{"id":"https://openalex.org/W4312751051","doi":"https://doi.org/10.1109/iros47612.2022.9981372","title":"CPQNet: Contact Points Quality Network for Robotic Grasping","display_name":"CPQNet: Contact Points Quality Network for Robotic Grasping","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312751051","doi":"https://doi.org/10.1109/iros47612.2022.9981372"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981372","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5100380133","display_name":"Zhihao Li","orcid":"https://orcid.org/0009-0008-6191-4806"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhihao Li","raw_affiliation_strings":["Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen),Shenzhen,China","Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen),Shenzhen,China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027480023","display_name":"Pengfei Zeng","orcid":"https://orcid.org/0000-0003-2994-9183"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Zeng","raw_affiliation_strings":["Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen,China","Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society,Shenzhen,China","institution_ids":["https://openalex.org/I4210104064"]},{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085156744","display_name":"Jionglong Su","orcid":"https://orcid.org/0000-0001-5360-6493"},"institutions":[{"id":"https://openalex.org/I69356397","display_name":"Xi\u2019an Jiaotong-Liverpool University","ror":"https://ror.org/03zmrmn05","country_code":"CN","type":"education","lineage":["https://openalex.org/I69356397"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jionglong Su","raw_affiliation_strings":["School of AI and Advanced Computing, XJTLU Entrepreneur College (Taicang), Xi&#x0027;an Jiaotong-Liverpool University,Suzhou,China"],"affiliations":[{"raw_affiliation_string":"School of AI and Advanced Computing, XJTLU Entrepreneur College (Taicang), Xi&#x0027;an Jiaotong-Liverpool University,Suzhou,China","institution_ids":["https://openalex.org/I69356397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079231621","display_name":"Qingda Guo","orcid":"https://orcid.org/0000-0001-5863-5541"},"institutions":[{"id":"https://openalex.org/I4210160314","display_name":"Shenzhen Pingle Orthopedic Hospital","ror":"https://ror.org/04ppv2c95","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210160314"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingda Guo","raw_affiliation_strings":["TOP-AIRS Hospital Intelligent Technique Joint Lab,Shenzhen,China","TOP-AIRS Hospital Intelligent Technique Joint Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"TOP-AIRS Hospital Intelligent Technique Joint Lab,Shenzhen,China","institution_ids":["https://openalex.org/I4210160314"]},{"raw_affiliation_string":"TOP-AIRS Hospital Intelligent Technique Joint Lab, Shenzhen, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056692425","display_name":"Ning Ding","orcid":"https://orcid.org/0009-0001-2053-5024"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Ding","raw_affiliation_strings":["Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen),Shenzhen,China","Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China","Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen),Shenzhen,China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100453768","display_name":"Jiaming Zhang","orcid":"https://orcid.org/0000-0001-9146-0501"},"institutions":[{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]},{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaming Zhang","raw_affiliation_strings":["Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen),Shenzhen,China","Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China","Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen),Shenzhen,China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Manufacturing, The Chinese University of Hong Kong (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100380133"],"corresponding_institution_ids":["https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":0.7075,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65561173,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5981","last_page":"5986"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9962000250816345,"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":0.9836999773979187,"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/grasp","display_name":"GRASP","score":0.9604793787002563},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.7495158910751343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6858054399490356},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6466602683067322},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6429499387741089},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.637535572052002},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.49196502566337585},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.43818244338035583},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16373056173324585},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12852579355239868},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11004862189292908}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9604793787002563},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.7495158910751343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6858054399490356},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6466602683067322},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6429499387741089},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.637535572052002},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.49196502566337585},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.43818244338035583},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16373056173324585},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12852579355239868},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11004862189292908},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981372","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981372","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1549675037","https://openalex.org/W1999156278","https://openalex.org/W2126496149","https://openalex.org/W2132476906","https://openalex.org/W2201912979","https://openalex.org/W2211629196","https://openalex.org/W2412782625","https://openalex.org/W2485911221","https://openalex.org/W2555182955","https://openalex.org/W2600030077","https://openalex.org/W2889969363","https://openalex.org/W2910474428","https://openalex.org/W2962722175","https://openalex.org/W2962736495","https://openalex.org/W2962793652","https://openalex.org/W2962875890","https://openalex.org/W2963033241","https://openalex.org/W2967068439","https://openalex.org/W2968410673","https://openalex.org/W2986303149","https://openalex.org/W2997987764","https://openalex.org/W3000909746","https://openalex.org/W3034986117","https://openalex.org/W3035198432","https://openalex.org/W3041148233","https://openalex.org/W3090727630","https://openalex.org/W3100922749","https://openalex.org/W3131225419","https://openalex.org/W3205933337","https://openalex.org/W3206649445","https://openalex.org/W3207187156","https://openalex.org/W4210379546","https://openalex.org/W4241071816","https://openalex.org/W6762798370","https://openalex.org/W6783508354"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2051058708","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2583647647","https://openalex.org/W4312985843","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259"],"abstract_inverted_index":{"In":[0,40,64],"typical":[1],"data-based":[2],"grasping":[3,154],"methods,":[4],"a":[5,42,69,77,89,105,172],"grasp":[6,43,53,73,79,149],"based":[7],"on":[8,185],"parallel-jaw":[9],"grippers":[10],"is":[11,44,161,165],"parameterized":[12],"by":[13,88,117],"the":[14,17,19,23,31,95,98,125,186],"center":[15],"of":[16,35,97,119,175],"gripper,":[18],"rotation":[20],"angle,":[21],"and":[22,33,111,179],"gripper":[24],"opening":[25],"width":[26],"so":[27],"as":[28],"to":[29,75],"predict":[30],"quality":[32,85,114,143],"pose":[34],"grasps":[36],"at":[37],"every":[38],"pixel.":[39],"contrast,":[41],"represented":[45],"using":[46,71,80],"only":[47,81],"two":[48],"contact":[49,83,112,141],"points":[50,84,113,142],"for":[51,57,127,134,157,168],"contact-points-based":[52,72,135],"representation,":[54],"which":[55,92,130],"allows":[56],"fusion":[58],"with":[59,100,171],"tactile":[60],"sensors":[61],"more":[62],"naturally.":[63],"this":[65],"work,":[66],"we":[67],"propose":[68],"method":[70,126,164],"representation":[74],"get":[76],"robust":[78],"one":[82],"map":[86,115],"generated":[87,116],"neural":[90],"network,":[91],"significantly":[93],"reduces":[94],"complexity":[96],"network":[99,144],"fewer":[101],"parameters.":[102],"We":[103,122],"provide":[104,124],"synthetic":[106],"dataset":[107,178],"including":[108],"depth":[109],"image":[110],"thousands":[118],"3D":[120],"models.":[121],"also":[123,166],"data":[128],"generation,":[129],"can":[131,145,182],"be":[132,183],"used":[133],"multi-fingers":[136],"grasp.":[137],"Experiments":[138],"show":[139],"that":[140],"plan":[146],"an":[147],"available":[148,167],"in":[150],"0.15":[151],"seconds.":[152],"The":[153,177],"success":[155,173],"rate":[156,174],"unknown":[158],"household":[159],"objects":[160,170],"94%.":[162],"Our":[163],"deformable":[169],"95%.":[176],"reference":[180],"code":[181],"found":[184],"project":[187],"website:":[188],"https://sites.google.com/view/cpqnet.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
