{"id":"https://openalex.org/W2973439545","doi":"https://doi.org/10.1007/978-3-030-95459-8_17","title":"Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making","display_name":"Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W2973439545","doi":"https://doi.org/10.1007/978-3-030-95459-8_17","mag":"2973439545"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-95459-8_17","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319965","https://openalex.org/P4310319972"],"host_organization_lineage_names":["Springer Nature","Springer International Publishing"],"type":"book series"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"book-chapter","type_crossref":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://arxiv.org/pdf/1809.09810","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041660944","display_name":"Daniel Seita","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Daniel Seita","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, 94720, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069881977","display_name":"Nawid Jamali","orcid":"https://orcid.org/0000-0003-0660-000X"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nawid Jamali","raw_affiliation_strings":["Honda Research Institute, San Jose, USA"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute, San Jose, USA","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052716347","display_name":"Michael Laskey","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Laskey","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, 94720, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088063475","display_name":"Ajay Kumar Tanwani","orcid":"https://orcid.org/0000-0002-6365-8315"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ajay Kumar Tanwani","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, 94720, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063215557","display_name":"Ron Berenstein","orcid":"https://orcid.org/0000-0003-2372-9606"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ron Berenstein","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, 94720, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013525984","display_name":"Prakash Baskaran","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Prakash Baskaran","raw_affiliation_strings":["Honda Research Institute, San Jose, USA"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute, San Jose, USA","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079765333","display_name":"Soshi Iba","orcid":"https://orcid.org/0000-0001-5346-3218"},"institutions":[{"id":"https://openalex.org/I4210145184","display_name":"Honda (United States)","ror":"https://ror.org/04vdmc602","country_code":"US","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210145184"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Soshi Iba","raw_affiliation_strings":["Honda Research Institute, San Jose, USA"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute, San Jose, USA","institution_ids":["https://openalex.org/I4210145184"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089723214","display_name":"John Canny","orcid":"https://orcid.org/0000-0002-7161-7927"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Canny","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, 94720, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, 94720, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, 94720, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5041660944"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":34.121,"has_fulltext":false,"cited_by_count":61,"citation_normalized_percentile":{"value":0.999652,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"275","last_page":"290"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robotic Grasping and Learning from Demonstration","score":0.9997,"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":"Robotic Grasping and Learning from Demonstration","score":0.9997,"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/T10191","display_name":"Simultaneous Localization and Mapping","score":0.9991,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10531","display_name":"Stereo Vision and Depth Estimation","score":0.9969,"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-learning","display_name":"Robot Learning","score":0.538503},{"id":"https://openalex.org/keywords/depth-estimation","display_name":"Depth Estimation","score":0.523068},{"id":"https://openalex.org/keywords/human-robot-collaboration","display_name":"Human-Robot Collaboration","score":0.521562},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep