{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,3,27]],"date-time":"2025-03-27T12:18:39Z","timestamp":1743077919217,"version":"3.40.3"},"publisher-location":"Cham","reference-count":34,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783030954581"},{"type":"electronic","value":"9783030954598"}],"license":[{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022]]},"DOI":"10.1007\/978-3-030-95459-8_39","type":"book-chapter","created":{"date-parts":[[2022,2,17]],"date-time":"2022-02-17T19:02:27Z","timestamp":1645124547000},"page":"642-659","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Belief-Space Planning Using Learned Models with Application to Underactuated Hands"],"prefix":"10.1007","author":[{"given":"Andrew","family":"Kimmel","sequence":"first","affiliation":[]},{"given":"Avishai","family":"Sintov","sequence":"additional","affiliation":[]},{"given":"Juntao","family":"Tan","sequence":"additional","affiliation":[]},{"given":"Bowen","family":"Wen","sequence":"additional","affiliation":[]},{"given":"Abdeslam","family":"Boularias","sequence":"additional","affiliation":[]},{"given":"Kostas E.","family":"Bekris","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,2,17]]},"reference":[{"key":"39_CR1","doi-asserted-by":"publisher","first-page":"19","DOI":"10.1007\/s10479-005-5724-z","volume":"134","author":"PT de Boer","year":"2004","unstructured":"de Boer, P.T., Kroese, D.P., Mannor, S., Rubinstein, R.Y.: A tutorial on the cross-entropy method. Ann. Oper. Res. 134, 19\u201367 (2004)","journal-title":"Ann. Oper. Res."},{"key":"39_CR2","doi-asserted-by":"crossref","unstructured":"Bry, A., Roy, N.: Rapidly-exploring random belief trees for motion planning under uncertainty. In: ICRA (2011)","DOI":"10.1109\/ICRA.2011.5980508"},{"key":"39_CR3","doi-asserted-by":"crossref","unstructured":"Calli, B., Dollar, A.M.: Vision-based precision manipulation with underactuated hands: simple and effective solutions for dexterity. In: IROS (2016)","DOI":"10.1109\/IROS.2016.7759173"},{"key":"39_CR4","unstructured":"Calli, B., Kimmel, A., Hang, K., Bekris, K., Dollar, A.: Path planning for within-hand manipulation over learned representations of safe states. In: International Symposium on Experimental Robotics, Buenos Aires, Argentina (2018)"},{"key":"39_CR5","doi-asserted-by":"publisher","unstructured":"Calli, B., Srinivasan, K., Morgan, A., Dollar, A.M.: Learning modes of within-hand manipulation. In: ICRA, pp. 3145\u20133151 (2018). https:\/\/doi.org\/10.1109\/ICRA.2018.8461187","DOI":"10.1109\/ICRA.2018.8461187"},{"key":"39_CR6","unstructured":"Chua, K., Calandra, R., McAllister, R., Levine, S.: Deep reinforcement learning in a handful of trials using probabilistic dynamics models. In: NIPS (2018)"},{"issue":"514","key":"39_CR7","doi-asserted-by":"publisher","first-page":"800","DOI":"10.1080\/01621459.2015.1044091","volume":"111","author":"A Datta","year":"2016","unstructured":"Datta, A., Banerjee, S., Finley, A.O., Gelfand, A.E.: Hierarchical nearest-neighbor gaussian process models for large geostatistical datasets. J. Am. Stat. Ass. 111(514), 800\u2013812 (2016)","journal-title":"J. Am. Stat. Ass."},{"key":"39_CR8","unstructured":"Deisenroth, M.P., Rasmussen, C.E.: PILCO: a model-based and data-efficient approach to policy search. In: ICML (2011)"},{"key":"39_CR9","doi-asserted-by":"crossref","unstructured":"Du Toit, N., Burdick, J.: Robotic motion planning in dynamic, cluttered, uncertain environments. In: ICRA (2010)","DOI":"10.1109\/ROBOT.2010.5509278"},{"key":"39_CR10","unstructured":"Erez, T., Smart, W.: A scalable method for solving high-dimensional continuous POMDPs using local approximation. In: UAI (2010)"},{"key":"39_CR11","unstructured":"Gal, Y., Ghahramani, Z.: Dropout as a Bayesian approximation: representing model uncertainty in deep learning. In: ICML (2016)"},{"issue":"6","key":"39_CR12","doi-asserted-by":"publisher","first-page":"2280","DOI":"10.1016\/j.patcog.2014.01.005","volume":"47","author":"S Garrido-Jurado","year":"2014","unstructured":"Garrido-Jurado, S., Mu\u00f1oz-Salinas, R., Madrid-Cuevas, F.J., Mar\u00edn-Jim\u00e9nez, M.J.: Automatic generation and detection of highly reliable fiducial markers under occlusion. Pattern Recogn. 