{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,26]],"date-time":"2026-03-26T07:28:26Z","timestamp":1774510106331,"version":"3.50.1"},"reference-count":58,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9561802","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"6169-6176","source":"Crossref","is-referenced-by-count":98,"title":["Learning Dexterous Grasping with Object-Centric Visual Affordances"],"prefix":"10.1109","author":[{"given":"Priyanka","family":"Mandikal","sequence":"first","affiliation":[]},{"given":"Kristen","family":"Grauman","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.049"},{"key":"ref38","article-title":"State-only imitation learning for dexterous manipulation","author":"radosavovic","year":"2020"},{"key":"ref33","article-title":"Deep dynamics models for learning dexterous manipulation","author":"nagabandi","year":"2019","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139369"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8463147"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00299"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461039"},{"key":"ref36","article-title":"S4g: Amodal single-view single-shot se (3) grasp detection in cluttered scenes","author":"qin","year":"2020","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487517"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00878"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793733"},{"key":"ref27","article-title":"Roboturk: A crowdsourcing platform for robotic skill learning through imitation","author":"mandlekar","year":"2018"},{"key":"ref29","article-title":"Graspit! a versatile simulator for robotic grasping","author":"miller","year":"2004","journal-title":"IEEE Robotics & Automation Magazine"},{"key":"ref2","article-title":"Generalization of human grasping for multifingered robot hands","author":"amor","year":"2012","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"ref1","article-title":"Solving rubik&#x2019;s cube with a robot hand","author":"akkaya","year":"2019"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2975706"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914549607"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630771"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197343"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917710318"},{"key":"ref26","author":"mahler","year":"2017","journal-title":"Dex-Net 2 0 Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.106"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"ref51","article-title":"Deep object pose estimation for semantic robotic grasping of household objects","author":"tremblay","year":"2018","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.009"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794102"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461044"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197331"},{"key":"ref54","article-title":"Gripping a kitchen knife from the cutting board","author":"xue","year":"2020","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems IROS"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196783"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225116"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5652970"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00228"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139361"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759557"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197124"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.90"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794033"},{"key":"ref16","article-title":"Qt-opt: Scalable deep reinforcement learning for vision-based robotic manipulation","author":"kalashnikov","year":"2018","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843618500135"},{"key":"ref18","article-title":"Adam: A method for stochastic optimization","author":"kingma","year":"2014"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8239542"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907059"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919887447"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00891"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844081"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399227"},{"key":"ref7","author":"brahmbhatt","year":"2019","journal-title":"Contactgrasp Functional multi-finger grasp synthesis from contact"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202133"},{"key":"ref9","article-title":"Affordancenet: An end-to-end deep learning approach for object affordance detection","author":"do","year":"2017","journal-title":"ICRA"},{"key":"ref46","article-title":"Third-person visual imitation learning via decoupled hierarchical controller","author":"sharma","year":"2019","journal-title":"NeurIPS"},{"key":"ref45","article-title":"Multiple interactions made easy (mime): Large scale demonstrations data for imitation","author":"sharma","year":"2018","journal-title":"CoRL"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917735594"},{"key":"ref47","article-title":"Robobarista: Object part-based transfer of manipulation trajectories from crowdsourcing in 3d pointclouds","author":"sung","year":"2015","journal-title":"International Symposium on Robotics Research (ISRR)"},{"key":"ref42","article-title":"Proximal policy optimization algorithms","author":"schulman","year":"2017"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-014-9402-3"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969946"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462891"}],"event":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","location":"Xi'an, China","start":{"date-parts":[[2021,5,30]]},"end":{"date-parts":[[2021,6,5]]}},"container-title":["2021 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9560720\/9560666\/09561802.pdf?arnumber=9561802","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T15:47:20Z","timestamp":1652197640000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9561802\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":58,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9561802","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}