{"id":"https://openalex.org/W4394002160","doi":"https://doi.org/10.1109/lra.2024.3385609","title":"Uncertainty-Aware Suction Grasping for Cluttered Scenes","display_name":"Uncertainty-Aware Suction Grasping for Cluttered Scenes","publication_year":2024,"publication_date":"2024-04-05","ids":{"openalex":"https://openalex.org/W4394002160","doi":"https://doi.org/10.1109/lra.2024.3385609"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3385609","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3385609","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/A5101558896","display_name":"Rui Cao","orcid":"https://orcid.org/0000-0001-5657-7325"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Rui Cao","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-5657-7325","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079414852","display_name":"Biqi Yang","orcid":"https://orcid.org/0009-0007-5956-7350"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Biqi Yang","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0009-0007-5956-7350","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101587408","display_name":"Yichuan Li","orcid":"https://orcid.org/0000-0001-8473-5378"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yichuan Li","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-8473-5378","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054382056","display_name":"Chi\u2010Wing Fu","orcid":"https://orcid.org/0000-0002-5238-593X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chi-Wing Fu","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-5238-593X","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032708386","display_name":"Pheng\u2010Ann Heng","orcid":"https://orcid.org/0000-0003-3055-5034"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Pheng-Ann Heng","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-3055-5034","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-3625-6679","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":1.4997,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.82782505,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"6","first_page":"4934","last_page":"4941"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9883999824523926,"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"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9883999824523926,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9872000217437744,"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/T11439","display_name":"Video Analysis and Summarization","score":0.9690999984741211,"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-vision","display_name":"Computer vision","score":0.6490437388420105},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6156512498855591},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5721401572227478},{"id":"https://openalex.org/keywords/suction","display_name":"Suction","score":0.5553017258644104},{"id":"https://openalex.org/keywords/suction-cup","display_name":"Suction cup","score":0.4397212862968445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1776236891746521},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07903414964675903}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6490437388420105},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6156512498855591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5721401572227478},{"id":"https://openalex.org/C23795335","wikidata":"https://www.wikidata.org/wiki/Q1790295","display_name":"Suction","level":2,"score":0.5553017258644104},{"id":"https://openalex.org/C87321777","wikidata":"https://www.wikidata.org/wiki/Q635971","display_name":"Suction cup","level":2,"score":0.4397212862968445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1776236891746521},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07903414964675903}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3385609","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3385609","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2466591533","https://openalex.org/W2533256670","https://openalex.org/W2786036844","https://openalex.org/W2962746398","https://openalex.org/W2962967409","https://openalex.org/W2963125977","https://openalex.org/W2963177347","https://openalex.org/W2963394817","https://openalex.org/W2964239605","https://openalex.org/W2979750740","https://openalex.org/W2990613095","https://openalex.org/W3004167188","https://openalex.org/W3035662013","https://openalex.org/W3092135995","https://openalex.org/W3105259478","https://openalex.org/W3133178156","https://openalex.org/W3137905681","https://openalex.org/W3172717135","https://openalex.org/W3175450634","https://openalex.org/W3200139538","https://openalex.org/W3202948970","https://openalex.org/W3203002487","https://openalex.org/W3203255241","https://openalex.org/W3209834782","https://openalex.org/W4210922806","https://openalex.org/W4285102444","https://openalex.org/W4285102494","https://openalex.org/W4312960604","https://openalex.org/W4317242511","https://openalex.org/W6684249991","https://openalex.org/W6739778489","https://openalex.org/W6747827861","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W2892546005","https://openalex.org/W4312555732","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2095492957","https://openalex.org/W2567010246","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3,52,72,99],"present":[4],"a":[5],"multi-stage":[6],"pipeline":[7],"that":[8],"aims":[9],"to":[10,31,44,61,80],"accurately":[11],"predict":[12],"suction":[13,83],"grasps":[14,125],"for":[15,87,104,156],"objects":[16,33,64,106],"with":[17,85],"varying":[18],"properties":[19],"in":[20,29,148],"cluttered":[21,149],"and":[22,34,65,107,138,146,154,158],"complex":[23],"scenes.":[24,150],"Existing":[25],"methods":[26],"face":[27],"difficulties":[28],"generalizing":[30],"unseen":[32,105],"effectively":[35],"handling":[36],"noisy":[37,108],"depth/point":[38],"cloud":[39],"data,":[40],"which":[41],"often":[42],"leads":[43],"inaccurate":[45],"grasp":[46],"predictions.":[47],"To":[48],"address":[49],"these":[50],"challenges,":[51],"utilize":[53],"the":[54,74,92,96,111,118,122,135],"Unseen":[55],"Object":[56],"Instance":[57],"Segmentation":[58],"(UOIS)":[59],"technique":[60],"segment":[62],"all":[63],"extract":[66],"their":[67,102],"instance-level":[68],"point":[69],"clouds.":[70],"Additionally,":[71],"introduce":[73],"Uncertainty-aware":[75],"Instance-level":[76],"Scoring":[77],"Network":[78],"(UISN)":[79],"generate":[81],"point-wise":[82],"scores":[84,94],"uncertainties":[86],"each":[88],"object.":[89],"By":[90],"calibrating":[91],"predicted":[93],"using":[95],"estimated":[97],"uncertainties,":[98],"further":[100],"enhance":[101],"reliability":[103],"data.":[109],"Finally,":[110],"grasping":[112],"candidates":[113],"are":[114,160],"ranked":[115],"based":[116],"on":[117,134],"calibrated":[119],"scores,":[120],"then":[121],"most":[123],"promising":[124],"can":[126],"be":[127],"executed.":[128],"Our":[129],"approach":[130],"achieves":[131],"state-of-the-art":[132],"performance":[133],"SuctionNet-1Billion":[136],"benchmark":[137],"demonstrates":[139],"real":[140],"robotic":[141],"grasping,":[142],"showcasing":[143],"its":[144],"accuracy":[145],"robustness":[147],"The":[151],"code,":[152],"models,":[153],"datasets":[155],"training":[157],"evaluation":[159],"accessible":[161],"at":[162],"<uri":[163],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[164],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://github.com/rcao-hk/UISN</uri>":[165],".":[166]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
