{"id":"https://openalex.org/W4402753299","doi":"https://doi.org/10.1109/cis-ram61939.2024.10672873","title":"PEGG-Net: Pixel-Wise Efficient Grasp Generation in Complex Scenes","display_name":"PEGG-Net: Pixel-Wise Efficient Grasp Generation in Complex Scenes","publication_year":2024,"publication_date":"2024-08-08","ids":{"openalex":"https://openalex.org/W4402753299","doi":"https://doi.org/10.1109/cis-ram61939.2024.10672873"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram61939.2024.10672873","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cis-ram61939.2024.10672873","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-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/A5047021656","display_name":"Haozhe Wang","orcid":"https://orcid.org/0000-0001-5123-1077"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Haozhe Wang","raw_affiliation_strings":["Advanced Robotics Centre National University of Singapore,Singapore"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Centre National University of Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100670657","display_name":"Zhiyang Liu","orcid":"https://orcid.org/0000-0003-1057-8706"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhiyang Liu","raw_affiliation_strings":["Advanced Robotics Centre National University of Singapore,Singapore"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Centre National University of Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100674991","display_name":"Lei Zhou","orcid":"https://orcid.org/0000-0001-5893-6002"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lei Zhou","raw_affiliation_strings":["Advanced Robotics Centre National University of Singapore,Singapore"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Centre National University of Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024862094","display_name":"Huan Yin","orcid":"https://orcid.org/0000-0002-0872-8202"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Huan Yin","raw_affiliation_strings":["Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,Department of Electronic and Computer Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["Advanced Robotics Centre National University of Singapore,Singapore"],"affiliations":[{"raw_affiliation_string":"Advanced Robotics Centre National University of Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5047021656"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.6968,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.71124721,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"199","last_page":"206"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9957000017166138,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.994700014591217,"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/grasp","display_name":"GRASP","score":0.9302288293838501},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6977428793907166},{"id":"https://openalex.org/keywords/pixel","display_name":"Pixel","score":0.6960420608520508},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5500614643096924},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5341823101043701},{"id":"https://openalex.org/keywords/net","display_name":"Net (polyhedron)","score":0.4767233431339264},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.35534659028053284},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15363484621047974},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.048420995473861694},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.03830915689468384}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9302288293838501},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6977428793907166},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.6960420608520508},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5500614643096924},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5341823101043701},{"id":"https://openalex.org/C14166107","wikidata":"https://www.wikidata.org/wiki/Q253829","display_name":"Net (polyhedron)","level":2,"score":0.4767233431339264},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.35534659028053284},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15363484621047974},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.048420995473861694},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.03830915689468384}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cis-ram61939.2024.10672873","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cis-ram61939.2024.10672873","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-141463","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-141463","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1892339738","https://openalex.org/W1999156278","https://openalex.org/W2123435073","https://openalex.org/W2201912979","https://openalex.org/W2476548250","https://openalex.org/W2485911221","https://openalex.org/W2523315006","https://openalex.org/W2600030077","https://openalex.org/W2626073992","https://openalex.org/W2824754393","https://openalex.org/W2953669419","https://openalex.org/W2962736495","https://openalex.org/W2962875890","https://openalex.org/W2963033241","https://openalex.org/W2963326767","https://openalex.org/W2966615203","https://openalex.org/W2978706708","https://openalex.org/W3000909746","https://openalex.org/W3009131247","https://openalex.org/W3035198432","https://openalex.org/W3056171435","https://openalex.org/W3090627744","https://openalex.org/W3104104643","https://openalex.org/W3130885760","https://openalex.org/W3169622581","https://openalex.org/W3179504572","https://openalex.org/W3197479652","https://openalex.org/W4288257146","https://openalex.org/W4289656330","https://openalex.org/W4292978855","https://openalex.org/W4293363567","https://openalex.org/W4380450805","https://openalex.org/W6677995690","https://openalex.org/W6739378191","https://openalex.org/W6781550413"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W2515493494"],"abstract_inverted_index":{"Vision-based":[0],"grasp":[1,17,71],"estimation":[2,18,72],"is":[3],"an":[4],"essential":[5],"part":[6],"of":[7,96,127],"robotic":[8],"manipulation":[9],"tasks":[10],"in":[11,26,79,98,134,141,160,176],"the":[12,47,68,76,94,108,116,125,187],"real":[13],"world.":[14],"Existing":[15],"planar":[16,70],"algorithms":[19,48,73,123],"have":[20],"been":[21],"demonstrated":[22],"to":[23,34,54,92,138],"work":[24],"well":[25],"relatively":[27],"simple":[28],"scenes.":[29,81,100,163],"However,":[30],"when":[31],"it":[32],"comes":[33],"complex":[35,80,99,128,162],"scenes,":[36],"such":[37],"as":[38],"cluttered":[39,158],"scenes":[40],"with":[41],"messy":[42],"backgrounds":[43],"and":[44,57,74,112,157,182,192],"moving":[45],"objects,":[46,179,181],"from":[49],"previous":[50],"works":[51],"are":[52,195],"prone":[53],"generate":[55],"inaccurate":[56],"unstable":[58],"grasping":[59,97,177],"contact":[60],"points.":[61],"In":[62],"this":[63],"work,":[64],"we":[65,83,150],"first":[66],"study":[67],"existing":[69,122],"analyze":[75],"related":[77],"challenges":[78],"Secondly,":[82],"design":[84],"a":[85,135,172],"Pixel-wise":[86],"Efficient":[87],"Grasp":[88],"Generation":[89],"Network":[90],"(PEGG-Net)":[91],"tackle":[93],"problem":[95],"PEGG-Net":[101,131],"can":[102],"achieve":[103],"improved":[104],"state-of-the-art":[105],"performance":[106,114],"on":[107,115,154],"Cornell":[109],"dataset":[110,118],"(98.9%)":[111],"second-best":[113],"Jacquard":[117],"(93.8%),":[119],"outperforming":[120],"other":[121],"without":[124],"introduction":[126],"structures.":[129],"Thirdly,":[130],"could":[132],"operate":[133],"closed-loop":[136],"manner":[137],"add":[139],"robustness":[140],"dynamic":[142],"environments":[143],"using":[144],"position-based":[145],"visual":[146],"servoing":[147],"(PBVS).":[148],"Finally,":[149],"conduct":[151],"real-world":[152],"experiments":[153],"static,":[155],"dynamic,":[156],"objects":[159],"different":[161],"The":[164],"results":[165],"show":[166],"that":[167],"our":[168,189],"proposed":[169],"network":[170],"achieves":[171],"high":[173],"success":[174],"rate":[175],"irregular":[178],"household":[180],"workshop":[183],"tools.":[184],"To":[185],"benefit":[186],"community,":[188],"trained":[190],"model":[191],"supplementary":[193],"materials":[194],"available":[196],"at":[197],"https://github.com/HZWang96/PEGG-Net.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-04T09:10:02.777135","created_date":"2025-10-10T00:00:00"}
