{"id":"https://openalex.org/W1899217968","doi":"https://doi.org/10.1177/0278364915577105","title":"Learning grasps with topographic features","display_name":"Learning grasps with topographic features","publication_year":2015,"publication_date":"2015-05-20","ids":{"openalex":"https://openalex.org/W1899217968","doi":"https://doi.org/10.1177/0278364915577105","mag":"1899217968"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915577105","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915577105","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5068363868","display_name":"David Fischinger","orcid":"https://orcid.org/0000-0002-0806-0468"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"David Fischinger","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology Vienna, Austria","Automation and Control Institute , Vienna University of Technology , Vienna , Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Automation and Control Institute , Vienna University of Technology , Vienna , Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071826560","display_name":"Astrid Weiss","orcid":"https://orcid.org/0000-0001-7803-9413"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Astrid Weiss","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology Vienna, Austria","Automation and Control Institute , Vienna University of Technology , Vienna , Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Automation and Control Institute , Vienna University of Technology , Vienna , Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013565399","display_name":"Markus Vincze","orcid":"https://orcid.org/0000-0002-2799-491X"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Markus Vincze","raw_affiliation_strings":["Automation and Control Institute, Vienna University of Technology Vienna, Austria","Automation and Control Institute , Vienna University of Technology , Vienna , Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Control Institute, Vienna University of Technology Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"Automation and Control Institute , Vienna University of Technology , Vienna , Austria","institution_ids":["https://openalex.org/I145847075"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5068363868"],"corresponding_institution_ids":["https://openalex.org/I145847075"],"apc_list":null,"apc_paid":null,"fwci":6.1339,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.96255744,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"34","issue":"9","first_page":"1167","last_page":"1194"},"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":0.9832000136375427,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9623000025749207,"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/grasp","display_name":"GRASP","score":0.9805305004119873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7243737578392029},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6239784955978394},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.6000819206237793},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.5761100053787231},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5675584077835083},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.5461408495903015},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5177242159843445},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5168324112892151},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.48151788115501404},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.45631110668182373},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.44008925557136536},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4205080270767212},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.32259660959243774},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21516793966293335}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9805305004119873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7243737578392029},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6239784955978394},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.6000819206237793},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.5761100053787231},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5675584077835083},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.5461408495903015},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5177242159843445},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5168324112892151},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.48151788115501404},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.45631110668182373},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.44008925557136536},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4205080270767212},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32259660959243774},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21516793966293335},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364915577105","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915577105","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1484777458","https://openalex.org/W1510186039","https://openalex.org/W1553765417","https://openalex.org/W1794703952","https://openalex.org/W1820657498","https://openalex.org/W1854812032","https://openalex.org/W1949854112","https://openalex.org/W1966747088","https://openalex.org/W1977077642","https://openalex.org/W1980602022","https://openalex.org/W1996630649","https://openalex.org/W2009619019","https://openalex.org/W2016876803","https://openalex.org/W2033223309","https://openalex.org/W2036637075","https://openalex.org/W2041376653","https://openalex.org/W2041491564","https://openalex.org/W2057493164","https://openalex.org/W2076398395","https://openalex.org/W2084796709","https://openalex.org/W2088043683","https://openalex.org/W2090855657","https://openalex.org/W2106270058","https://openalex.org/W2116817751","https://openalex.org/W2118262422","https://openalex.org/W2123435073","https://openalex.org/W2126496149","https://openalex.org/W2131208256","https://openalex.org/W2143425433","https://openalex.org/W2152388561","https://openalex.org/W2153635508","https://openalex.org/W2156219259","https://openalex.org/W2156583822","https://openalex.org/W2157439141","https://openalex.org/W2165830610","https://openalex.org/W2169241897","https://openalex.org/W2170764835","https://openalex.org/W2293323283","https://openalex.org/W2294144074","https://openalex.org/W2544492735","https://openalex.org/W2602339634","https://openalex.org/W3097096317","https://openalex.org/W3112422759","https://openalex.org/W3139610437","https://openalex.org/W4236953563","https://openalex.org/W4253999777"],"related_works":["https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W2088476797","https://openalex.org/W2625202073","https://openalex.org/W2102971868","https://openalex.org/W2168487931","https://openalex.org/W4312362134","https://openalex.org/W2154563191"],"abstract_inverted_index":{"We":[0,41,60,68,101,126,166],"present":[1],"a":[2,15,26,118,155,159,162,175,207],"system":[3,150],"for":[4,38],"grasping":[5,39],"unknown":[6],"objects,":[7,172],"even":[8],"from":[9,87],"piles":[10],"or":[11],"cluttered":[12],"scenes,":[13],"given":[14,27],"point":[16],"cloud.":[17],"Our":[18],"method":[19,209],"is":[20,99,108,187],"based":[21],"on":[22,89,151],"the":[23,70,73,104,112,122,135,179,200,220,235],"topography":[24],"of":[25,76,148,199,222,234],"scene":[28],"and":[29,48,72,116,161,177,190,210,240],"abstracts":[30],"grasp-relevant":[31],"structures":[32],"to":[33,96,110,120,129,133,169,194,218],"enable":[34],"machine":[35],"learning":[36],"techniques":[37],"tasks.":[40],"describe":[42,102],"how":[43,103,128],"Height":[44,52],"Accumulated":[45,53],"Features":[46],"(HAF)":[47],"their":[49],"extension,":[50],"Symmetry":[51],"Features,":[54],"extract":[55],"grasp":[56,62,106,114,170,228],"relevant":[57],"local":[58],"shapes.":[59],"investigate":[61],"quality":[63],"using":[64],"an":[65],"F-score":[66],"metric.":[67],"demonstrate":[69,145],"gain":[71],"expressive":[74],"power":[75],"HAF":[77,98],"by":[78],"comparing":[79],"its":[80],"trained":[81,105],"classifier":[82,107],"with":[83,192,206,226],"one":[84],"that":[85,184],"resulted":[86],"training":[88],"simple":[90],"height":[91],"grids.":[92],"An":[93],"efficient":[94],"way":[95],"calculate":[97],"presented.":[100],"used":[109,217],"explore":[111],"whole":[113],"space":[115],"introduce":[117],"heuristic":[119],"find":[121],"most":[123],"robust":[124,191],"grasp.":[125],"show":[127,183,211,232],"use":[130],"our":[131,149,185,204,223,238],"approach":[132,186,224,239],"adapt":[134],"gripper":[136],"opening":[137],"width":[138],"before":[139],"grasping.":[140],"In":[141],"robotic":[142],"experiments":[143,201],"we":[144,182,202,231],"different":[146,195],"aspects":[147],"three":[152],"robot":[153],"platforms:":[154],"Schunk":[156],"seven-degree-of-freedom":[157],"arm,":[158],"PR2":[160],"Kuka":[163],"LWR":[164],"arm.":[165],"perform":[167],"tasks":[168],"single":[171],"autonomously":[173],"unload":[174],"box":[176],"clear":[178],"table.":[180],"Thereby":[181],"easily":[188],"adaptable":[189],"respect":[193],"manipulators.":[196],"As":[197],"part":[198],"compare":[203],"algorithm":[205],"state-of-the-art":[208],"significant":[212],"improvements.":[213],"Concrete":[214],"examples":[215],"are":[216],"illustrate":[219],"benefit":[221],"compared":[225],"established":[227],"approaches.":[229],"Finally,":[230],"advantages":[233],"symbiosis":[236],"between":[237],"object":[241],"recognition.":[242]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":6},{"year":2015,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}