{"id":"https://openalex.org/W3131444756","doi":"https://doi.org/10.1109/iros45743.2020.9341421","title":"TactileSGNet: A Spiking Graph Neural Network for Event-based Tactile Object Recognition","display_name":"TactileSGNet: A Spiking Graph Neural Network for Event-based Tactile Object Recognition","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3131444756","doi":"https://doi.org/10.1109/iros45743.2020.9341421","mag":"3131444756"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341421","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341421","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":"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/A5101868530","display_name":"Fuqiang Gu","orcid":"https://orcid.org/0000-0002-3408-982X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Fuqiang Gu","raw_affiliation_strings":["School of Computing, National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009241563","display_name":"Weicong Sng","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Weicong Sng","raw_affiliation_strings":["School of Computing, National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047299072","display_name":"Tasbolat Taunyazov","orcid":"https://orcid.org/0000-0002-0782-5553"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tasbolat Taunyazov","raw_affiliation_strings":["School of Computing, National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066073375","display_name":"Harold Soh","orcid":"https://orcid.org/0000-0002-3278-0035"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Harold Soh","raw_affiliation_strings":["School of Computing, National University of Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0813,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.8766324,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"9876","last_page":"9882"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10502","display_name":"Advanced Memory and Neural Computing","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9993000030517578,"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/T12808","display_name":"Ferroelectric and Negative Capacitance Devices","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/computer-science","display_name":"Computer science","score":0.781193733215332},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6795476078987122},{"id":"https://openalex.org/keywords/spiking-neural-network","display_name":"Spiking neural network","score":0.6525833010673523},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6263942718505859},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5648367404937744},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5490657091140747},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5231529474258423},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.47222188115119934},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.43425628542900085},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4135456085205078},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.41231802105903625},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.410777747631073},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3284137547016144},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32790955901145935},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.09520888328552246}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.781193733215332},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6795476078987122},{"id":"https://openalex.org/C11731999","wikidata":"https://www.wikidata.org/wiki/Q9067355","display_name":"Spiking neural network","level":3,"score":0.6525833010673523},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6263942718505859},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5648367404937744},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5490657091140747},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5231529474258423},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.47222188115119934},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.43425628542900085},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4135456085205078},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.41231802105903625},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.410777747631073},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3284137547016144},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32790955901145935},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.09520888328552246},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341421","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341421","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W345956458","https://openalex.org/W971303027","https://openalex.org/W1570411240","https://openalex.org/W1662382123","https://openalex.org/W1987994242","https://openalex.org/W2082669075","https://openalex.org/W2138913040","https://openalex.org/W2140434853","https://openalex.org/W2156387975","https://openalex.org/W2160477239","https://openalex.org/W2163605009","https://openalex.org/W2183631084","https://openalex.org/W2513853720","https://openalex.org/W2519887557","https://openalex.org/W2620474507","https://openalex.org/W2621826044","https://openalex.org/W2765323781","https://openalex.org/W2767644386","https://openalex.org/W2783525259","https://openalex.org/W2804941773","https://openalex.org/W2805516822","https://openalex.org/W2890395021","https://openalex.org/W2891530223","https://openalex.org/W2892077605","https://openalex.org/W2898323475","https://openalex.org/W2912636151","https://openalex.org/W2957613877","https://openalex.org/W2963760575","https://openalex.org/W2963956866","https://openalex.org/W2964015378","https://openalex.org/W2964311892","https://openalex.org/W2964321699","https://openalex.org/W2967540821","https://openalex.org/W2979098108","https://openalex.org/W2982399924","https://openalex.org/W2990793844","https://openalex.org/W2991085750","https://openalex.org/W3004212813","https://openalex.org/W3010268791","https://openalex.org/W3040099822","https://openalex.org/W3098436915","https://openalex.org/W3099587965","https://openalex.org/W3102087395","https://openalex.org/W4238614602","https://openalex.org/W4288118250","https://openalex.org/W4289543880","https://openalex.org/W6637178625","https://openalex.org/W6682889407","https://openalex.org/W6684191040","https://openalex.org/W6686394896","https://openalex.org/W6720006811","https://openalex.org/W6726873649","https://openalex.org/W6745316256","https://openalex.org/W6751796012","https://openalex.org/W6754595668","https://openalex.org/W6759226055"],"related_works":["https://openalex.org/W4293226380","https://openalex.org/W3126544799","https://openalex.org/W4375867731","https://openalex.org/W3104333581","https://openalex.org/W2542565870","https://openalex.org/W4226493464","https://openalex.org/W4312417841","https://openalex.org/W3133861977","https://openalex.org/W2951211570","https://openalex.org/W3103566983"],"abstract_inverted_index":{"Tactile":[0],"perception":[1,28],"is":[2],"crucial":[3],"for":[4,72,86,103,136],"a":[5,80,109,119,165],"variety":[6,166],"of":[7,94,97,127,160,167],"robot":[8],"tasks":[9],"including":[10],"grasping":[11],"and":[12,44],"in-hand":[13],"manipulation.":[14],"New":[15],"advances":[16],"in":[17,41,108],"flexible,":[18],"event-driven,":[19],"electronic":[20,34],"skins":[21,35],"may":[22,60],"soon":[23],"endow":[24],"robots":[25],"with":[26],"touch":[27],"capabilities":[29],"similar":[30],"to":[31,38],"humans.":[32],"These":[33],"respond":[36],"asynchronously":[37],"changes":[39],"(e.g.,":[40],"pressure,":[42],"temperature),":[43],"can":[45],"be":[46],"laid":[47],"out":[48],"irregularly":[49],"on":[50,113,143],"the":[51,105,114,138,149],"robot's":[52],"body":[53],"or":[54],"end-effector.":[55],"However,":[56],"these":[57],"unique":[58],"features":[59],"render":[61],"current":[62],"deep":[63],"learning":[64],"approaches":[65],"such":[66],"as":[67],"convolutional":[68,122],"feature":[69],"extractors":[70],"unsuitable":[71],"tactile":[73,88,106,145],"learning.":[74],"In":[75],"this":[76],"paper,":[77],"we":[78,99,117],"propose":[79],"novel":[81],"spiking":[82,120,128,155],"graph":[83,110,121],"neural":[84,129],"network":[85,130],"event-based":[87,139],"object":[89],"recognition.":[90],"To":[91],"make":[92],"use":[93],"local":[95],"connectivity":[96],"taxels,":[98],"present":[100],"several":[101],"methods":[102],"organizing":[104],"data":[107],"structure.":[111],"Based":[112],"constructed":[115],"graphs,":[116],"develop":[118],"network.":[123],"The":[124],"event-driven":[125],"nature":[126],"makes":[131],"it":[132],"arguably":[133],"more":[134],"suitable":[135],"processing":[137],"data.":[140],"Experimental":[141],"results":[142],"two":[144],"datasets":[146],"show":[147],"that":[148],"proposed":[150],"method":[151],"outperforms":[152],"other":[153],"state-of-the-art":[154],"methods,":[156],"achieving":[157],"high":[158],"accuracies":[159],"approximately":[161],"90%":[162],"when":[163],"classifying":[164],"different":[168],"household":[169],"objects.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}