{"id":"https://openalex.org/W7160544858","doi":"https://doi.org/10.48550/arxiv.2605.04610","title":"Active Contact Sensing for Robust Robot-to-Human Object Handover","display_name":"Active Contact Sensing for Robust Robot-to-Human Object Handover","publication_year":2026,"publication_date":"2026-05-06","ids":{"openalex":"https://openalex.org/W7160544858","doi":"https://doi.org/10.48550/arxiv.2605.04610"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.04610","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04610","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.04610","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5135571940","display_name":"Linfeng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Linfeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135584134","display_name":"Lin Shao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shao, Lin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135570378","display_name":"David Hsu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hsu, David","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.734000027179718,"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":0.734000027179718,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.12710000574588776,"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/T10868","display_name":"Soft Robotics and Applications","score":0.0625,"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/grasp","display_name":"GRASP","score":0.9416000247001648},{"id":"https://openalex.org/keywords/handover","display_name":"Handover","score":0.7591000199317932},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7245000004768372},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6877999901771545},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.40950000286102295},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.3774999976158142},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.3700000047683716}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9416000247001648},{"id":"https://openalex.org/C111852164","wikidata":"https://www.wikidata.org/wiki/Q1414679","display_name":"Handover","level":2,"score":0.7591000199317932},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7245000004768372},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6877999901771545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5873000025749207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5378000140190125},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5083000063896179},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.40950000286102295},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3774999976158142},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3700000047683716},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3375000059604645},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.33230000734329224},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.32850000262260437},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3086000084877014},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.29649999737739563},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28870001435279846},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28349998593330383},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.27070000767707825},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2703999876976013},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26980000734329224},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.26350000500679016}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.04610","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04610","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.04610","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04610","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robot-to-human":[0],"object":[1,34],"handover":[2,28],"is":[3],"an":[4,76,108],"essential":[5],"skill":[6],"for":[7,80],"robot":[8,84,133],"assistants,":[9],"from":[10,132],"serving":[11],"drinks":[12],"at":[13],"home":[14],"to":[15,26,31,49,62,94,135],"passing":[16],"surgical":[17],"tools":[18],"in":[19,104],"the":[20,33,83,90,96,119],"operating":[21],"room.":[22],"We":[23,74],"expect":[24],"robots":[25],"perform":[27],"robustly":[29],"--":[30,165],"release":[32],"only":[35],"after":[36],"a":[37,123,127,161],"firm":[38,69,100,141],"human":[39,55],"grasp":[40,70,101,142],"while":[41,107],"ignoring":[42],"incidental":[43,72],"touches.":[44],"Existing":[45],"passive-sensing":[46],"methods":[47],"struggle":[48],"generalize":[50],"across":[51],"diverse":[52,155],"objects":[53],"and":[54,88,144,153],"behaviors,":[56],"as":[57,68],"they":[58],"lack":[59],"informative":[60],"perturbations":[61],"disambiguate":[63],"different":[64],"contact":[65,97,120],"conditions,":[66],"such":[67],"versus":[71],"touch.":[73],"propose":[75],"active":[77,145],"sensing":[78],"approach":[79],"robust":[81],"handovers:":[82],"applies":[85],"information-gathering":[86],"motions":[87,134],"senses":[89],"resulting":[91],"human-applied":[92,136],"forces":[93,103],"infer":[95],"state.":[98],"A":[99],"produces":[102],"multiple":[105],"directions,":[106],"accidental":[109],"touch":[110],"does":[111],"not.":[112],"To":[113],"capture":[114],"this":[115],"distinction,":[116],"we":[117],"model":[118,139],"state":[121],"with":[122,150],"Bayesian":[124],"linear":[125],"model:":[126],"distribution":[128],"over":[129,166],"piecewise-linear":[130],"mappings":[131],"forces.":[137],"This":[138],"enables":[140],"detection":[143],"information":[146],"gathering.":[147],"In":[148],"experiments":[149],"12":[151],"participants":[152],"30":[154],"rigid":[156],"objects,":[157],"our":[158],"method":[159],"achieved":[160],"97.5%":[162],"success":[163],"rate":[164],"30%":[167],"higher":[168],"than":[169],"two":[170],"common":[171],"baselines.":[172]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-08T00:00:00"}
