{"id":"https://openalex.org/W4383108663","doi":"https://doi.org/10.1109/icra48891.2023.10161481","title":"CMG-Net: An End-to-End Contact-based Multi-Finger Dexterous Grasping Network","display_name":"CMG-Net: An End-to-End Contact-based Multi-Finger Dexterous Grasping Network","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108663","doi":"https://doi.org/10.1109/icra48891.2023.10161481"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161481","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10161481","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5054904662","display_name":"Mingze Wei","orcid":"https://orcid.org/0000-0002-8720-5580"},"institutions":[{"id":"https://openalex.org/I66867065","display_name":"East China Normal University","ror":"https://ror.org/02n96ep67","country_code":"CN","type":"education","lineage":["https://openalex.org/I66867065"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingze Wei","raw_affiliation_strings":["School of Software Engineering, East China Normal University,China","School of Software Engineering, East China Normal University, China"],"affiliations":[{"raw_affiliation_string":"School of Software Engineering, East China Normal University,China","institution_ids":["https://openalex.org/I66867065"]},{"raw_affiliation_string":"School of Software Engineering, East China Normal University, China","institution_ids":["https://openalex.org/I66867065"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043420653","display_name":"Yaomin Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I66867065","display_name":"East China Normal University","ror":"https://ror.org/02n96ep67","country_code":"CN","type":"education","lineage":["https://openalex.org/I66867065"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaomin Huang","raw_affiliation_strings":["School of Computer Science, East China Normal University,China","School of Computer Science, East China Normal University, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, East China Normal University,China","institution_ids":["https://openalex.org/I66867065"]},{"raw_affiliation_string":"School of Computer Science, East China Normal University, China","institution_ids":["https://openalex.org/I66867065"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102897990","display_name":"Zhiyuan Xu","orcid":"https://orcid.org/0000-0001-8955-8358"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Xu","raw_affiliation_strings":["Midea Group,China","Midea Group, China"],"affiliations":[{"raw_affiliation_string":"Midea Group,China","institution_ids":["https://openalex.org/I4210093653"]},{"raw_affiliation_string":"Midea Group, China","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100432426","display_name":"Ning Liu","orcid":"https://orcid.org/0000-0003-4943-6625"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Liu","raw_affiliation_strings":["Midea Group,China","Midea Group, China"],"affiliations":[{"raw_affiliation_string":"Midea Group,China","institution_ids":["https://openalex.org/I4210093653"]},{"raw_affiliation_string":"Midea Group, China","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079044416","display_name":"Zhengping Che","orcid":"https://orcid.org/0000-0001-6818-1125"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengping Che","raw_affiliation_strings":["Midea Group,China","Midea Group, China"],"affiliations":[{"raw_affiliation_string":"Midea Group,China","institution_ids":["https://openalex.org/I4210093653"]},{"raw_affiliation_string":"Midea Group, China","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100390673","display_name":"Xinyu Zhang","orcid":"https://orcid.org/0000-0001-5000-2483"},"institutions":[{"id":"https://openalex.org/I66867065","display_name":"East China Normal University","ror":"https://ror.org/02n96ep67","country_code":"CN","type":"education","lineage":["https://openalex.org/I66867065"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Zhang","raw_affiliation_strings":["School of Software Engineering, East China Normal University,China","School of Software Engineering, East China Normal University, China"],"affiliations":[{"raw_affiliation_string":"School of Software Engineering, East China Normal University,China","institution_ids":["https://openalex.org/I66867065"]},{"raw_affiliation_string":"School of Software Engineering, East China Normal University, China","institution_ids":["https://openalex.org/I66867065"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008090356","display_name":"Chaomin Shen","orcid":"https://orcid.org/0000-0001-9389-6472"},"institutions":[{"id":"https://openalex.org/I66867065","display_name":"East China Normal University","ror":"https://ror.org/02n96ep67","country_code":"CN","type":"education","lineage":["https://openalex.org/I66867065"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaomin Shen","raw_affiliation_strings":["School of Computer Science, East China Normal University,China","School of Computer Science, East China Normal University, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, East China Normal University,China","institution_ids":["https://openalex.org/I66867065"]},{"raw_affiliation_string":"School of Computer Science, East China Normal University, China","institution_ids":["https://openalex.org/I66867065"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101945772","display_name":"Feifei Feng","orcid":"https://orcid.org/0009-0003-8612-5022"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feifei Feng","raw_affiliation_strings":["Midea Group,China","Midea Group, China"],"affiliations":[{"raw_affiliation_string":"Midea Group,China","institution_ids":["https://openalex.org/I4210093653"]},{"raw_affiliation_string":"Midea Group, China","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080652607","display_name":"Chun Shan","orcid":"https://orcid.org/0000-0002-1090-026X"},"institutions":[{"id":"https://openalex.org/I4210122543","display_name":"Guangdong Polytechnic Normal University","ror":"https://ror.org/02pcb5m77","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122543"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chun Shan","raw_affiliation_strings":["School of Electronics and Information, Guangdong Polytechnic Normal University,China","School of Electronics and Information, Guangdong Polytechnic Normal University, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Guangdong Polytechnic Normal