{"id":"https://openalex.org/W7134139990","doi":"https://doi.org/10.1109/jstsp.2026.3671182","title":"SPGrasp: Spatiotemporal Prompt-Driven Grasp Synthesis in Dynamic Scenes","display_name":"SPGrasp: Spatiotemporal Prompt-Driven Grasp Synthesis in Dynamic Scenes","publication_year":2026,"publication_date":"2026-03-01","ids":{"openalex":"https://openalex.org/W7134139990","doi":"https://doi.org/10.1109/jstsp.2026.3671182"},"language":null,"primary_location":{"id":"doi:10.1109/jstsp.2026.3671182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jstsp.2026.3671182","pdf_url":null,"source":{"id":"https://openalex.org/S42167783","display_name":"IEEE Journal of Selected Topics in Signal Processing","issn_l":"1932-4553","issn":["1932-4553","1941-0484"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Selected Topics in Signal Processing","raw_type":"journal-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/A5100313252","display_name":"Yunpeng Mei","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yunpeng Mei","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0007-5310-9164","affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052814625","display_name":"Hongjie Cao","orcid":"https://orcid.org/0000-0001-5681-0916"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongjie Cao","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5681-0916","affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044716117","display_name":"Wei Xiao","orcid":"https://orcid.org/0000-0003-1822-6967"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Xiao","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054893791","display_name":"Yinqiu Xia","orcid":"https://orcid.org/0000-0001-5361-4338"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinqiu Xia","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5361-4338","affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128285411","display_name":"Zhaohan Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaohan Feng","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0008-9055-9276","affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128295659","display_name":"Gang Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Wang","raw_affiliation_strings":["National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7266-2412","affiliations":[{"raw_affiliation_string":"National Key Lab of Autonomous Intelligent Unmanned Systems and School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5128308905","display_name":"Jie Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Chen","raw_affiliation_strings":["Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2449-9793","affiliations":[{"raw_affiliation_string":"Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100313252"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48284846,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"20","issue":"2","first_page":"202","last_page":"212"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.227400004863739,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.227400004863739,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.13989999890327454,"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/T12290","display_name":"Human Motion and Animation","score":0.0731000006198883,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.5218999981880188},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.3424000144004822},{"id":"https://openalex.org/keywords/image-segmentation","display_name":"Image segmentation","score":0.2946999967098236},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.28700000047683716},{"id":"https://openalex.org/keywords/feature-extraction","display_name":"Feature extraction","score":0.2831999957561493}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7445999979972839},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6872000098228455},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6708999872207642},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.5218999981880188},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.3424000144004822},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.2946999967098236},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.28700000047683716},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.257099986076355},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.25679999589920044}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jstsp.2026.3671182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jstsp.2026.3671182","pdf_url":null,"source":{"id":"https://openalex.org/S42167783","display_name":"IEEE Journal of Selected Topics in Signal Processing","issn_l":"1932-4553","issn":["1932-4553","1941-0484"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal of Selected Topics in Signal Processing","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2493513157","display_name":null,"funder_award_id":"U23B2059","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2575069074","display_name":null,"funder_award_id":"62088101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Real-time":[0],"interactive":[1,144],"grasp":[2,49,79,96,166],"synthesis":[3],"for":[4,47],"dynamic":[5,32,165],"objects":[6],"remains":[7],"challenging,":[8],"as":[9,68,70],"existing":[10],"instance-level":[11,95],"methods":[12],"struggle":[13],"to":[14,123],"achieve":[15],"low-latency":[16],"inference":[17],"while":[18,73,135],"maintaining":[19,136],"robust":[20],"temporal":[21],"consistency.":[22],"To":[23],"bridge":[24],"this":[25],"gap,":[26],"we":[27],"propose":[28],"SPGrasp":[29,93,113,158],"(Spatiotemporal":[30],"Prompt-driven":[31],"Grasp":[33],"synthesis),":[34],"a":[35,58,124,150],"novel":[36],"framework":[37],"that":[38,157],"extends":[39],"the":[40,107,129,161],"Segment":[41],"Anything":[42],"Model":[43],"2":[44],"(SAM":[45],"2)":[46],"video-stream":[48],"estimation.":[50],"Our":[51],"core":[52],"innovation":[53],"integrates":[54],"user":[55],"prompts":[56],"with":[57,65,117],"spatiotemporal":[59],"context":[60],"module,":[61],"enabling":[62],"real-time":[63],"interaction":[64],"end-to-end":[66],"latency":[67,126],"low":[69],"59":[71],"ms":[72,119],"preserving":[74],"consistent":[75],"instance":[76],"identity":[77],"and":[78,88,102],"predictions":[80],"in":[81,164],"dynamic,":[82],"cluttered":[83],"scenes,":[84],"including":[85],"object":[86],"overlap":[87],"occlusion.":[89],"In":[90],"benchmark":[91],"evaluations,":[92],"achieves":[94],"accuracies":[97],"of":[98],"90.6%":[99],"on":[100,104],"OCID":[101],"93.8%":[103],"Jacquard.":[105],"On":[106],"GraspNet-1Billion":[108],"dataset":[109],"under":[110,146],"continuous":[111],"tracking,":[112],"reaches":[114],"92.0%":[115],"accuracy":[116],"73.1":[118],"per-frame":[120],"latency,":[121],"corresponding":[122],"58.5%":[125],"reduction":[127],"over":[128],"prior":[130],"state-of-the-art":[131],"promptable":[132],"method":[133],"RoG-SAM":[134],"competitive":[137],"accuracy.":[138],"Real-world":[139],"experiments":[140],"further":[141],"demonstrate":[142],"reliable":[143],"grasping":[145],"frequent":[147],"occlusions,":[148],"achieving":[149],"94.8%":[151],"success":[152],"rate.":[153],"These":[154],"results":[155],"suggest":[156],"effectively":[159],"mitigates":[160],"latency\u2013interactivity":[162],"trade-off":[163],"synthesis.":[167]},"counts_by_year":[],"updated_date":"2026-03-31T06:02:25.137627","created_date":"2026-03-08T00:00:00"}
