{"id":"https://openalex.org/W3130206359","doi":"https://doi.org/10.1109/iros45743.2020.9341244","title":"Batch Normalization Masked Sparse Autoencoder for Robotic Grasping Detection","display_name":"Batch Normalization Masked Sparse Autoencoder for Robotic Grasping Detection","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3130206359","doi":"https://doi.org/10.1109/iros45743.2020.9341244","mag":"3130206359"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341244","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341244","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5112217622","display_name":"Zhenzhou Shao","orcid":null},"institutions":[{"id":"https://openalex.org/I96852419","display_name":"Capital Normal University","ror":"https://ror.org/005edt527","country_code":"CN","type":"education","lineage":["https://openalex.org/I96852419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenzhou Shao","raw_affiliation_strings":["Beijing Advanced Innovation Center for Imaging Technology and Beijing Key Laboratory of Light Industrial Robot and Safety Verification, Capital Normal University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Imaging Technology and Beijing Key Laboratory of Light Industrial Robot and Safety Verification, Capital Normal University, Beijing, China","institution_ids":["https://openalex.org/I96852419"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082228369","display_name":"Ying Qu","orcid":"https://orcid.org/0000-0002-4613-8625"},"institutions":[{"id":"https://openalex.org/I2802706902","display_name":"Knoxville College","ror":"https://ror.org/02bxrp522","country_code":"US","type":"education","lineage":["https://openalex.org/I2802706902"]},{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ying Qu","raw_affiliation_strings":["The Engineering College, The University of Tennessee, Knoxville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Engineering College, The University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I2802706902","https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039290278","display_name":"Guangli Ren","orcid":"https://orcid.org/0000-0001-8300-3984"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangli Ren","raw_affiliation_strings":["State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Beijing, China","institution_ids":["https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100642258","display_name":"Guohui Wang","orcid":"https://orcid.org/0000-0002-3176-317X"},"institutions":[{"id":"https://openalex.org/I96852419","display_name":"Capital Normal University","ror":"https://ror.org/005edt527","country_code":"CN","type":"education","lineage":["https://openalex.org/I96852419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guohui Wang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Imaging Technology and Beijing Key Laboratory of Light Industrial Robot and Safety Verification, Capital Normal University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Imaging Technology and Beijing Key Laboratory of Light Industrial Robot and Safety Verification, Capital Normal University, Beijing, China","institution_ids":["https://openalex.org/I96852419"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087366755","display_name":"Yong Guan","orcid":"https://orcid.org/0000-0002-2373-2779"},"institutions":[{"id":"https://openalex.org/I96852419","display_name":"Capital Normal University","ror":"https://ror.org/005edt527","country_code":"CN","type":"education","lineage":["https://openalex.org/I96852419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Guan","raw_affiliation_strings":["Beijing Advanced Innovation Center for Imaging Technology and Beijing Key Laboratory of Light Industrial Robot and Safety Verification, Capital Normal University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Imaging Technology and Beijing Key Laboratory of Light Industrial Robot and Safety Verification, Capital Normal University, Beijing, China","institution_ids":["https://openalex.org/I96852419"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072412248","display_name":"Zhiping Shi","orcid":"https://orcid.org/0000-0002-3562-8602"},"institutions":[{"id":"https://openalex.org/I96852419","display_name":"Capital Normal University","ror":"https://ror.org/005edt527","country_code":"CN","type":"education","lineage":["https://openalex.org/I96852419"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiping Shi","raw_affiliation_strings":["Beijing Advanced Innovation Center for Imaging Technology and Beijing Key Laboratory of Light Industrial Robot and Safety Verification, Capital Normal University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Imaging Technology and Beijing Key Laboratory of Light Industrial Robot and Safety Verification, Capital Normal University, Beijing, China","institution_ids":["https://openalex.org/I96852419"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025711005","display_name":"Jindong