{"id":"https://openalex.org/W3133699737","doi":"https://doi.org/10.1109/lra.2021.3062300","title":"Learning Multi-Object Dense Descriptor for Autonomous Goal-Conditioned Grasping","display_name":"Learning Multi-Object Dense Descriptor for Autonomous Goal-Conditioned Grasping","publication_year":2021,"publication_date":"2021-02-25","ids":{"openalex":"https://openalex.org/W3133699737","doi":"https://doi.org/10.1109/lra.2021.3062300","mag":"3133699737"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3062300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062300","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/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":true,"raw_author_name":"Shuo Yang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China","School of control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100756634","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-4960-3190"},"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"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China","Institute of Brain and Brain-Inspired Science, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Institute of Brain and Brain-Inspired Science, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I4210164150","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"]},{"id":"https://openalex.org/I4210164150","display_name":"Shanghai Center for Brain Science and Brain-Inspired Technology","ror":"https://ror.org/0551a0y31","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210164150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Song","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China","Institute of Brain and Brain-Inspired Science, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Institute of Brain and Brain-Inspired Science, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I4210164150","https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015250843","display_name":"Jiyu Cheng","orcid":"https://orcid.org/0000-0002-8063-2547"},"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":"Jiyu Cheng","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China","School of control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"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":"Yibin Li","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China","School of control Science and Engineering, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"School of control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5070097565"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":2.472,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.88862547,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":"2","first_page":"4109","last_page":"4116"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994999766349792,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9987000226974487,"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/grasp","display_name":"GRASP","score":0.8789617419242859},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8133742809295654},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.7520360946655273},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.7481577396392822},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.7212735414505005},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7205585837364197},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6887659430503845},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6676726341247559},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.576535701751709},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.48319923877716064},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42744970321655273},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06665107607841492}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8789617419242859},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8133742809295654},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.7520360946655273},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.7481577396392822},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.7212735414505005},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7205585837364197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6887659430503845},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6676726341247559},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.576535701751709},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48319923877716064},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42744970321655273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06665107607841492},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3062300","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3062300","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1031521155","display_name":null,"funder_award_id":"U1913204","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5314049722","display_name":null,"funder_award_id":"ZR2020JQ29","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G5593383844","display_name":null,"funder_award_id":"61991411","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"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W7746136","https://openalex.org/W1903029394","https://openalex.org/W2031489346","https://openalex.org/W2082511574","https://openalex.org/W2090518410","https://openalex.org/W2148554573","https://openalex.org/W2156222070","https://openalex.org/W2194775991","https://openalex.org/W2435623039","https://openalex.org/W2558625610","https://openalex.org/W2733441458","https://openalex.org/W2773765248","https://openalex.org/W2811406147","https://openalex.org/W2893763910","https://openalex.org/W2897093986","https://openalex.org/W2899508538","https://openalex.org/W2903253065","https://openalex.org/W2925241625","https://openalex.org/W2950451445","https://openalex.org/W2950974964","https://openalex.org/W2962737955","https://openalex.org/W2962746398","https://openalex.org/W2962793652","https://openalex.org/W2962984928","https://openalex.org/W2963003918","https://openalex.org/W2963294969","https://openalex.org/W2963446712","https://openalex.org/W2963531306","https://openalex.org/W2963713397","https://openalex.org/W2964000117","https://openalex.org/W2964052394","https://openalex.org/W2964147919","https://openalex.org/W2964700958","https://openalex.org/W2991276239","https://openalex.org/W3003783003","https://openalex.org/W3004003541","https://openalex.org/W3090417004","https://openalex.org/W3101044088","https://openalex.org/W4288414710","https://openalex.org/W4289489637","https://openalex.org/W6600313631","https://openalex.org/W6740972095","https://openalex.org/W6749263512","https://openalex.org/W6752823625","https://openalex.org/W6754677871","https://openalex.org/W6756257017","https://openalex.org/W6764386301"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W2163296013","https://openalex.org/W3014080459","https://openalex.org/W4386875794","https://openalex.org/W2951631158","https://openalex.org/W4288313544","https://openalex.org/W2976611405"],"abstract_inverted_index":{"In":[0],"a":[1,5,15,48,64,71,81,108,114],"goal-conditioned":[2,20],"grasping":[3,21,43],"task,":[4],"robot":[6],"is":[7,80],"asked":[8],"to":[9,40],"grasp":[10,74],"the":[11,42,103],"objects":[12,56],"designated":[13],"by":[14],"user.":[16],"Existing":[17],"methods":[18],"for":[19],"either":[22],"can":[23,61],"only":[24,106],"handle":[25],"relatively":[26],"simple":[27],"scenes":[28],"or":[29,89],"require":[30],"extra":[31],"user":[32],"annotations.":[33],"This":[34],"letter":[35],"proposes":[36],"an":[37],"autonomous":[38],"method":[39,79,95],"enable":[41],"of":[44,57,110],"target":[45],"object":[46],"in":[47],"challenging":[49],"yet":[50],"general":[51],"scene":[52],"that":[53],"contains":[54],"multiple":[55],"different":[58],"classes.":[59],"It":[60],"effectively":[62],"learn":[63],"dense":[65],"descriptor":[66],"and":[67,99,121],"integrate":[68],"it":[69],"with":[70],"newly":[72],"designed":[73],"affordance":[75],"model.":[76],"The":[77],"proposed":[78],"self-supervised":[82],"pipeline":[83],"trained":[84],"without":[85],"any":[86],"human":[87],"supervision":[88],"robotic":[90],"sampling.":[91],"We":[92],"validate":[93],"our":[94],"via":[96],"both":[97],"simulated":[98],"real-world":[100],"experiments":[101],"while":[102],"training":[104],"relies":[105],"on":[107],"variety":[109],"synthetic":[111],"data,":[112],"demonstrating":[113],"good":[115],"generalization":[116],"capability.":[117],"Supplementary":[118],"video":[119],"demonstrations":[120],"material":[122],"are":[123],"available":[124],"at":[125],"https://vsislab.github.io/agcg/.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}