{"id":"https://openalex.org/W3207526210","doi":"https://doi.org/10.3390/s21196674","title":"Uncertainty-Aware Knowledge Distillation for Collision Identification of Collaborative Robots","display_name":"Uncertainty-Aware Knowledge Distillation for Collision Identification of Collaborative Robots","publication_year":2021,"publication_date":"2021-10-08","ids":{"openalex":"https://openalex.org/W3207526210","doi":"https://doi.org/10.3390/s21196674","mag":"3207526210","pmid":"https://pubmed.ncbi.nlm.nih.gov/34640993"},"language":"en","primary_location":{"id":"doi:10.3390/s21196674","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21196674","pdf_url":"https://www.mdpi.com/1424-8220/21/19/6674/pdf?version=1633918542","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/21/19/6674/pdf?version=1633918542","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016261352","display_name":"Wookyong Kwon","orcid":"https://orcid.org/0000-0002-3656-2043"},"institutions":[{"id":"https://openalex.org/I142401562","display_name":"Electronics and Telecommunications Research Institute","ror":"https://ror.org/03ysstz10","country_code":"KR","type":"facility","lineage":["https://openalex.org/I142401562","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wookyong Kwon","raw_affiliation_strings":["Daegu-Gyeongbuk Research Center, Electronics and Telecommunications Research Institute (ETRI), Daegu 42994, Korea"],"raw_orcid":"https://orcid.org/0000-0002-3656-2043","affiliations":[{"raw_affiliation_string":"Daegu-Gyeongbuk Research Center, Electronics and Telecommunications Research Institute (ETRI), Daegu 42994, Korea","institution_ids":["https://openalex.org/I142401562"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080633536","display_name":"Yongsik Jin","orcid":"https://orcid.org/0000-0003-0487-0241"},"institutions":[{"id":"https://openalex.org/I142401562","display_name":"Electronics and Telecommunications Research Institute","ror":"https://ror.org/03ysstz10","country_code":"KR","type":"facility","lineage":["https://openalex.org/I142401562","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yongsik Jin","raw_affiliation_strings":["Daegu-Gyeongbuk Research Center, Electronics and Telecommunications Research Institute (ETRI), Daegu 42994, Korea"],"raw_orcid":"https://orcid.org/0000-0003-0487-0241","affiliations":[{"raw_affiliation_string":"Daegu-Gyeongbuk Research Center, Electronics and Telecommunications Research Institute (ETRI), Daegu 42994, Korea","institution_ids":["https://openalex.org/I142401562"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100620529","display_name":"Sang Jun Lee","orcid":"https://orcid.org/0000-0002-9312-6299"},"institutions":[{"id":"https://openalex.org/I80611190","display_name":"Jeonbuk National University","ror":"https://ror.org/05q92br09","country_code":"KR","type":"education","lineage":["https://openalex.org/I80611190"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sang Jun Lee","raw_affiliation_strings":["Division of Electronic Engineering, Jeonbuk National University, 567 Baekje-daero, Deokjin-gu, Jeonju 54896, Korea"],"raw_orcid":"https://orcid.org/0000-0002-9312-6299","affiliations":[{"raw_affiliation_string":"Division of Electronic Engineering, Jeonbuk National University, 567 Baekje-daero, Deokjin-gu, Jeonju 54896, Korea","institution_ids":["https://openalex.org/I80611190"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100620529"],"corresponding_institution_ids":["https://openalex.org/I80611190"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.8327,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.73216882,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"21","issue":"19","first_page":"6674","last_page":"6674"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9829999804496765,"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/robot","display_name":"Robot","score":0.8177081346511841},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7364422082901001},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6808466911315918},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5785421133041382},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.569974422454834},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5685173273086548},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5561078786849976},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5487369894981384},{"id":"https://openalex.org/keywords/distillation","display_name":"Distillation","score":0.4292730689048767},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3781636953353882},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37630680203437805},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3551650643348694},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.21817022562026978}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8177081346511841},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7364422082901001},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6808466911315918},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5785421133041382},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.569974422454834},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5685173273086548},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5561078786849976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5487369894981384},{"id":"https://openalex.org/C204030448","wikidata":"https://www.wikidata.org/wiki/Q101017","display_name":"Distillation","level":2,"score":0.4292730689048767},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3781636953353882},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37630680203437805},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3551650643348694},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.21817022562026978},