{"id":"https://openalex.org/W2914433398","doi":"https://doi.org/10.1109/humanoids.2018.8625071","title":"Visual Manipulation Relationship Network for Autonomous Robotics","display_name":"Visual Manipulation Relationship Network for Autonomous Robotics","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2914433398","doi":"https://doi.org/10.1109/humanoids.2018.8625071","mag":"2914433398"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8625071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","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/A5074050672","display_name":"Hanbo Zhang","orcid":"https://orcid.org/0000-0002-2235-6855"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hanbo Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006277484","display_name":"Xuguang Lan","orcid":"https://orcid.org/0000-0002-3422-944X"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuguang Lan","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091548136","display_name":"Xinwen Zhou","orcid":"https://orcid.org/0000-0003-1357-7039"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinwen Zhou","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020301327","display_name":"Zhiqiang Tian","orcid":"https://orcid.org/0000-0002-3669-3748"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Tian","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101674942","display_name":"Yang Zhang","orcid":"https://orcid.org/0000-0001-9889-2921"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047405956","display_name":"Nanning Zheng","orcid":"https://orcid.org/0000-0003-1608-8257"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanning Zheng","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5074050672"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":3.7483,"has_fulltext":false,"cited_by_count":82,"citation_normalized_percentile":{"value":0.93972553,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"118","last_page":"125"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9908999800682068,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9905999898910522,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7815591096878052},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.770728588104248},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7326448559761047},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6707214117050171},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.655163049697876},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6487789154052734},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5539851188659668},{"id":"https://openalex.org/keywords/pooling","display_name":"Pooling","score":0.5510311126708984},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5211703777313232},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4281888008117676},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4256740212440491},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36159589886665344}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7815591096878052},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.770728588104248},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7326448559761047},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6707214117050171},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.655163049697876},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6487789154052734},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5539851188659668},{"id":"https://openalex.org/C70437156","wikidata":"https://www.wikidata.org/wiki/Q7228652","display_name":"Pooling","level":2,"score":0.5510311126708984},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5211703777313232},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4281888008117676},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4256740212440491},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36159589886665344},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2018.8625071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625071","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1536680647","https://openalex.org/W1547225229","https://openalex.org/W1686810756","https://openalex.org/W1892016050","https://openalex.org/W1892339738","https://openalex.org/W1969616664","https://openalex.org/W1999156278","https://openalex.org/W2017313218","https://openalex.org/W2090855657","https://openalex.org/W2093409667","https://openalex.org/W2098201806","https://openalex.org/W2124386111","https://openalex.org/W2125436662","https://openalex.org/W2160254296","https://openalex.org/W2161969291","https://openalex.org/W2168356304","https://openalex.org/W2194775991","https://openalex.org/W2201912979","https://openalex.org/W2251353663","https://openalex.org/W2292575701","https://openalex.org/W2415243675","https://openalex.org/W2443711627","https://openalex.org/W2479423890","https://openalex.org/W2557728737","https://openalex.org/W2575705757","https://openalex.org/W2607855566","https://openalex.org/W2613718673","https://openalex.org/W2626073992","https://openalex.org/W2736791688","https://openalex.org/W2754191212","https://openalex.org/W2791992091","https://openalex.org/W2883066247","https://openalex.org/W2962736495","https://openalex.org/W2962737704","https://openalex.org/W2962787403","https://openalex.org/W2962821282","https://openalex.org/W2963326767","https://openalex.org/W2963634205","https://openalex.org/W2963650529","https://openalex.org/W2963654160","https://openalex.org/W2964161785","https://openalex.org/W2964335674","https://openalex.org/W3106250896","https://openalex.org/W6620707391","https://openalex.org/W6691419566","https://openalex.org/W6697071109","https://openalex.org/W6715635355","https://openalex.org/W6721769334","https://openalex.org/W6739378191","https://openalex.org/W6741991900","https://openalex.org/W6749207649","https://openalex.org/W6785652829"],"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/W2953234277","https://openalex.org/W2019547100","https://openalex.org/W4401096132"],"abstract_inverted_index":{"Robotic":[0],"grasping":[1],"is":[2,180],"one":[3,34,137],"of":[4,24,157,174],"the":[5,22,38,57,63,86,95,119,167,183,192,206],"most":[6],"important":[7],"fields":[8],"in":[9,11,18,33,62,89,100,114,136,141,176,209],"robotics,":[10],"which":[12,52,92,179],"great":[13],"progress":[14],"has":[15],"been":[16],"made":[17],"recent":[19],"years":[20],"with":[21,160],"help":[23,80,130],"convolutional":[25],"neural":[26],"network":[27,194],"(CNN).":[28],"However,":[29],"including":[30],"multiple":[31],"objects":[32,48,175,198],"scene":[35],"can":[36,97,196],"invalidate":[37],"existing":[39],"CNN-based":[40],"grasp":[41,60],"detection":[42],"algorithms,":[43],"because":[44],"manipulation":[45,87,134,168,184,201],"relationships":[46,88,135,169,202],"among":[47],"are":[49,53],"not":[50],"considered,":[51],"required":[54],"to":[55,59,79,129,131,143],"guide":[56],"robot":[58,96,115,210],"things":[61],"right":[64],"order.":[65],"This":[66],"paper":[67],"presents":[68],"a":[69,101,148],"new":[70,193],"CNN":[71],"architecture":[72,195],"called":[73],"Visual":[74,151],"Manipulation":[75,152],"Relationship":[76,153],"Network":[77],"(VMRN)":[78],"robots":[81],"detect":[82,197],"targets":[83],"and":[84,103,110,166,199,204],"predict":[85,132,200],"real":[90],"time,":[91],"ensures":[93],"that":[94,191],"complete":[98],"tasks":[99],"safe":[102],"reliable":[104],"way.":[105],"To":[106],"implement":[107],"end-to-end":[108],"training":[109],"meet":[111,205],"real-time":[112,207],"requirements":[113,208],"tasks,":[116],"we":[117,146],"propose":[118],"Object":[120],"Pairing":[121],"Pooling":[122],"Layer":[123],"(OP":[124],"<sup":[125],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[126],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[127],"L)":[128],"all":[133,171],"forward":[138],"process.":[139],"Moreover,":[140],"order":[142],"train":[144],"VMRN,":[145],"collect":[147],"dataset":[149],"named":[150],"Dataset":[154],"(VMRD)":[155],"consisting":[156],"5185":[158],"images":[159],"more":[161],"than":[162],"17000":[163],"object":[164],"instances":[165],"between":[170],"possible":[172],"pairs":[173],"every":[177],"image,":[178],"labeled":[181],"by":[182],"relationship":[185],"tree.":[186],"The":[187],"experimental":[188],"results":[189],"show":[190],"simultaneously":[203],"tasks.":[211]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}