{"id":"https://openalex.org/W4285102142","doi":"https://doi.org/10.1109/icra46639.2022.9812001","title":"TransGrasp: A Multi-Scale Hierarchical Point Transformer for 7-DoF Grasp Detection","display_name":"TransGrasp: A Multi-Scale Hierarchical Point Transformer for 7-DoF Grasp Detection","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102142","doi":"https://doi.org/10.1109/icra46639.2022.9812001"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812001","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064261982","display_name":"Zhixuan Liu","orcid":"https://orcid.org/0000-0002-8158-7127"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhixuan Liu","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China","School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103128171","display_name":"Zibo Chen","orcid":"https://orcid.org/0000-0003-0572-7076"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zibo Chen","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China","School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007765306","display_name":"Shangjin Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shangjin Xie","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China","School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108050904","display_name":"Wei\u2010Shi Zheng","orcid":"https://orcid.org/0000-0001-8327-0003"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei-Shi Zheng","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China","School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University,Guangzhou,China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5064261982"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":10.2374,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.992667,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1533","last_page":"1539"},"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9828000068664551,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9819999933242798,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8984764814376831},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7730945944786072},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6910108923912048},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6426066160202026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6407447457313538},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5631145238876343},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5277084708213806},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.42067813873291016},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4158877432346344},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25334760546684265},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.20344790816307068},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09452518820762634}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8984764814376831},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7730945944786072},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6910108923912048},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6426066160202026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6407447457313538},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5631145238876343},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5277084708213806},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.42067813873291016},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4158877432346344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25334760546684265},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.20344790816307068},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09452518820762634},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"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/icra46639.2022.9812001","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812001","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1630678085","https://openalex.org/W1901129140","https://openalex.org/W1999156278","https://openalex.org/W2034950486","https://openalex.org/W2344109021","https://openalex.org/W2560609797","https://openalex.org/W2600030077","https://openalex.org/W2824754393","https://openalex.org/W2889969363","https://openalex.org/W2949708697","https://openalex.org/W2962737955","https://openalex.org/W2963033241","https://openalex.org/W2963057320","https://openalex.org/W2963121255","https://openalex.org/W2964249569","https://openalex.org/W2967068439","https://openalex.org/W2981685844","https://openalex.org/W2982448633","https://openalex.org/W2986303149","https://openalex.org/W3004284873","https://openalex.org/W3008228048","https://openalex.org/W3033529678","https://openalex.org/W3034986117","https://openalex.org/W3035198432","https://openalex.org/W3091619233","https://openalex.org/W3094502228","https://openalex.org/W3096609285","https://openalex.org/W3100922749","https://openalex.org/W3126473426","https://openalex.org/W3127669830","https://openalex.org/W3166470370","https://openalex.org/W3173816579","https://openalex.org/W3187686865","https://openalex.org/W3195633477","https://openalex.org/W3203898101","https://openalex.org/W3205933337","https://openalex.org/W3207398045","https://openalex.org/W4214755140","https://openalex.org/W4287025617","https://openalex.org/W4288258040","https://openalex.org/W4385245566","https://openalex.org/W6636808768","https://openalex.org/W6639824700","https://openalex.org/W6739778489","https://openalex.org/W6739901393","https://openalex.org/W6767019538","https://openalex.org/W6767284090","https://openalex.org/W6769823609","https://openalex.org/W6778485988","https://openalex.org/W6779163297","https://openalex.org/W6783508354","https://openalex.org/W6784333009","https://openalex.org/W6790041281","https://openalex.org/W6797697693","https://openalex.org/W6799370299","https://openalex.org/W6800210471"],"related_works":["https://openalex.org/W2088476797","https://openalex.org/W2625202073","https://openalex.org/W2102971868","https://openalex.org/W2168487931","https://openalex.org/W4312362134","https://openalex.org/W4387962997","https://openalex.org/W2154563191","https://openalex.org/W2797370380","https://openalex.org/W2513546382","https://openalex.org/W2949143263"],"abstract_inverted_index":{"Robotic":[0],"grasping":[1,14],"pose":[2,31],"detection":[3,58],"that":[4],"predicts":[5],"the":[6,9,26,33,38,49,54,73,84,90,117,124,127],"configuration":[7],"of":[8,25,97,126],"robotic":[10],"gripper":[11,150],"for":[12,109],"object":[13,98,158],"is":[15,42,95],"fundamental":[16],"in":[17,83,155],"robot":[18,132,138],"manipulation.":[19],"Based":[20],"on":[21,116,134],"point":[22,74],"clouds,":[23],"most":[24],"existing":[27],"methods":[28],"predict":[29],"grasp":[30,55,57],"with":[32,53,139],"hierarchical":[34,65],"PointNet++":[35],"backbone,":[36],"while":[37],"non-local":[39],"geometric":[40,111],"information":[41],"underexplored.":[43],"In":[44],"this":[45],"work,":[46],"we":[47],"address":[48],"7-DoF":[50],"(6-":[51],"DoF":[52],"width)":[56],"by":[59,71],"introducing":[60],"a":[61],"one-":[62],"stage":[63],"Transformer-based":[64],"multi-scale":[66,80],"model":[67],"dubbed":[68],"TransGrasp.":[69,129],"Empowered":[70],"TransGrasp,":[72],"features":[75],"are":[76],"enhanced":[77],"via":[78],"acquiring":[79],"shape":[81],"awareness":[82],"whole":[85],"scene.":[86],"By":[87],"directly":[88],"modeling":[89],"long-range":[91],"relevance,":[92],"our":[93],"pipeline":[94],"aware":[96],"contour":[99],"to":[100,105],"avoid":[101],"collisions":[102],"and":[103,145,159],"able":[104],"apply":[106],"analogy":[107],"reasoning":[108],"long-distance":[110],"structures.":[112],"The":[113,130],"evaluation":[114],"results":[115],"large":[118],"scale":[119],"GraspNet-":[120],"1Billion":[121],"dataset":[122],"demonstrate":[123],"effectiveness":[125],"proposed":[128],"real":[131],"experiments":[133],"an":[135,140,146],"ABB":[136,147],"YUMI":[137],"Azure":[141],"Kinect":[142],"DK":[143],"camera":[144],"Smart":[148],"two-finger":[149],"show":[151],"high":[152],"success":[153],"rates":[154],"both":[156],"single":[157],"cluttered":[160],"scenes.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":6}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}