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D057168","descriptor_name":"Distillation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D057168","descriptor_name":"Distillation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D057168","descriptor_name":"Distillation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":5,"locations":[{"id":"doi:10.3390/s21196674","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21196674","pdf_url":"https://www.mdpi.com/1424-8220/21/19/6674/pdf?version=1633918542","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:34640993","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34640993","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:doaj.org/article:c38973179ab14f1a8132c273806cc71f","is_oa":true,"landing_page_url":"https://doaj.org/article/c38973179ab14f1a8132c273806cc71f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 21, Iss 19, p 6674 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/21/19/6674/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s21196674","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Sensors; Volume 21; Issue 19; Pages: 6674","raw_type":"Text"},{"id":"pmh:oai:pubmedcentral.nih.gov:8512717","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8512717","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s21196674","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s21196674","pdf_url":"https://www.mdpi.com/1424-8220/21/19/6674/pdf?version=1633918542","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[{"id":"https://openalex.org/G4449602897","display_name":null,"funder_award_id":"2021R1G1A1009792","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3207526210.pdf"},"referenced_works_count":59,"referenced_works":["https://openalex.org/W753847829","https://openalex.org/W1494192115","https://openalex.org/W1660808159","https://openalex.org/W2005155348","https://openalex.org/W2023617117","https://openalex.org/W2080426295","https://openalex.org/W2095705004","https://openalex.org/W2108703536","https://openalex.org/W2130821661","https://openalex.org/W2149085596","https://openalex.org/W2150965548","https://openalex.org/W2221590109","https://openalex.org/W2593397865","https://openalex.org/W2739879705","https://openalex.org/W2750784772","https://openalex.org/W2752466400","https://openalex.org/W2762248135","https://openalex.org/W2763673233","https://openalex.org/W2765218414","https://openalex.org/W2784065174","https://openalex.org/W2887145159","https://openalex.org/W2901107536","https://openalex.org/W2901904052","https://openalex.org/W2910081881","https://openalex.org/W2916642359","https://openalex.org/W2918843756","https://openalex.org/W2936252403","https://openalex.org/W2941276819","https://openalex.org/W2952787292","https://openalex.org/W2954761708","https://openalex.org/W2963140444","https://openalex.org/W2964059111","https://openalex.org/W2964082701","https://openalex.org/W2966953015","https://openalex.org/W2975239676","https://openalex.org/W2976232932","https://openalex.org/W2991523350","https://openalex.org/W2997351135","https://openalex.org/W2999580541","https://openalex.org/W3004865641","https://openalex.org/W3022270612","https://openalex.org/W3034879391","https://openalex.org/W3035865941","https://openalex.org/W3037355691","https://openalex.org/W3044285175","https://openalex.org/W3048351835","https://openalex.org/W3083244126","https://openalex.org/W3090253482","https://openalex.org/W3094468485","https://openalex.org/W3094493488","https://openalex.org/W3098712157","https://openalex.org/W3110104648","https://openalex.org/W3118595994","https://openalex.org/W3125173498","https://openalex.org/W3173432908","https://openalex.org/W3180080317","https://openalex.org/W6674330103","https://openalex.org/W6786531506","https://openalex.org/W6798211554"],"related_works":["https://openalex.org/W4317634134","https://openalex.org/W2981729160","https://openalex.org/W4310743282","https://openalex.org/W2743212448","https://openalex.org/W2889566344","https://openalex.org/W3113932901","https://openalex.org/W1819938260","https://openalex.org/W2340892746","https://openalex.org/W3163022373","https://openalex.org/W3005999311"],"abstract_inverted_index":{"Human-robot":[0],"interaction":[1],"has":[2],"received":[3],"a":[4,39,88,97,112],"lot":[5],"of":[6,57,70,76,87,111,127],"attention":[7],"as":[8],"collaborative":[9,30],"robots":[10,31],"became":[11],"widely":[12],"utilized":[13],"in":[14,29,47],"many":[15],"industrial":[16],"fields.":[17],"Among":[18],"techniques":[19],"for":[20,43,63,83,105,123],"human-robot":[21],"interaction,":[22],"collision":[23,64,128],"identification":[24],"is":[25,79,121],"an":[26],"indispensable":[27],"element":[28],"to":[32,66],"prevent":[33],"fatal":[34],"accidents.":[35],"This":[36],"paper":[37,78],"proposes":[38],"deep":[40,89],"learning":[41],"method":[42,53,120],"identifying":[44],"external":[45,71],"collisions":[46],"6-DoF":[48],"articulated":[49],"robots.":[50],"The":[51,73],"proposed":[52,62,119],"expands":[54],"the":[55,68,85,109,118,125],"idea":[56],"CollisionNet,":[58],"which":[59],"was":[60],"previously":[61],"detection,":[65],"identify":[67],"locations":[69],"forces.":[72],"key":[74],"contribution":[75],"this":[77],"uncertainty-aware":[80],"knowledge":[81],"distillation":[82],"improving":[84,124],"accuracy":[86],"neural":[90],"network.":[91,114],"Sample-level":[92],"uncertainties":[93],"are":[94,103],"estimated":[95],"from":[96],"teacher":[98],"network,":[99],"and":[100],"larger":[101],"penalties":[102],"imposed":[104],"uncertain":[106],"samples":[107],"during":[108],"training":[110],"student":[113],"Experiments":[115],"demonstrate":[116],"that":[117],"effective":[122],"performance":[126],"identification.":[129]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-05-22T06:13:13.366637","created_date":"2025-10-10T00:00:00"}