{"id":"https://openalex.org/W2962875890","doi":"https://doi.org/10.1109/iros.2018.8593950","title":"Jacquard: A Large Scale Dataset for Robotic Grasp Detection","display_name":"Jacquard: A Large Scale Dataset for Robotic Grasp Detection","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2962875890","doi":"https://doi.org/10.1109/iros.2018.8593950","mag":"2962875890"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5014136680","display_name":"Amaury Depierre","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Amaury Depierre","raw_affiliation_strings":["Sil\u00e9ane, Saint-Etienne, France"],"affiliations":[{"raw_affiliation_string":"Sil\u00e9ane, Saint-Etienne, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066469792","display_name":"Emmanuel Dellandr\u00e9a","orcid":"https://orcid.org/0000-0001-7346-228X"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Emmanuel Dellandrea","raw_affiliation_strings":["University of Lyon, CNRS UMR 5205, France"],"affiliations":[{"raw_affiliation_string":"University of Lyon, CNRS UMR 5205, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100443527","display_name":"Liming Chen","orcid":"https://orcid.org/0000-0002-3654-9498"},"institutions":[{"id":"https://openalex.org/I100532134","display_name":"Universit\u00e9 Claude Bernard Lyon 1","ror":"https://ror.org/029brtt94","country_code":"FR","type":"education","lineage":["https://openalex.org/I100532134","https://openalex.org/I203339264"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Liming Chen","raw_affiliation_strings":["University of Lyon, CNRS UMR 5205, France"],"affiliations":[{"raw_affiliation_string":"University of Lyon, CNRS UMR 5205, France","institution_ids":["https://openalex.org/I100532134","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014136680"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.2944,"has_fulltext":false,"cited_by_count":350,"citation_normalized_percentile":{"value":0.99157523,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3511","last_page":"3516"},"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":0.986299991607666,"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":0.9771000146865845,"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":0.9034249782562256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7796913385391235},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7101581692695618},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.7058313488960266},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6675137281417847},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6516469717025757},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5292443633079529},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.49917149543762207},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4980661869049072},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4463636875152588},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4129016399383545},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0752737820148468}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9034249782562256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7796913385391235},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7101581692695618},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.7058313488960266},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6675137281417847},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6516469717025757},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5292443633079529},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.49917149543762207},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4980661869049072},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4463636875152588},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4129016399383545},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0752737820148468},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"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/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/12","score":0.47999998927116394,"display_name":"Responsible consumption and production"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1892339738","https://openalex.org/W1932888261","https://openalex.org/W1981667747","https://openalex.org/W1999156278","https://openalex.org/W2108598243","https://openalex.org/W2117248802","https://openalex.org/W2118262422","https://openalex.org/W2123435073","https://openalex.org/W2126496149","https://openalex.org/W2163605009","https://openalex.org/W2165603175","https://openalex.org/W2190691619","https://openalex.org/W2201912979","https://openalex.org/W2485911221","https://openalex.org/W2600030077","https://openalex.org/W2768379550","https://openalex.org/W2919115771","https://openalex.org/W2962736495","https://openalex.org/W3032127812","https://openalex.org/W3100901148","https://openalex.org/W4394671432","https://openalex.org/W6684191040","https://openalex.org/W6697071109"],"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],"skill":[1],"is":[2,76],"a":[3,7,54,58,79,83,105,137,166],"major":[4],"ability":[5],"that":[6,129],"wide":[8],"number":[9],"of":[10,22,37,81,95,145,153,175],"real-life":[11],"applications":[12],"require":[13,34],"for":[14,40,169],"robotisation.":[15],"State-of-the-art":[16],"robotic":[17],"grasping":[18,73,97,123,148,177],"methods":[19],"perform":[20],"prediction":[21],"object":[23],"grasp":[24,101],"locations":[25],"based":[26,99],"on":[27,78,100],"deep":[28],"neural":[29],"networks.":[30],"However,":[31],"such":[32],"networks":[33],"huge":[35],"amount":[36],"labeled":[38,139],"data":[39],"training":[41],"making":[42],"this":[43,50],"approach":[44],"often":[45],"impracticable":[46],"in":[47,104,156],"robotics.":[48],"In":[49],"paper,":[51],"we":[52,67,158],"propose":[53],"method":[55],"to":[56,69,142,171],"generate":[57],"large":[59,84],"scale":[60],"synthetic":[61],"dataset":[62,140,165],"with":[63,116,162],"ground":[64],"truth,":[65],"which":[66],"refer":[68],"as":[70],"the":[71,151,163,173],"Jacquard":[72,75,130,164],"dataset.":[74,182],"built":[77],"subset":[80],"ShapeNet,":[82],"CAD":[85],"models":[86],"dataset,":[87],"and":[88,93,147],"contains":[89],"both":[90],"RGB-D":[91],"images":[92],"annotations":[94],"successful":[96],"positions":[98],"attempts":[102],"performed":[103],"simulated":[106],"environment.":[107],"We":[108],"carried":[109],"out":[110],"experiments":[111],"using":[112,180],"an":[113],"off-the-shelf":[114],"CNN,":[115],"three":[117],"different":[118],"evaluation":[119],"metrics,":[120],"including":[121],"real":[122],"robot":[124],"trials.":[125],"The":[126],"results":[127],"show":[128],"enables":[131],"much":[132],"better":[133],"generalization":[134],"skills":[135],"than":[136],"human":[138],"thanks":[141],"its":[143],"diversity":[144],"objects":[146],"positions.":[149],"For":[150],"purpose":[152],"reproducible":[154],"research":[155],"robotics,":[157],"are":[159],"releasing":[160],"along":[161],"web":[167],"interface":[168],"researchers":[170],"evaluate":[172],"successfulness":[174],"their":[176],"position":[178],"detections":[179],"our":[181]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":71},{"year":2024,"cited_by_count":75},{"year":2023,"cited_by_count":61},{"year":2022,"cited_by_count":61},{"year":2021,"cited_by_count":40},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":13},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
