{"id":"https://openalex.org/W4393140004","doi":"https://doi.org/10.1109/lra.2024.3381091","title":"DSNet: Double Strand Robotic Grasp Detection Network Based on Cross Attention","display_name":"DSNet: Double Strand Robotic Grasp Detection Network Based on Cross Attention","publication_year":2024,"publication_date":"2024-03-25","ids":{"openalex":"https://openalex.org/W4393140004","doi":"https://doi.org/10.1109/lra.2024.3381091"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3381091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3381091","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/A5077369098","display_name":"Yonghong Zhang","orcid":"https://orcid.org/0000-0003-3011-3113"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yonghong Zhang","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0003-3011-3113","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091076234","display_name":"Xiayang Qin","orcid":"https://orcid.org/0009-0005-9881-1710"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiayang Qin","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0005-9881-1710","affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081620721","display_name":"Tiantian Dong","orcid":null},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiantian Dong","raw_affiliation_strings":["School of Electronics and Information Engineering, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Engineering, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100743490","display_name":"Yuchao Li","orcid":"https://orcid.org/0000-0002-1857-2301"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuchao Li","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018607892","display_name":"Hongcheng Song","orcid":"https://orcid.org/0000-0001-6686-8505"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongcheng Song","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058591580","display_name":"Yunping Liu","orcid":"https://orcid.org/0000-0001-5477-1810"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunping Liu","raw_affiliation_strings":["School of Automation, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100610866","display_name":"Ziqi Li","orcid":"https://orcid.org/0000-0003-4694-4456"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ziqi Li","raw_affiliation_strings":["School of Automation, Wuxi University, Wuxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation, Wuxi University, Wuxi, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101600614","display_name":"Qi Liu","orcid":"https://orcid.org/0000-0002-8485-3582"},"institutions":[{"id":"https://openalex.org/I200845125","display_name":"Nanjing University of Information Science and Technology","ror":"https://ror.org/02y0rxk19","country_code":"CN","type":"education","lineage":["https://openalex.org/I200845125"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Liu","raw_affiliation_strings":["School of Software, Automation Department, Nanjing University of Information Science and Technology, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8485-3582","affiliations":[{"raw_affiliation_string":"School of Software, Automation Department, Nanjing University of Information Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I200845125"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2434,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.96003273,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"9","issue":"5","first_page":"4702","last_page":"4709"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9760000109672546,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9760000109672546,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.95660001039505,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9289000034332275,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.8255008459091187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4964955449104309},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3849629759788513},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37438833713531494}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8255008459091187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4964955449104309},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3849629759788513},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37438833713531494},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3381091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3381091","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/G5162868225","display_name":null,"funder_award_id":"51575283","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1820657498","https://openalex.org/W1892339738","https://openalex.org/W1999156278","https://openalex.org/W2036637075","https://openalex.org/W2167654586","https://openalex.org/W2736762515","https://openalex.org/W2776855315","https://openalex.org/W2786068615","https://openalex.org/W2808521881","https://openalex.org/W2953669419","https://openalex.org/W2962821282","https://openalex.org/W2962875890","https://openalex.org/W2963163009","https://openalex.org/W2963326767","https://openalex.org/W2967869116","https://openalex.org/W3004062525","https://openalex.org/W3031794591","https://openalex.org/W3092822745","https://openalex.org/W3094502228","https://openalex.org/W3130885760","https://openalex.org/W3136875090","https://openalex.org/W3137278571","https://openalex.org/W3138516171","https://openalex.org/W3190492058","https://openalex.org/W4221167790","https://openalex.org/W4223460700","https://openalex.org/W4281933091","https://openalex.org/W4285483923","https://openalex.org/W4285732660","https://openalex.org/W4289489637","https://openalex.org/W4321483885","https://openalex.org/W4380687207","https://openalex.org/W4383502624","https://openalex.org/W4385801334","https://openalex.org/W4390873955","https://openalex.org/W4392910325","https://openalex.org/W6630368184","https://openalex.org/W6747043858","https://openalex.org/W6748208325","https://openalex.org/W6754677871","https://openalex.org/W6784333009","https://openalex.org/W6840156360","https://openalex.org/W6853394345"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2557924869","https://openalex.org/W2963326767"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3,93],"propose":[4],"a":[5,15,19,120],"Double":[6],"Strand":[7],"robotic":[8],"grasp":[9],"detection":[10],"Network":[11],"(DSNet),":[12],"that":[13],"combines":[14],"transformer":[16],"branch":[17,21],"and":[18,37,43,71,83,109,114],"U-Net":[20],"within":[22],"an":[23,103],"encoder-decoder":[24],"structure.":[25],"The":[26,100,139],"DSNet":[27,101,143],"is":[28],"designed":[29],"to":[30,40,75,125],"reconcile":[31],"differences":[32],"between":[33],"these":[34],"two":[35],"approaches":[36],"provide":[38],"access":[39],"both":[41,80],"local":[42,81],"global":[44,84],"resources.":[45],"We":[46,118],"have":[47],"strategically":[48],"incorporated":[49],"bidirectional":[50],"bridges":[51,63],"with":[52],"cross-attention":[53],"mechanisms":[54],"at":[55,147],"the":[56,65,76,88,91,112,134,137],"bottleneck":[57],"points":[58],"of":[59,67,90,107,129,136],"each":[60],"branch.":[61],"These":[62],"facilitate":[64],"retrieval":[66],"abstract":[68],"semantic":[69],"data":[70],"reciprocally":[72],"transfer":[73],"it":[74],"alternate":[77],"branch,":[78],"preserving":[79],"features":[82],"representations.":[85],"To":[86],"validate":[87],"performance":[89],"DSNet,":[92],"utilized":[94],"complete":[95],"RGB-D":[96],"information":[97],"as":[98],"input.":[99],"achieves":[102],"impressive":[104],"accuracy":[105],"rate":[106],"98.31%":[108],"95.7%":[110],"on":[111],"Cornell":[113],"Jacquard":[115],"grasping":[116,128],"datasets.":[117],"used":[119],"6DoF":[121],"AUBO":[122],"i5":[123],"robot":[124],"perform":[126],"full-angle":[127],"unknown":[130],"objects,":[131],"thereby":[132],"confirming":[133],"reliability":[135],"model.":[138],"source":[140],"code":[141],"for":[142],"can":[144],"be":[145],"accessed":[146],"<uri":[148],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[149],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/VoryKwin/DSNet.</uri>":[150]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}