Learning","score":0.511747}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6927228},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.66880316},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5636278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5470423},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.49641997},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.4788087},{"id":"https://openalex.org/C2779261148","wikidata":"https://www.wikidata.org/wiki/Q5852","display_name":"Blanket","level":2,"score":0.46094286},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33800778},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1755048},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12340295},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10839385},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-95459-8_17","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319965","https://openalex.org/P4310319972"],"host_organization_lineage_names":["Springer Nature","Springer International Publishing"],"type":"book series"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1809.09810","pdf_url":"http://arxiv.org/pdf/1809.09810","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://arxiv.org/abs/1809.09810","pdf_url":"http://arxiv.org/pdf/1809.09810","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":42,"referenced_works":["https://openalex.org/W1584687743","https://openalex.org/W1851340573","https://openalex.org/W1966561894","https://openalex.org/W1972978214","https://openalex.org/W1982920857","https://openalex.org/W1988074429","https://openalex.org/W2019223072","https://openalex.org/W2042722096","https://openalex.org/W2045111204","https://openalex.org/W2052461980","https://openalex.org/W2063932736","https://openalex.org/W2079580422","https://openalex.org/W2085261163","https://openalex.org/W2086054317","https://openalex.org/W2089630413","https://openalex.org/W2096404799","https://openalex.org/W2096980258","https://openalex.org/W2105537999","https://openalex.org/W2111308925","https://openalex.org/W2113295453","https://openalex.org/W2137549137","https://openalex.org/W2154831260","https://openalex.org/W2167049518","https://openalex.org/W2167224731","https://openalex.org/W2287201237","https://openalex.org/W2472053385","https://openalex.org/W2736525866","https://openalex.org/W2736750746","https://openalex.org/W2738522242","https://openalex.org/W2767221003","https://openalex.org/W2801910602","https://openalex.org/W2911709767","https://openalex.org/W2953391683","https://openalex.org/W2963037989","https://openalex.org/W2963504951","https://openalex.org/W2963669336","https://openalex.org/W2964091363","https://openalex.org/W2964121744","https://openalex.org/W2969026184","https://openalex.org/W3104509089","https://openalex.org/W34950630","https://openalex.org/W4252397359"],"related_works":["https://openalex.org/W3116076068","https://openalex.org/W2775347418","https://openalex.org/W2772917594","https://openalex.org/W2755342338","https://openalex.org/W2229312674","https://openalex.org/W2166024367","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W1969923398","https://openalex.org/W1891287906"],"abstract_inverted_index":{"A":[0],"fundamental":[1],"challenge":[2],"in":[3],"manipulating":[4],"fabric":[5,168],"for":[6,40,134,139,158],"clothes":[7],"folding":[8],"and":[9,44,57,78,81,87,107,137,149],"textiles":[10],"manufacturing":[11],"is":[12],"computing":[13],"\u201cpick":[14],"points\u201d":[15],"to":[16,33,42,62,145],"effectively":[17,171],"modify":[18],"the":[19,48,75,79,103,124,135],"state":[20],"of":[21,50,84,100,156],"an":[22],"uncertain":[23],"manifold.":[24],"We":[25,46,66,89],"present":[26],"a":[27,53,98,113,117],"supervised":[28],"deep":[29],"transfer":[30],"learning":[31],"approach":[32],"locate":[34],"pick":[35,60,110,165],"points":[36,61,166],"using":[37],"depth":[38],"images":[39],"invariance":[41],"color":[43],"texture.":[45],"consider":[47],"task":[49],"bed-making,":[51],"where":[52],"robot":[54,164],"sequentially":[55],"grasps":[56],"pulls":[58],"at":[59,102],"increase":[63],"blanket":[64,105,129],"coverage.":[65,152],"perform":[67],"physical":[68],"experiments":[69],"with":[70,120,132],"two":[71,125,146],"mobile":[72],"manipulator":[73],"robots,":[74],"Toyota":[76],"HSR":[77],"Fetch,":[80],"three":[82],"blankets":[83,148],"different":[85],"colors":[86],"textures.":[88],"compare":[90],"coverage":[91,130,154],"results":[92,155],"from":[93,123],"(1)":[94],"human":[95,140],"supervision,":[96],"(2)":[97],"baseline":[99,136],"picking":[101],"uppermost":[104],"point,":[106],"(3)":[108],"learned":[109],"points.":[111],"On":[112],"quarter-scale":[114],"twin":[115],"bed,":[116],"model":[118,143],"trained":[119],"combined":[121],"data":[122],"robots":[126],"achieves":[127,150],"92%":[128,157],"compared":[131],"83%":[133],"95%":[138],"supervisors.":[141],"The":[142],"transfers":[144],"novel":[147],"93%":[151],"Average":[153],"193":[159],"beds":[160],"suggest":[161],"that":[162],"transfer-invariant":[163],"on":[167],"can":[169],"be":[170],"learned.":[172]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2973439545","counts_by_year":[{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1}],"updated_date":"2024-10-27T12:21:44.375575","created_date":"2019-09-26"}
