{"id":"https://openalex.org/W4405786168","doi":"https://doi.org/10.1109/iros58592.2024.10802784","title":"MPGNet: Learning Move-Push-Grasping Synergy for Target-Oriented Grasping in Occluded Scenes","display_name":"MPGNet: Learning Move-Push-Grasping Synergy for Target-Oriented Grasping in Occluded Scenes","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786168","doi":"https://doi.org/10.1109/iros58592.2024.10802784"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5086871465","display_name":"Dayou Li","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dayou Li","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109792804","display_name":"Chenkun Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenkun Zhao","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070097565","display_name":"Shuo Yang","orcid":"https://orcid.org/0000-0002-3126-8021"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuo Yang","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047100124","display_name":"Ran Song","orcid":"https://orcid.org/0000-0002-1344-4415"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Song","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100366453","display_name":"Xiaolei Li","orcid":"https://orcid.org/0000-0001-9848-9200"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolei Li","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100624529","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-1218-9475"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154099455"],"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":null,"issue":null,"first_page":"5064","last_page":"5071"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9961000084877014,"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":0.9961000084877014,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/computer-science","display_name":"Computer science","score":0.6998449563980103},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5977160930633545},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5318037867546082},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3695437014102936}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6998449563980103},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5977160930633545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5318037867546082},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3695437014102936}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335581","display_name":"Young Scientists Fund","ror":null},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1999156278","https://openalex.org/W2005824379","https://openalex.org/W2145339207","https://openalex.org/W2600030077","https://openalex.org/W2962793652","https://openalex.org/W2966615203","https://openalex.org/W2982083293","https://openalex.org/W3004047800","https://openalex.org/W3004091482","https://openalex.org/W3035198432","https://openalex.org/W3090814639","https://openalex.org/W3133699737","https://openalex.org/W3176770340","https://openalex.org/W3200139538","https://openalex.org/W3205918749","https://openalex.org/W4206113988","https://openalex.org/W4280586270","https://openalex.org/W4291535767","https://openalex.org/W4294891514","https://openalex.org/W4312284415","https://openalex.org/W4386065943","https://openalex.org/W4389665522"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3,39],"target-oriented":[4,52],"grasping":[5,53,69],"in":[6],"occluded":[7],"scenes,":[8],"where":[9],"the":[10,20,25,80,89,107],"target":[11,26],"object":[12,27],"is":[13,22,97,110],"specified":[14],"by":[15],"a":[16,40,49,58,63,74],"binary":[17],"mask":[18],"and":[19,68,102],"goal":[21],"to":[23,43,78,88],"grasp":[24],"with":[28],"as":[29,33],"few":[30],"robotic":[31],"manipulations":[32],"possible.":[34],"Most":[35],"existing":[36],"methods":[37],"rely":[38],"push-grasping":[41],"synergy":[42,64],"complete":[44],"this":[45],"task.":[46],"To":[47],"deliver":[48],"more":[50],"powerful":[51],"pipeline,":[54],"we":[55],"present":[56],"MPGNet,":[57],"three-branch":[59],"network":[60],"for":[61],"learning":[62],"between":[65],"moving,":[66],"pushing,":[67],"actions.":[70,91],"We":[71],"also":[72],"propose":[73],"multi-stage":[75],"training":[76],"strategy":[77],"train":[79],"MPGNet":[81],"which":[82],"contains":[83],"three":[84,90],"policy":[85],"networks":[86],"corresponding":[87],"The":[92],"effectiveness":[93],"of":[94,106],"our":[95],"method":[96],"demonstrated":[98],"via":[99],"both":[100],"simulated":[101],"real-world":[103,108],"experiments.":[104],"Video":[105],"experiments":[109],"at":[111],"https://youtu.be/S_QKZqkh0w8.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