University,China","institution_ids":["https://openalex.org/I4210122543"]},{"raw_affiliation_string":"School of Electronics and Information, Guangdong Polytechnic Normal University, China","institution_ids":["https://openalex.org/I4210122543"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039176528","display_name":"Jian Tang","orcid":"https://orcid.org/0000-0003-4418-0114"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Tang","raw_affiliation_strings":["Midea Group,China","Midea Group, China"],"affiliations":[{"raw_affiliation_string":"Midea Group,China","institution_ids":["https://openalex.org/I4210093653"]},{"raw_affiliation_string":"Midea Group, China","institution_ids":["https://openalex.org/I4210093653"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5054904662"],"corresponding_institution_ids":["https://openalex.org/I66867065"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08226102,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"abs 2103 4783","issue":null,"first_page":"9125","last_page":"9131"},"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9689000248908997,"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":0.9639000296592712,"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":0.8963901996612549},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7332463264465332},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.728884756565094},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6684589385986328},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6209567785263062},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.592197060585022},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5815026760101318},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5612702369689941},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5556986927986145},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.43211066722869873},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.4301707148551941},{"id":"https://openalex.org/keywords/end-to-end-principle","display_name":"End-to-end principle","score":0.41149741411209106}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8963901996612549},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7332463264465332},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.728884756565094},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6684589385986328},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6209567785263062},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.592197060585022},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5815026760101318},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5612702369689941},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5556986927986145},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.43211066722869873},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.4301707148551941},{"id":"https://openalex.org/C74296488","wikidata":"https://www.wikidata.org/wiki/Q2527392","display_name":"End-to-end principle","level":2,"score":0.41149741411209106},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161481","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10161481","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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":41,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1503925285","https://openalex.org/W1510186039","https://openalex.org/W1794703952","https://openalex.org/W1995875735","https://openalex.org/W2080279876","https://openalex.org/W2106628124","https://openalex.org/W2118262422","https://openalex.org/W2123435073","https://openalex.org/W2136364779","https://openalex.org/W2144573888","https://openalex.org/W2156219259","https://openalex.org/W2205950488","https://openalex.org/W2600030077","https://openalex.org/W2962737955","https://openalex.org/W2963121255","https://openalex.org/W2977786941","https://openalex.org/W2982448633","https://openalex.org/W2986303149","https://openalex.org/W3003177118","https://openalex.org/W3003296541","https://openalex.org/W3035198432","https://openalex.org/W3035624836","https://openalex.org/W3039599385","https://openalex.org/W3046136908","https://openalex.org/W3090814639","https://openalex.org/W3099587965","https://openalex.org/W3186881096","https://openalex.org/W3207187156","https://openalex.org/W3207287914","https://openalex.org/W4285102398","https://openalex.org/W4295312788","https://openalex.org/W4366081146","https://openalex.org/W4394671432","https://openalex.org/W6687484953","https://openalex.org/W6739778489","https://openalex.org/W6766800703","https://openalex.org/W6766978945","https://openalex.org/W6769823609","https://openalex.org/W6781542114","https://openalex.org/W6791489354"],"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/W2154563191","https://openalex.org/W4387962997","https://openalex.org/W429889454","https://openalex.org/W2797370380","https://openalex.org/W2949143263"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,63],"propose":[4],"a":[5,45,58,65,85],"novel":[6],"representation":[7,22,96],"for":[8,40,105,122],"grasping":[9,41,95],"using":[10,116],"contacts":[11],"between":[12],"multi-finger":[13,51],"robotic":[14,107],"hands":[15],"and":[16,28,54,79,89,97],"objects":[17,43],"to":[18],"be":[19],"manipulated.":[20],"This":[21],"significantly":[23,101],"reduces":[24],"the":[25,30,91,103,113],"prediction":[26],"dimensions":[27],"accelerates":[29],"learning":[31],"process.":[32],"We":[33,83,109],"present":[34],"an":[35],"effective":[36],"end-to-end":[37],"network,":[38],"CMG-Net,":[39],"unknown":[42],"in":[44],"cluttered":[46,74],"environment":[47],"by":[48],"efficiently":[49],"predicting":[50],"grasp":[52,67],"poses":[53],"hand":[55],"configurations":[56],"from":[57],"single-shot":[59],"point":[60],"cloud.":[61],"Moreover,":[62],"create":[64],"synthetic":[66,117],"dataset":[68],"that":[69,112],"consists":[70],"of":[71,93],"five":[72],"thousand":[73],"scenes,":[75],"80":[76],"object":[77],"categories,":[78],"20":[80],"million":[81],"annotations.":[82],"perform":[84,119],"comprehensive":[86],"empirical":[87],"study":[88],"demonstrate":[90,111],"effectiveness":[92],"our":[94],"CMG-Net.":[98],"Our":[99],"work":[100],"outperforms":[102],"state-of-the-art":[104],"three-finger":[106],"hands.":[108],"also":[110],"model":[114],"trained":[115],"data":[118],"very":[120],"well":[121],"real":[123],"robots.":[124]},"counts_by_year":[],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}