Tan","orcid":"https://orcid.org/0000-0003-0339-8811"},"institutions":[{"id":"https://openalex.org/I2802706902","display_name":"Knoxville College","ror":"https://ror.org/02bxrp522","country_code":"US","type":"education","lineage":["https://openalex.org/I2802706902"]},{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jindong Tan","raw_affiliation_strings":["The Engineering College, The University of Tennessee, Knoxville, TN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Engineering College, The University of Tennessee, Knoxville, TN, USA","institution_ids":["https://openalex.org/I2802706902","https://openalex.org/I75027704"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"33","issue":null,"first_page":"9614","last_page":"9619"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9860000014305115,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9469000101089478,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/normalization","display_name":"Normalization (sociology)","score":0.9524380564689636},{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.913013219833374},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7611911296844482},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.695374608039856},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.6242608428001404},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.5816864967346191},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33370864391326904},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.20743650197982788}],"concepts":[{"id":"https://openalex.org/C136886441","wikidata":"https://www.wikidata.org/wiki/Q926129","display_name":"Normalization (sociology)","level":2,"score":0.9524380564689636},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.913013219833374},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7611911296844482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.695374608039856},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.6242608428001404},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.5816864967346191},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33370864391326904},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.20743650197982788},{"id":"https://openalex.org/C19165224","wikidata":"https://www.wikidata.org/wiki/Q23404","display_name":"Anthropology","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341244","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341244","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320310931","display_name":"Capital Normal University","ror":"https://ror.org/005edt527"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326444","display_name":"Nova","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1503925285","https://openalex.org/W1535975140","https://openalex.org/W1627337892","https://openalex.org/W1836465849","https://openalex.org/W1981667747","https://openalex.org/W1999156278","https://openalex.org/W2109163007","https://openalex.org/W2123435073","https://openalex.org/W2123967128","https://openalex.org/W2414685554","https://openalex.org/W2523315006","https://openalex.org/W2572996265","https://openalex.org/W2587293726","https://openalex.org/W2771876076","https://openalex.org/W2963326767","https://openalex.org/W2966228602","https://openalex.org/W2967869116","https://openalex.org/W2973812482","https://openalex.org/W3004003541","https://openalex.org/W6638667902"],"related_works":["https://openalex.org/W3013693939","https://openalex.org/W2159052453","https://openalex.org/W2566616303","https://openalex.org/W3131327266","https://openalex.org/W4297051394","https://openalex.org/W2752972570","https://openalex.org/W2734887215","https://openalex.org/W2803255133","https://openalex.org/W2909431601","https://openalex.org/W4294770367"],"abstract_inverted_index":{"To":[0],"improve":[1],"the":[2,5,37,41,46,62,66,73,78,82],"accuracy":[3,64,84],"of":[4,40,65],"grasping":[6,67,90],"detection,":[7],"this":[8],"paper":[9],"proposes":[10],"a":[11,24,29],"novel":[12],"detector":[13],"with":[14,23,48],"batch":[15],"normalization":[16],"masked":[17],"evaluation":[18,75],"model.":[19],"It":[20],"is":[21,34],"designed":[22],"two-layer":[25],"sparse":[26],"autoencoder,":[27],"and":[28,81],"Batch":[30],"Normalization":[31],"based":[32],"mask":[33],"incorporated":[35],"into":[36],"second":[38],"layer":[39],"model":[42,56,76],"to":[43],"effectively":[44],"reduce":[45],"features":[47,53],"weak":[49],"correlation.":[50],"The":[51],"extracted":[52],"from":[54],"such":[55],"are":[57],"more":[58],"distinctive,":[59],"which":[60],"guarantees":[61],"higher":[63],"detection.":[68,91],"Extensive":[69],"experiments":[70],"show":[71],"that":[72],"proposed":[74],"outperforms":[77],"state-of-":[79],"the-art,":[80],"recognition":[83],"can":[85],"reach":[86],"95.51%":[87],"for":[88],"robotic":[89]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}