47(6), 2280\u20132292 (2014)","journal-title":"Pattern Recogn."},{"key":"39_CR13","unstructured":"Girard, A.: Approximate methods for propagation of uncertainty with Gaussian process models. Ph.D. thesis, University of Glasgow (2004)"},{"key":"39_CR14","doi-asserted-by":"crossref","unstructured":"van Hoof, H., Hermans, T., Neumann, G., Peters, J.: Learning robot in-hand manipulation with tactile features. In: HUMANOIDS (2015)","DOI":"10.1109\/HUMANOIDS.2015.7363524"},{"key":"39_CR15","unstructured":"Kaiser, L., et al.: Model-based reinforcement learning for Atari (2019)"},{"key":"39_CR16","doi-asserted-by":"crossref","unstructured":"Kumar, V., Todorov, E., Levine, S.: Optimal control with learned local models: application to dexterous manipulation. In: ICRA, pp. 378\u2013383 (2016)","DOI":"10.1109\/ICRA.2016.7487156"},{"key":"39_CR17","unstructured":"Levine, S., Koltun, V.: Guided policy search. In: ICML, pp. III\u20131\u2013III\u20139 (2013)"},{"key":"39_CR18","doi-asserted-by":"crossref","unstructured":"Littlefield, Z., Bekris, K.E.: Efficient and asymptotically optimal kinodynamic motion planning via dominance-informed regions. In: IROS, Madrid, Spain (2018)","DOI":"10.1109\/IROS.2018.8593672"},{"key":"39_CR19","doi-asserted-by":"crossref","unstructured":"Littlefield, Z., Klimenko, D., Kurniawati, H., Bekris, K.E.: The importance of a suitable distance function in belief-space planning. In:\u00a0Bicchi, A.,\u00a0Burgard, W. (eds.) International Symposium on Robotic Research (ISRR), pp. 683\u2013700 (2015)","DOI":"10.1007\/978-3-319-60916-4_39"},{"key":"39_CR20","doi-asserted-by":"crossref","unstructured":"Ma, R.R., Bircher, W.G., Dollar, A.M.: Toward robust, whole-hand caging manipulation with underactuated hands. In: IEEE International Conference on Robotics and Automation, pp. 1336\u20131342 (2017)","DOI":"10.1109\/ICRA.2017.7989158"},{"key":"39_CR21","doi-asserted-by":"publisher","first-page":"32","DOI":"10.1109\/MRA.2016.2639034","volume":"24","author":"RR Ma","year":"2017","unstructured":"Ma, R.R., Dollar, A.M.: Yale openhand project: optimizing open-source hand designs for ease of fabrication and adoption. IEEE Rob. Aut. Mag. 24, 32\u201340 (2017)","journal-title":"IEEE Rob. Aut. Mag."},{"issue":"3","key":"39_CR22","doi-asserted-by":"publisher","first-page":"448","DOI":"10.1162\/neco.1992.4.3.448","volume":"4","author":"DJC MacKay","year":"1992","unstructured":"MacKay, D.J.C.: A practical Bayesian framework for backpropagation networks. Neural Comput. 4(3), 448\u2013472 (1992)","journal-title":"Neural Comput."},{"key":"39_CR23","unstructured":"McAllister, R., Rasmussen, C.E.: Improving PILCO with Bayesian neural network dynamics models (2016)"},{"key":"39_CR24","doi-asserted-by":"crossref","unstructured":"Melchior, N.A., Simmons, R.: Particle RRT for path planning with uncertainty. In: ICRA, pp. 1617\u20131624 (2007)","DOI":"10.1109\/ROBOT.2007.363555"},{"key":"39_CR25","doi-asserted-by":"crossref","unstructured":"Nguyen-Tuong, D., Peters, J.: Local Gaussian process regression for real-time model-based robot control. In: IROS, pp. 380\u2013385 (2008)","DOI":"10.1109\/IROS.2008.4650850"},{"key":"39_CR26","unstructured":"Andrychowicz, O.M., et al.: Learning dexterous in-hand manipulation. CoRR (2018)"},{"key":"39_CR27","doi-asserted-by":"crossref","unstructured":"Patil, S., Kahn, G., Laskey, M., Schulman, J., Goldberg, K.Y., Abbeel, P.: Scaling up gaussian belief space planning through covariance-free trajectory optimization and automatic differentiation. In: WAFR, pp. 515\u2013533 (2014)","DOI":"10.1007\/978-3-319-16595-0_30"},{"key":"39_CR28","doi-asserted-by":"crossref","unstructured":"Platt, R., Tedrake, R., Kaelbling, L., Lozano-Perez, T.: Belief space planning assuming maximum likelihood observations. In: RSS (2010)","DOI":"10.15607\/RSS.2010.VI.037"},{"issue":"11\u201312","key":"39_CR29","first-page":"1448","volume":"28","author":"S Prentice","year":"2009","unstructured":"Prentice, S., Roy, N.: The belief roadmap: efficient planning in belief space by factoring the covariance. IJRR 28(11\u201312), 1448\u20131465 (2009)","journal-title":"IJRR"},{"key":"39_CR30","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/3206.001.0001","volume-title":"Gaussian Processes for Machine Learning","author":"CE Rasmussen","year":"2005","unstructured":"Rasmussen, C.E., Williams, C.K.I.: Gaussian Processes for Machine Learning. The MIT Press, Cambridge (2005)"},{"key":"39_CR31","doi-asserted-by":"crossref","unstructured":"Rocchi, A., Ames, B., Li, Z., Hauser, K.: Stable simulation of underactuated compliant hands. In: ICRA, pp. 4938\u20134944 (2016)","DOI":"10.1109\/ICRA.2016.7487699"},{"key":"39_CR32","unstructured":"Rybkin, O., Pertsch, K., Jaegle, A., Derpanis, K.G., Daniilidis, K.: Unsupervised learning of sensorimotor affordances by stochastic future prediction. CoRR (2018)"},{"issue":"2","key":"39_CR33","doi-asserted-by":"publisher","first-page":"1287","DOI":"10.1109\/LRA.2019.2894875","volume":"4","author":"A Sintov","year":"2019","unstructured":"Sintov, A., et al.: Learning a state transition model of an underactuated adaptive hand. IEEE Robot. Autom. Lett. 4(2), 1287\u20131294 (2019)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"39_CR34","series-title":"LNCIS","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0015081","volume-title":"Control Problems in Robotics and Automation","author":"MW Spong","year":"1997","unstructured":"Spong, M.W.: Underactuated mechanical systems. In: Siciliano, B., Valavanis, K.P. (eds.) Control Problems in Robotics and Automation. LNCIS, vol. 230. Springer, Heidelberg (1997). https:\/\/doi.org\/10.1007\/BFb0015081"}],"container-title":["Springer Proceedings in Advanced Robotics","Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-030-95459-8_39","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,2,17]],"date-time":"2022-02-17T19:06:45Z","timestamp":1645124805000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-3-030-95459-8_39"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022]]},"ISBN":["9783030954581","9783030954598"],"references-count":34,"URL":"https:\/\/doi.org\/10.1007\/978-3-030-95459-8_39","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"type":"print","value":"2511-1256"},{"type":"electronic","value":"2511-1264"}],"subject":[],"published":{"date-parts":[[2022]]},"assertion":[{"value":"17 February 2022","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ISRR","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"The International Symposium of Robotics Research","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Hanoi","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Vietnam","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2019","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"6 October 2019","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"10 October 2019","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"isrr2019","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/h2t-projects.webarchiv.kit.edu\/Projects\/ISRR2019\/","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}