{"id":"https://openalex.org/W4225712234","doi":"https://doi.org/10.1109/lra.2022.3157438","title":"SKP: Semantic 3D Keypoint Detection for Category-Level Robotic Manipulation","display_name":"SKP: Semantic 3D Keypoint Detection for Category-Level Robotic Manipulation","publication_year":2022,"publication_date":"2022-03-08","ids":{"openalex":"https://openalex.org/W4225712234","doi":"https://doi.org/10.1109/lra.2022.3157438"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3157438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3157438","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/A5071496791","display_name":"Zhongzhen Luo","orcid":"https://orcid.org/0000-0002-5361-2444"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhongzhen Luo","raw_affiliation_strings":["EPSON Canada, Markham, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-5361-2444","affiliations":[{"raw_affiliation_string":"EPSON Canada, Markham, ON, Canada","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114240241","display_name":"Wenjie Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Wenjie Xue","raw_affiliation_strings":["Department of Computer Science, University of Toronto, Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044043575","display_name":"Julia Chae","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Julia Chae","raw_affiliation_strings":["Department of Engineering Science, University of Toronto, Toronto, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Engineering Science, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109866973","display_name":"Guoyi Fu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guoyi Fu","raw_affiliation_strings":["EPSON Canada, Markham, ON, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EPSON Canada, Markham, ON, Canada","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.0631,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.86201414,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"5437","last_page":"5444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9988999962806702,"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":0.9986000061035156,"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7194017171859741},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7152408361434937},{"id":"https://openalex.org/keywords/generalizability-theory","display_name":"Generalizability theory","score":0.626253604888916},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5056931972503662},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.48771151900291443},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.46725699305534363},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44615888595581055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.432415634393692},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4145791828632355},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3978424668312073},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3931986689567566},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3588849902153015},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14362984895706177}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7194017171859741},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7152408361434937},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.626253604888916},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5056931972503662},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.48771151900291443},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.46725699305534363},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44615888595581055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.432415634393692},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4145791828632355},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3978424668312073},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3931986689567566},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3588849902153015},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14362984895706177},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3157438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3157438","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":[{"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2194775991","https://openalex.org/W2307770531","https://openalex.org/W2559085405","https://openalex.org/W2600447016","https://openalex.org/W2768879211","https://openalex.org/W2776685160","https://openalex.org/W2885546722","https://openalex.org/W2907137919","https://openalex.org/W2916798096","https://openalex.org/W2925241625","https://openalex.org/W2948080642","https://openalex.org/W2963197583","https://openalex.org/W2963402313","https://openalex.org/W2963756608","https://openalex.org/W2963781481","https://openalex.org/W2963892972","https://openalex.org/W2964062189","https://openalex.org/W2965326519","https://openalex.org/W2967450697","https://openalex.org/W2979930345","https://openalex.org/W3011371059","https://openalex.org/W3014641072","https://openalex.org/W3034986117","https://openalex.org/W3091470805","https://openalex.org/W3114509423","https://openalex.org/W3134664367","https://openalex.org/W3135359526","https://openalex.org/W3176892444","https://openalex.org/W3207243298","https://openalex.org/W3207755626","https://openalex.org/W3213918751","https://openalex.org/W6730410022","https://openalex.org/W6757658208"],"related_works":["https://openalex.org/W2118717649","https://openalex.org/W410723623","https://openalex.org/W2413243053","https://openalex.org/W2015341305","https://openalex.org/W4225593417","https://openalex.org/W2035068594","https://openalex.org/W2573498121","https://openalex.org/W3022298670","https://openalex.org/W3160494304","https://openalex.org/W1549477351"],"abstract_inverted_index":{"As":[0],"human-assisting":[1],"robots":[2],"are":[3,52],"starting":[4],"to":[5,55,58,79,84,93],"play":[6],"an":[7,34],"important":[8],"role":[9],"in":[10,28,161],"the":[11,45,48,81,89,102,112,157],"food":[12],"service":[13,17],"and":[14,31,36,87,97,125,128,142,155,159],"hospitality":[15],"field,":[16],"vision":[18],"for":[19,68,120,151],"robot":[20],"manipulation":[21,71],"on":[22,43,140],"intra-category":[23],"objects,":[24,49],"which":[25],"have":[26],"variations":[27,96],"shape,":[29],"size,":[30],"appearance,":[32],"is":[33],"inevitable":[35],"valuable":[37],"task.":[38],"Previous":[39],"works":[40],"typically":[41],"rely":[42],"estimating":[44],"pose":[46],"of":[47],"such":[50],"methods":[51],"not":[53],"sufficient":[54],"generalize":[56],"well":[57],"category-level.":[59],"Hence,":[60],"we":[61],"propose":[62],"Semantic":[63],"Keypoint":[64],"Detection":[65],"Network":[66],"(SKP)":[67],"category-level":[69,152],"robotic":[70],"tasks,":[72],"that":[73,146],"1)":[74],"uses":[75],"semantic":[76],"keypoint":[77,122,126,153],"representation":[78],"expand":[80],"perception":[82],"module":[83],"category":[85],"level":[86],"drive":[88],"entire":[90],"grasping":[91,163],"pipeline":[92],"handle":[94],"shape":[95],"dynamic":[98],"environment,":[99],"2)":[100],"leverages":[101],"underlying":[103],"geometric":[104],"constraints":[105],"via":[106],"jointly":[107],"optimize":[108],"instance-aware":[109],"features":[110,119],"with":[111,131,135],"self-selection":[113],"mechanism,":[114],"3)":[115],"utilizes":[116],"multi-scale":[117],"multi-layer":[118],"3D":[121],"position":[123],"regression":[124],"association":[127],"4)":[129],"train":[130],"synthetic":[132,141],"data":[133],"only":[134],"domain":[136],"randomization.":[137],"Extensive":[138],"experiments":[139],"real-world":[143],"datasets":[144],"show":[145],"our":[147],"work":[148],"improves":[149],"accuracy":[150],"detection":[154],"demonstrates":[156],"generalizability":[158],"practicality":[160],"robotics":[162],"tasks.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}