{"id":"https://openalex.org/W4285102236","doi":"https://doi.org/10.1109/icra46639.2022.9811666","title":"FFHNet: Generating Multi-Fingered Robotic Grasps for Unknown Objects in Real-time","display_name":"FFHNet: Generating Multi-Fingered Robotic Grasps for Unknown Objects in Real-time","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102236","doi":"https://doi.org/10.1109/icra46639.2022.9811666"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811666","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mediatum.ub.tum.de/1664142","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068641943","display_name":"Vincent Mayer","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Vincent Mayer","raw_affiliation_strings":["Agile Robots AG"],"affiliations":[{"raw_affiliation_string":"Agile Robots AG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067605561","display_name":"Qian Feng","orcid":"https://orcid.org/0000-0002-8044-1468"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qian Feng","raw_affiliation_strings":["Agile Robots AG"],"affiliations":[{"raw_affiliation_string":"Agile Robots AG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035687118","display_name":"Jun Deng","orcid":"https://orcid.org/0000-0002-1756-692X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jun Deng","raw_affiliation_strings":["Agile Robots AG"],"affiliations":[{"raw_affiliation_string":"Agile Robots AG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104125012","display_name":"Yunlei Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yunlei Shi","raw_affiliation_strings":["Agile Robots AG"],"affiliations":[{"raw_affiliation_string":"Agile Robots AG","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705037","display_name":"Zhaopeng Chen","orcid":"https://orcid.org/0000-0003-0375-9146"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhaopeng Chen","raw_affiliation_strings":["Agile Robots AG"],"affiliations":[{"raw_affiliation_string":"Agile Robots AG","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I4210145666","display_name":"Embedded Systems (United States)","ror":"https://ror.org/04742eh45","country_code":"US","type":"company","lineage":["https://openalex.org/I4210145666"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["Technische Universit&#x00E4;t M&#x00FC;nchen,Chair for Robotics and Embedded Systems"],"affiliations":[{"raw_affiliation_string":"Technische Universit&#x00E4;t M&#x00FC;nchen,Chair for Robotics and Embedded Systems","institution_ids":["https://openalex.org/I4210145666"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5068641943"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.4938,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.98958544,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"762","last_page":"769"},"is_retracted":false,"is_paratext":false,"is_xpac":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":0.9901000261306763,"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":0.9836000204086304,"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/grasp","display_name":"GRASP","score":0.9010791778564453},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7983994483947754},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7260218858718872},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.6812011003494263},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5826951265335083},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5726121664047241},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.4587647318840027}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9010791778564453},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7983994483947754},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7260218858718872},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.6812011003494263},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5826951265335083},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5726121664047241},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.4587647318840027},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra46639.2022.9811666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811666","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1664142","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1664142","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1664142","is_oa":true,"landing_page_url":"https://mediatum.ub.tum.de/1664142","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3079160684","display_name":null,"funder_award_id":"778602","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W1503925285","https://openalex.org/W1505952289","https://openalex.org/W1510186039","https://openalex.org/W1522301498","https://openalex.org/W1553765417","https://openalex.org/W1564897360","https://openalex.org/W1579853615","https://openalex.org/W1959608418","https://openalex.org/W1964185356","https://openalex.org/W1984237968","https://openalex.org/W2000395096","https://openalex.org/W2005756025","https://openalex.org/W2085261163","https://openalex.org/W2106215490","https://openalex.org/W2170940415","https://openalex.org/W2188365844","https://openalex.org/W2194775991","https://openalex.org/W2205950488","https://openalex.org/W2256378168","https://openalex.org/W2524140598","https://openalex.org/W2560609797","https://openalex.org/W2577484822","https://openalex.org/W2600030077","https://openalex.org/W2751348014","https://openalex.org/W2773993404","https://openalex.org/W2791026634","https://openalex.org/W2797250424","https://openalex.org/W2890646997","https://openalex.org/W2939294015","https://openalex.org/W2949924544","https://openalex.org/W2962737955","https://openalex.org/W2963121255","https://openalex.org/W2969694596","https://openalex.org/W2975039016","https://openalex.org/W2978864797","https://openalex.org/W2982448633","https://openalex.org/W2986303149","https://openalex.org/W3003296541","https://openalex.org/W3004103739","https://openalex.org/W3008273191","https://openalex.org/W3013573293","https://openalex.org/W3014041360","https://openalex.org/W3020298515","https://openalex.org/W3039599385","https://openalex.org/W3081268564","https://openalex.org/W3082790508","https://openalex.org/W3087305890","https://openalex.org/W3089966216","https://openalex.org/W3090032229","https://openalex.org/W3091619233","https://openalex.org/W3099926824","https://openalex.org/W3100922749","https://openalex.org/W3101269502","https://openalex.org/W3101435634","https://openalex.org/W3207287914","https://openalex.org/W6631190155","https://openalex.org/W6632810226","https://openalex.org/W6640963894","https://openalex.org/W6687045409","https://openalex.org/W6727462969","https://openalex.org/W6739778489","https://openalex.org/W6748703477","https://openalex.org/W6750987562","https://openalex.org/W6763422710","https://openalex.org/W6766850847","https://openalex.org/W6769823609","https://openalex.org/W6775379868","https://openalex.org/W6782841687","https://openalex.org/W6783508354","https://openalex.org/W6783565680","https://openalex.org/W6787091119"],"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/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W2515493494"],"abstract_inverted_index":{"Grasping":[0],"unknown":[1,128],"objects":[2,61,129],"with":[3,70,95],"multi-fingered":[4,57,93],"hands":[5],"at":[6,102],"high":[7],"success":[8,126],"rates":[9],"and":[10,67,132],"in":[11,21,130],"real-time":[12,90],"is":[13,86],"an":[14,46],"unsolved":[15],"problem.":[16],"Existing":[17],"methods":[18],"are":[19,120],"limited":[20],"the":[22,28,37,80,87,96,135],"speed":[23],"of":[24,34,55,82,138],"grasp":[25,100,114],"synthesis":[26],"or":[27],"ability":[29,97],"to":[30,98,122],"synthesize":[31],"a":[32,52,63,76],"variety":[33,54],"grasps":[35,58,69,141],"from":[36,62],"same":[38],"observation.":[39],"We":[40,119],"introduce":[41],"Five-finger":[42],"Hand":[43],"Net":[44],"(FFHNet),":[45],"ML":[47],"model":[48],"which":[49],"can":[50],"generate":[51,112],"wide":[53],"high-quality":[56,140],"for":[59,92,116,127,143],"unseen":[60,145],"single":[64],"view.":[65],"Generating":[66],"evaluating":[68],"FFHNet":[71,85],"takes":[72],"only":[73],"30ms":[74],"on":[75],"commodity":[77],"GPU.":[78],"To":[79],"best":[81],"our":[83],"knowledge,":[84],"first":[88],"ML-based":[89],"system":[91],"grasping":[94,125],"perform":[99],"inference":[101],"30":[103],"frames":[104],"per":[105],"second":[106],"(FPS).":[107],"For":[108],"training,":[109],"we":[110,133],"synthetically":[111],"180k":[113],"samples":[115],"129":[117],"objects.":[118,146],"able":[121],"achieve":[123],"91%":[124],"simulation":[131],"demonstrate":[134],"model's":[136],"capabilities":[137],"synthesizing":[139],"also":[142],"real":[144]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
