{"id":"https://openalex.org/W4404267864","doi":"https://doi.org/10.1177/02783649241290836","title":"BiCap: A novel bi-modal dataset of daily living dual-arm manipulation actions","display_name":"BiCap: A novel bi-modal dataset of daily living dual-arm manipulation actions","publication_year":2024,"publication_date":"2024-11-12","ids":{"openalex":"https://openalex.org/W4404267864","doi":"https://doi.org/10.1177/02783649241290836"},"language":"en","primary_location":{"id":"doi:10.1177/02783649241290836","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241290836","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/A5037790726","display_name":"David Carmona","orcid":"https://orcid.org/0000-0002-5533-9146"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"David Carmona","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-5533-9146","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100383575","display_name":"Haoyong Yu","orcid":"https://orcid.org/0000-0002-9876-4863"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Haoyong Yu","raw_affiliation_strings":["Department of Biomedical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0002-9876-4863","affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100383575"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.4878,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.70248452,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"44","issue":"6","first_page":"891","last_page":"907"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9976999759674072,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9965999722480774,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.650519073009491},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.5946115255355835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.52060866355896},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4826134145259857},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43672457337379456},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.38240742683410645},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37382251024246216},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.15867099165916443},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.08041206002235413}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.650519073009491},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.5946115255355835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.52060866355896},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4826134145259857},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43672457337379456},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.38240742683410645},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37382251024246216},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.15867099165916443},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.08041206002235413},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649241290836","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241290836","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":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.6000000238418579}],"awards":[{"id":"https://openalex.org/G3200583164","display_name":null,"funder_award_id":"MOE Grant MOE-000488-01","funder_id":"https://openalex.org/F4320320751","funder_display_name":"Ministry of Education - Singapore"}],"funders":[{"id":"https://openalex.org/F4320320751","display_name":"Ministry of Education - Singapore","ror":"https://ror.org/01kcva023"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1560270123","https://openalex.org/W1592072150","https://openalex.org/W1965914087","https://openalex.org/W2023106861","https://openalex.org/W2037135519","https://openalex.org/W2062804138","https://openalex.org/W2084336412","https://openalex.org/W2085949256","https://openalex.org/W2088255298","https://openalex.org/W2096454992","https://openalex.org/W2099359781","https://openalex.org/W2099614498","https://openalex.org/W2104302934","https://openalex.org/W2105052151","https://openalex.org/W2105247620","https://openalex.org/W2105257398","https://openalex.org/W2119233587","https://openalex.org/W2131960487","https://openalex.org/W2138501114","https://openalex.org/W2147168033","https://openalex.org/W2150955821","https://openalex.org/W2159754788","https://openalex.org/W2162457740","https://openalex.org/W2170243694","https://openalex.org/W2199300015","https://openalex.org/W2460926736","https://openalex.org/W2525184802","https://openalex.org/W2577664326","https://openalex.org/W2603737562","https://openalex.org/W2794663059","https://openalex.org/W2884642747","https://openalex.org/W2888704052","https://openalex.org/W2893235410","https://openalex.org/W2913739612","https://openalex.org/W2947984804","https://openalex.org/W2950069298","https://openalex.org/W2963327026","https://openalex.org/W2964041256","https://openalex.org/W2973970174","https://openalex.org/W2994446013","https://openalex.org/W2995983596","https://openalex.org/W2998070268","https://openalex.org/W3010625385","https://openalex.org/W3035480680","https://openalex.org/W3099587965","https://openalex.org/W3111103913","https://openalex.org/W3128894241","https://openalex.org/W3164930851","https://openalex.org/W3205133366","https://openalex.org/W4206402394","https://openalex.org/W4206511197","https://openalex.org/W4207038503","https://openalex.org/W4214681617","https://openalex.org/W4220816783","https://openalex.org/W4291214152","https://openalex.org/W4368367802","https://openalex.org/W4386251907","https://openalex.org/W4387772280","https://openalex.org/W4389665741","https://openalex.org/W4390050118"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W4313255720","https://openalex.org/W2317351040","https://openalex.org/W2379392295","https://openalex.org/W3160965418","https://openalex.org/W1992538606","https://openalex.org/W2548273422","https://openalex.org/W613940353","https://openalex.org/W2921933148","https://openalex.org/W2658949566"],"abstract_inverted_index":{"Dual-arm":[0],"manipulation":[1,25,38,76,99],"of":[2,32,37,66,97,162,229],"daily":[3,102],"living":[4,103],"objects":[5,104,156],"is":[6,17,57],"essential":[7],"for":[8,21,112,126],"robots":[9,23],"operating":[10],"in":[11],"household":[12],"environments.":[13],"Learning":[14],"from":[15,123],"demonstration":[16],"a":[18,30,42,93,107,150],"promising":[19],"approach":[20],"teaching":[22],"dual-arm":[24,75,98,128],"skills.":[26],"It":[27],"usually":[28],"requires":[29],"dataset":[31,96],"participants":[33,131,147],"demonstrating":[34],"the":[35,60,80,86,146,163,178,181,189,194,199,213,230],"sequence":[36,45,56],"actions":[39,100],"to":[40,73,84,117],"achieve":[41],"goal.":[43],"That":[44],"can":[46],"be":[47],"represented":[48],"using":[49,170,198],"symbolical":[50],"or":[51,154],"trajectory":[52],"encoding.":[53],"The":[54,63,134,204,217],"symbolic-encoded":[55],"known":[58],"as":[59],"task":[61,87,114,196,223],"plan.":[62],"chief":[64],"limitations":[65],"current":[67],"datasets":[68],"are":[69],"that":[70],"most":[71],"tend":[72],"disregard":[74],"skills":[77],"and":[78,120,143,168,192,226],"omit":[79],"formal":[81],"grammar":[82,111],"used":[83],"annotate":[85],"plans.":[88],"This":[89],"paper":[90],"introduces":[91],"BiCap,":[92,220],"novel":[94],"bi-modal":[95],"on":[101,139],"coupled":[105],"with":[106],"bio-inspired":[108,200],"action":[109,201,215],"context-free":[110,202],"fine-grained":[113],"plan":[115],"annotation":[116],"train,":[118],"test,":[119],"validate":[121],"learning":[122],"demonstration-based":[124],"algorithms":[125],"robotic":[127],"manipulation.":[129],"15":[130,231],"were":[132,157,208],"recruited.":[133],"experimenter":[135],"placed":[136],"reflective":[137],"markers":[138],"their":[140],"upper":[141],"limbs":[142],"pelvis.":[144],"Then,":[145],"sat":[148],"at":[149],"table":[151,179],"where":[152],"one":[153,161],"two":[155],"placed.":[158],"They":[159],"performed":[160],"following":[164],"tasks:":[165],"pouring,":[166],"opening,":[167],"passing,":[169],"both":[171],"hands.":[172],"An":[173],"RGB":[174,190],"camera":[175],"pointing":[176],"towards":[177],"recorded":[180],"participants\u2019":[182,195,205],"hand":[183],"movements.":[184],"Subsequently,":[185],"an":[186],"annotator":[187],"reviewed":[188],"videos":[191],"wrote":[193],"plans":[197],"grammar.":[203],"upper-limb":[206],"kinematics":[207],"computed,":[209],"too,":[210],"which":[211],"provides":[212],"trajectory-encoded":[214],"sequences.":[216],"resulting":[218],"dataset,":[219],"contains":[221],"4,026":[222],"plans,":[224],"videos,":[225],"motion":[227],"data":[228],"participants.":[232]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
