical":[167],"significance":[168],"skill.":[176],"Demonstration":[177],"videos":[178],"this":[180],"paper":[181],"are":[182],"available":[183],"at":[184],"https://github.com/siggraph-pin-pression-gripper/pin-pression-gripper-video.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
