{"id":"https://openalex.org/W4408281934","doi":"https://doi.org/10.1109/iecon55916.2024.10905582","title":"A Binary Grasp Pose Discriminator with Attention-Bridging Based on Local Grasp Units","display_name":"A Binary Grasp Pose Discriminator with Attention-Bridging Based on Local Grasp Units","publication_year":2024,"publication_date":"2024-11-03","ids":{"openalex":"https://openalex.org/W4408281934","doi":"https://doi.org/10.1109/iecon55916.2024.10905582"},"language":"en","primary_location":{"id":"doi:10.1109/iecon55916.2024.10905582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon55916.2024.10905582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society","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/A5100745217","display_name":"Yuqing Wang","orcid":"https://orcid.org/0009-0006-5852-5418"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yuqing Wang","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043973941","display_name":"Jiabao Dong","orcid":"https://orcid.org/0000-0003-3027-8567"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiabao Dong","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115589370","display_name":"Jing Zhang","orcid":"https://orcid.org/0009-0002-7812-1569"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Zhang","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028426177","display_name":"Lei Ren","orcid":"https://orcid.org/0000-0001-6346-6930"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Ren","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100745217"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35957182,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9750999808311462,"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":0.9750999808311462,"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":0.9402999877929688,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9316999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9599758386611938},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.8847038745880127},{"id":"https://openalex.org/keywords/discriminator","display_name":"Discriminator","score":0.8658774495124817},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6934762001037598},{"id":"https://openalex.org/keywords/binary-number","display_name":"Binary number","score":0.5368974804878235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46187281608581543},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14374881982803345},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.115729421377182},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06814241409301758},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.05954021215438843},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.052591532468795776}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9599758386611938},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.8847038745880127},{"id":"https://openalex.org/C2779803651","wikidata":"https://www.wikidata.org/wiki/Q5282088","display_name":"Discriminator","level":3,"score":0.8658774495124817},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6934762001037598},{"id":"https://openalex.org/C48372109","wikidata":"https://www.wikidata.org/wiki/Q3913","display_name":"Binary number","level":2,"score":0.5368974804878235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46187281608581543},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14374881982803345},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.115729421377182},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06814241409301758},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.05954021215438843},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.052591532468795776},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon55916.2024.10905582","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon55916.2024.10905582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2211722331","https://openalex.org/W2414685554","https://openalex.org/W2805051407","https://openalex.org/W2889969363","https://openalex.org/W2950495638","https://openalex.org/W2962737955","https://openalex.org/W2963654160","https://openalex.org/W3035198432","https://openalex.org/W3089966216","https://openalex.org/W3090822776","https://openalex.org/W3092022274","https://openalex.org/W3205684050","https://openalex.org/W4288264205","https://openalex.org/W4380450805","https://openalex.org/W4385757748","https://openalex.org/W4386083131","https://openalex.org/W6739778489","https://openalex.org/W7020972396"],"related_works":["https://openalex.org/W4293202849","https://openalex.org/W1980965563","https://openalex.org/W1489300767","https://openalex.org/W2387995142","https://openalex.org/W4380714744","https://openalex.org/W4319453655","https://openalex.org/W2089959425","https://openalex.org/W2163296013","https://openalex.org/W2057775761","https://openalex.org/W2963326767"],"abstract_inverted_index":{"Investigating":[0],"the":[1,61,73,106,120,147],"methods":[2,38],"of":[3,14,41,75,108,114],"handling":[4],"real-world":[5],"objects":[6],"with":[7,96],"robotic":[8],"arms":[9],"is":[10],"a":[11,56,91],"crucial":[12],"aspect":[13],"artificial":[15],"intelligence":[16],"research.":[17],"By":[18],"inputting":[19],"images":[20],"from":[21,130],"cameras":[22],"or":[23],"other":[24],"devices,":[25],"neural":[26],"networks":[27],"extract":[28],"suitable":[29,80],"end-effector":[30],"poses":[31],"to":[32,104],"achieve":[33],"precise":[34],"object":[35],"manipulation.":[36],"Current":[37],"face":[39],"challenges":[40],"inadequate":[42],"regression":[43],"precision":[44],"and":[45,133,145],"excessive":[46],"classification,":[47],"which":[48],"negatively":[49],"impact":[50],"network":[51],"performance.":[52,149],"Thus,":[53],"we":[54,118],"propose":[55,119],"new":[57],"method":[58],"based":[59],"on":[60],"local":[62,76,84,97],"grasp":[63,68,77,85,93,115],"unit.":[64],"This":[65],"approach":[66],"transforms":[67],"prediction":[69],"into":[70],"evaluating":[71],"whether":[72],"features":[74],"units":[78,86],"are":[79,87],"for":[81],"grasping.":[82],"Stable":[83],"selected":[88],"by":[89],"introducing":[90],"binary":[92],"pose":[94,116],"discriminator":[95],"point":[98,112],"clouds":[99,113],"as":[100],"inputs.":[101],"In":[102],"addition,":[103],"tackle":[105],"issue":[107],"distant":[109,143],"regions":[110,132],"in":[111],"discriminator,":[117],"innovative":[121],"Attention-Bridging":[122,125],"Layer.":[123],"The":[124],"Layer":[126],"selects":[127],"representative":[128],"points":[129],"different":[131],"enables":[134],"information":[135,140],"exchange":[136],"between":[137,142],"them,":[138],"facilitating":[139],"flow":[141],"areas":[144],"enhancing":[146],"network\u2019s":[148]},"counts_by_year":[],"updated_date":"2025-12-28T23:10:05.387466","created_date":"2025-10-10T00:00:00"}