{"id":"https://openalex.org/W4412549792","doi":"https://doi.org/10.1007/s11370-025-00630-0","title":"Multi-head self-attention convolution and adaptive feature fusion network for pixel-level multi-object planar grasping detection","display_name":"Multi-head self-attention convolution and adaptive feature fusion network for pixel-level multi-object planar grasping detection","publication_year":2025,"publication_date":"2025-07-22","ids":{"openalex":"https://openalex.org/W4412549792","doi":"https://doi.org/10.1007/s11370-025-00630-0"},"language":"en","primary_location":{"id":"doi:10.1007/s11370-025-00630-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-025-00630-0","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065058741","display_name":"Chunsheng Liu","orcid":"https://orcid.org/0000-0001-5516-2486"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunsheng Liu","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Ji\u2019nan, 250061, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Ji\u2019nan, 250061, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079652198","display_name":"Rurui Yang","orcid":"https://orcid.org/0009-0006-3512-3344"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rurui Yang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Ji\u2019nan, 250061, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Ji\u2019nan, 250061, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070332088","display_name":"Faliang Chang","orcid":"https://orcid.org/0000-0003-1276-2267"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Faliang Chang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Ji\u2019nan, 250061, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Ji\u2019nan, 250061, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043850288","display_name":"Dexin Wang","orcid":"https://orcid.org/0000-0002-7956-6423"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dexin Wang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Ji\u2019nan, 250061, China"],"raw_orcid":"https://orcid.org/0000-0002-7956-6423","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Ji\u2019nan, 250061, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070332088"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18045921,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"18","issue":"5","first_page":"1017","last_page":"1032"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9776999950408936,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9562000036239624,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/computer-science","display_name":"Computer science","score":0.9076052308082581},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7179490327835083},{"id":"https://openalex.org/keywords/convolution","display_name":"Convolution (computer science)","score":0.671727180480957},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6494709253311157},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.6433264017105103},{"id":"https://openalex.org/keywords/head","display_name":"Head (geology)","score":0.6046818494796753},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.6025385856628418},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5391630530357361},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5379289984703064},{"id":"https://openalex.org/keywords/fusion","display_name":"Fusion","score":0.46580085158348083},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.44217658042907715},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.43577536940574646},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.23351237177848816},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.16863849759101868}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.9076052308082581},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7179490327835083},{"id":"https://openalex.org/C45347329","wikidata":"https://www.wikidata.org/wiki/Q5166604","display_name":"Convolution (computer science)","level":3,"score":0.671727180480957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6494709253311157},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.6433264017105103},{"id":"https://openalex.org/C2780312720","wikidata":"https://www.wikidata.org/wiki/Q5689100","display_name":"Head (geology)","level":2,"score":0.6046818494796753},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.6025385856628418},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5391630530357361},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5379289984703064},{"id":"https://openalex.org/C158525013","wikidata":"https://www.wikidata.org/wiki/Q2593739","display_name":"Fusion","level":2,"score":0.46580085158348083},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.44217658042907715},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.43577536940574646},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.23351237177848816},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.16863849759101868},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C114793014","wikidata":"https://www.wikidata.org/wiki/Q52109","display_name":"Geomorphology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s11370-025-00630-0","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11370-025-00630-0","pdf_url":null,"source":{"id":"https://openalex.org/S145649206","display_name":"Intelligent Service Robotics","issn_l":"1861-2776","issn":["1861-2776","1861-2784"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Intelligent Service Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2739461422","display_name":null,"funder_award_id":"2018YFB1305300","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1820657498","https://openalex.org/W1892339738","https://openalex.org/W1981276685","https://openalex.org/W1999156278","https://openalex.org/W2036637075","https://openalex.org/W2123435073","https://openalex.org/W2193145675","https://openalex.org/W2194775991","https://openalex.org/W2201912979","https://openalex.org/W2572996265","https://openalex.org/W2600030077","https://openalex.org/W2736762515","https://openalex.org/W2773072043","https://openalex.org/W2824754393","https://openalex.org/W2885511330","https://openalex.org/W2906047344","https://openalex.org/W2927210599","https://openalex.org/W2953669419","https://openalex.org/W2955058313","https://openalex.org/W2962821282","https://openalex.org/W2962984928","https://openalex.org/W2963037989","https://openalex.org/W2963326767","https://openalex.org/W2963351448","https://openalex.org/W2963550225","https://openalex.org/W2964309882","https://openalex.org/W2986303149","https://openalex.org/W2999158598","https://openalex.org/W3008273191","https://openalex.org/W3056171435","https://openalex.org/W3090627744","https://openalex.org/W3104104643","https://openalex.org/W3106250896","https://openalex.org/W3130885760","https://openalex.org/W3134219938","https://openalex.org/W3138516171","https://openalex.org/W3169865585","https://openalex.org/W3170679572","https://openalex.org/W3196378355","https://openalex.org/W3206366740","https://openalex.org/W4200010671","https://openalex.org/W4210316419","https://openalex.org/W4221167790","https://openalex.org/W4292978855","https://openalex.org/W4317242584","https://openalex.org/W4321232185","https://openalex.org/W4322490935","https://openalex.org/W4323767275","https://openalex.org/W4360615633","https://openalex.org/W4380450805","https://openalex.org/W4399563339","https://openalex.org/W6600175266","https://openalex.org/W6600339457","https://openalex.org/W6602452458","https://openalex.org/W6828894009","https://openalex.org/W6837374645"],"related_works":["https://openalex.org/W2010009304","https://openalex.org/W3097502728","https://openalex.org/W3021694725","https://openalex.org/W1996851061","https://openalex.org/W2940695648","https://openalex.org/W1973684381","https://openalex.org/W2096304864","https://openalex.org/W4251403274","https://openalex.org/W2121107213","https://openalex.org/W2038492089"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-10-10T00:00:00"}