{"id":"https://openalex.org/W2910788814","doi":"https://doi.org/10.1109/iros.2018.8593954","title":"Teaching a Robot to Grasp Real Fish by Imitation Learning from a Human Supervisor in Virtual Reality","display_name":"Teaching a Robot to Grasp Real Fish by Imitation Learning from a Human Supervisor in Virtual Reality","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910788814","doi":"https://doi.org/10.1109/iros.2018.8593954","mag":"2910788814"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593954","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/2582626/1/GraspingRealFishIROS2018v3.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043938316","display_name":"Jonatan Sj\u00f8lund Dyrstad","orcid":null},"institutions":[],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Jonatan S. Dyrstad","raw_affiliation_strings":["Department of Engineering Cybernetics, NTNU, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, NTNU, Trondheim, Norway","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025744217","display_name":"Elling Ruud \u00d8ye","orcid":"https://orcid.org/0000-0001-8955-8374"},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Elling Ruud Oye","raw_affiliation_strings":["SINTEF Ocean AS, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"SINTEF Ocean AS, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033793373","display_name":"Annette Stahl","orcid":"https://orcid.org/0000-0002-8422-1091"},"institutions":[],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Annette Stahl","raw_affiliation_strings":["Department of Engineering Cybernetics, NTNU, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"Department of Engineering Cybernetics, NTNU, Trondheim, Norway","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032689819","display_name":"John Reidar Mathiassen","orcid":null},"institutions":[{"id":"https://openalex.org/I173888879","display_name":"SINTEF","ror":"https://ror.org/01f677e56","country_code":"NO","type":"facility","lineage":["https://openalex.org/I173888879"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"John Reidar Mathiassen","raw_affiliation_strings":["SINTEF Ocean AS, Trondheim, Norway"],"affiliations":[{"raw_affiliation_string":"SINTEF Ocean AS, Trondheim, Norway","institution_ids":["https://openalex.org/I173888879"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.043,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":22,"citation_normalized_percentile":{"value":0.925477,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":92},"biblio":{"volume":null,"issue":null,"first_page":"7185","last_page":"7192"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9972,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9871,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.6549016}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7255657},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.68550223},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.6549016},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.61940897},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.6171138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5961301},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4962011},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44049677},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.42255396},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.414282},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3377955},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593954","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2582626","pdf_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/2582626/1/GraspingRealFishIROS2018v3.pdf","source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":["University of Oslo"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"http://hdl.handle.net/11250/2582626","pdf_url":"https://ntnuopen.ntnu.no/ntnu-xmlui/bitstream/11250/2582626/1/GraspingRealFishIROS2018v3.pdf","source":{"id":"https://openalex.org/S4306401716","display_name":"Duo Research Archive (University of Oslo)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I184942183","host_organization_name":"University of Oslo","host_organization_lineage":["https://openalex.org/I184942183"],"host_organization_lineage_names":["University of Oslo"],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"display_name":"Life below water","score":0.8,"id":"https://metadata.un.org/sdg/14"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":21,"referenced_works":["https://openalex.org/W116751493","https://openalex.org/W1522301498","https://openalex.org/W1571443057","https://openalex.org/W1769933788","https://openalex.org/W1920022804","https://openalex.org/W1986014385","https://openalex.org/W1999156278","https://openalex.org/W2041376653","https://openalex.org/W2106628124","https://openalex.org/W2123435073","https://openalex.org/W2161923944","https://openalex.org/W2172156083","https://openalex.org/W2402144811","https://openalex.org/W2413397042","https://openalex.org/W2554404329","https://openalex.org/W2605102758","https://openalex.org/W2773721443","https://openalex.org/W2792243241","https://openalex.org/W2953384591","https://openalex.org/W2962736495","https://openalex.org/W2964121744"],"related_works":["https://openalex.org/W4387731985","https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525"],"abstract_inverted_index":{"We":[0],"teach":[1],"a":[2,11,25,40,54,71,74,86,113,145,152],"real":[3,7,114,120,159],"robot":[4,13,21,115,141],"to":[5,65,84,111,118,138,157],"grasp":[6,66,119],"fish,":[8],"by":[9],"training":[10,89,105],"virtual":[12,16,29,52,149],"exclusively":[14],"in":[15,28,136,148,151],"reality.":[17,30],"Our":[18],"approach":[19,131],"implements":[20],"imitation":[22,142],"learning":[23,143],"from":[24,39,45,144],"human":[26,55,146],"supervisor":[27,56,147],"A":[31],"deep":[32],"3D":[33,41],"convolutional":[34],"neural":[35],"network":[36,108],"computes":[37],"grasps":[38,97],"occupancy":[42],"grid":[43],"obtained":[44],"depth":[46],"imaging":[47],"at":[48],"multiple":[49],"viewpoints.":[50],"In":[51],"reality,":[53],"can":[57],"easily":[58],"and":[59,116],"intuitively":[60],"demonstrate":[61],"examples":[62],"of":[63,77,93,98],"how":[64,137],"an":[67],"object,":[68],"such":[69],"as":[70],"fish.":[72,99],"From":[73],"few":[75],"dozen":[76],"these":[78],"demonstrations,":[79],"we":[80],"use":[81],"domain":[82,129],"randomization":[83,130],"generate":[85],"large":[87],"synthetic":[88],"data":[90,102],"set":[91,103],"consisting":[92],"100":[94],"000":[95],"example":[96],"Using":[100],"this":[101],"for":[104],"purposes,":[106],"the":[107,133,158],"is":[109],"able":[110],"guide":[112],"gripper":[117],"fish":[121],"with":[122],"good":[123],"success":[124],"rates.":[125],"The":[126],"newly":[127],"proposed":[128],"constitutes":[132],"first":[134],"step":[135],"efficiently":[139],"perform":[140],"reality":[150],"way":[153],"that":[154],"transfers":[155],"well":[156],"world.":[160]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2910788814","counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2025-03-21T02:37:44.943463","created_date":"2019-01-25"}