{"id":"https://openalex.org/W3090727760","doi":"https://doi.org/10.1109/icra40945.2020.9197247","title":"Dex-Net AR: Distributed Deep Grasp Planning Using a Commodity Cellphone and Augmented Reality App","display_name":"Dex-Net AR: Distributed Deep Grasp Planning Using a Commodity Cellphone and Augmented Reality App","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090727760","doi":"https://doi.org/10.1109/icra40945.2020.9197247","mag":"3090727760"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197247","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","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/A5103226976","display_name":"Harry Zhang","orcid":"https://orcid.org/0009-0003-1903-274X"},"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":"Harry Zhang","raw_affiliation_strings":["University of California at Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005587345","display_name":"Jeffrey Ichnowski","orcid":"https://orcid.org/0000-0003-4874-9478"},"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":"Jeffrey Ichnowski","raw_affiliation_strings":["University of California at Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061753410","display_name":"Yahav Avigal","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":"Yahav Avigal","raw_affiliation_strings":["University of California at Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000853761","display_name":"Joseph E. Gonzales","orcid":"https://orcid.org/0000-0003-1051-6185"},"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":"Joseph Gonzales","raw_affiliation_strings":["University of California at Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041920173","display_name":"Ion Stoica","orcid":"https://orcid.org/0000-0002-5373-0088"},"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":"Ion Stoica","raw_affiliation_strings":["University of California at Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California at Berkeley, Berkeley, CA, 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 at Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5103226976"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.4413,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62640317,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"552","last_page":"558"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9940000176429749,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9817000031471252,"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/augmented-reality","display_name":"Augmented reality","score":0.8188358545303345},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7909983396530151},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7232460975646973},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6336343288421631},{"id":"https://openalex.org/keywords/overlay","display_name":"Overlay","score":0.4424035847187042},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43879154324531555},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.427081435918808},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.41854327917099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38204532861709595},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3819032609462738},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3801063895225525},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.21959561109542847}],"concepts":[{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.8188358545303345},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7909983396530151},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7232460975646973},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6336343288421631},{"id":"https://openalex.org/C136085584","wikidata":"https://www.wikidata.org/wiki/Q910289","display_name":"Overlay","level":2,"score":0.4424035847187042},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43879154324531555},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.427081435918808},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.41854327917099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38204532861709595},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3819032609462738},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3801063895225525},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.21959561109542847},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197247","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.5600000023841858,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W70651934","https://openalex.org/W130930458","https://openalex.org/W301947972","https://openalex.org/W1808974695","https://openalex.org/W1969868017","https://openalex.org/W1981667747","https://openalex.org/W1986533639","https://openalex.org/W2001427579","https://openalex.org/W2036637075","https://openalex.org/W2085261163","https://openalex.org/W2119946558","https://openalex.org/W2123966726","https://openalex.org/W2125186487","https://openalex.org/W2126496149","https://openalex.org/W2150690761","https://openalex.org/W2295936755","https://openalex.org/W2533256670","https://openalex.org/W2600030077","https://openalex.org/W2773721443","https://openalex.org/W2885553657","https://openalex.org/W2895793034","https://openalex.org/W2903233845","https://openalex.org/W2906788812","https://openalex.org/W2910474428","https://openalex.org/W2914944935","https://openalex.org/W2947260235","https://openalex.org/W2953249127","https://openalex.org/W2955409087","https://openalex.org/W2963221299","https://openalex.org/W2974428228","https://openalex.org/W3112422759","https://openalex.org/W3135284210","https://openalex.org/W3210232381","https://openalex.org/W4206434639","https://openalex.org/W6610726329","https://openalex.org/W6677794103","https://openalex.org/W6746713385","https://openalex.org/W6763078997","https://openalex.org/W6765620290","https://openalex.org/W6803376173"],"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":{"Consumer":[0],"demand":[1],"for":[2],"augmented":[3],"reality":[4],"(AR)":[5],"in":[6,88],"mobile":[7],"phone":[8],"applications,":[9],"such":[10,27],"as":[11,28,52,108],"the":[12,50,60,112,119],"Apple":[13],"ARKit.":[14],"Such":[15],"applications":[16],"have":[17],"potential":[18],"to":[19,22,37,68,82,85,98],"expand":[20],"access":[21],"robot":[23],"grasp":[24,96,101],"planning":[25],"systems":[26],"Dex-Net.":[29],"AR":[30,117,137],"apps":[31],"use":[32],"structure":[33],"from":[34,42],"motion":[35],"methods":[36],"compute":[38],"a":[39,43,73,86,100],"point":[40,62,80],"cloud":[41],"sequence":[44],"of":[45],"RGB":[46],"images":[47],"taken":[48],"by":[49,94],"camera":[51],"it":[53],"is":[54,104,151],"moved":[55],"around":[56],"an":[57,109],"object.":[58,113],"However,":[59],"resulting":[61],"clouds":[63,81],"are":[64,142],"often":[65],"noisy":[66],"due":[67],"estimation":[69],"errors.":[70],"We":[71,114],"present":[72],"distributed":[74],"pipeline,":[75],"Dex-Net":[76,95,116],"AR,":[77],"that":[78,103],"allows":[79],"be":[83],"uploaded":[84],"server":[87,149],"our":[89],"lab,":[90],"cleaned,":[91],"and":[92,106,121,123],"evaluated":[93],"planner":[97],"generate":[99],"axis":[102],"returned":[105],"displayed":[107],"overlay":[110],"on":[111,138],"implement":[115],"using":[118],"iPhone":[120],"ARKit":[122],"compare":[124],"results":[125],"with":[126,129,136],"those":[127],"generated":[128],"high-performance":[130],"depth":[131,146],"sensors.":[132],"The":[133,148],"success":[134],"rates":[135],"harder":[139],"adversarial":[140],"objects":[141],"higher":[143],"than":[144],"traditional":[145],"images.":[147],"URL":[150],"https://sites.google.com/berkeley.edu/dex-net-ar/home.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}