{"id":"https://openalex.org/W4403276764","doi":"https://doi.org/10.1109/lra.2024.3477168","title":"VTG: A Visual-Tactile Dataset for Three-Finger Grasp","display_name":"VTG: A Visual-Tactile Dataset for Three-Finger Grasp","publication_year":2024,"publication_date":"2024-10-09","ids":{"openalex":"https://openalex.org/W4403276764","doi":"https://doi.org/10.1109/lra.2024.3477168"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3477168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3477168","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/A5100358997","display_name":"Tong Li","orcid":"https://orcid.org/0000-0001-7989-3355"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tong Li","raw_affiliation_strings":["School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7989-3355","affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068267313","display_name":"Yuhang Yan","orcid":"https://orcid.org/0009-0000-2735-4085"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuhang Yan","raw_affiliation_strings":["School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0000-2735-4085","affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109798545","display_name":"Chengshun Yu","orcid":"https://orcid.org/0009-0000-0803-7607"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengshun Yu","raw_affiliation_strings":["School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0000-0803-7607","affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jing An","orcid":"https://orcid.org/0009-0005-6046-8267"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing An","raw_affiliation_strings":["School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0005-6046-8267","affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100398593","display_name":"Yifan Wang","orcid":"https://orcid.org/0000-0003-2797-609X"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Wang","raw_affiliation_strings":["School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiaojun Zhu","orcid":"https://orcid.org/0000-0002-9506-9005"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaojun Zhu","raw_affiliation_strings":["Jianghuai Advanced Technology Center, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-9506-9005","affiliations":[{"raw_affiliation_string":"Jianghuai Advanced Technology Center, Hefei, China","institution_ids":[]}]},{"author_position":"last","author":{"id":null,"display_name":"Gang Chen","orcid":"https://orcid.org/0000-0001-7120-7058"},"institutions":[{"id":"https://openalex.org/I139759216","display_name":"Beijing University of Posts and Telecommunications","ror":"https://ror.org/04w9fbh59","country_code":"CN","type":"education","lineage":["https://openalex.org/I139759216"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gang Chen","raw_affiliation_strings":["School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7120-7058","affiliations":[{"raw_affiliation_string":"School of Intelligent Engineering and Automation, Beijing University of Posts and Telecommunications, Beijing, China","institution_ids":["https://openalex.org/I139759216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8156,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.8503244,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"9","issue":"11","first_page":"10684","last_page":"10691"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9700000286102295,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9132999777793884,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.87451171875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5644354224205017},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5476459860801697},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5351938009262085}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.87451171875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5644354224205017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5476459860801697},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5351938009262085},{"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.2024.3477168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3477168","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/G3925734028","display_name":null,"funder_award_id":"62103058","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":40,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1999156278","https://openalex.org/W2026499961","https://openalex.org/W2600030077","https://openalex.org/W2889969363","https://openalex.org/W2910771998","https://openalex.org/W2922486866","https://openalex.org/W2947434510","https://openalex.org/W2950619659","https://openalex.org/W2962875890","https://openalex.org/W2963033241","https://openalex.org/W2963830382","https://openalex.org/W2979750740","https://openalex.org/W3006239966","https://openalex.org/W3035198432","https://openalex.org/W3088639575","https://openalex.org/W3089931253","https://openalex.org/W3102486441","https://openalex.org/W3131775290","https://openalex.org/W3153691089","https://openalex.org/W3157317045","https://openalex.org/W3167551107","https://openalex.org/W3188412324","https://openalex.org/W4206234515","https://openalex.org/W4206247072","https://openalex.org/W4285005856","https://openalex.org/W4285211014","https://openalex.org/W4293457066","https://openalex.org/W4297985167","https://openalex.org/W4308180768","https://openalex.org/W4312528276","https://openalex.org/W4319865702","https://openalex.org/W4383337613","https://openalex.org/W4386911753","https://openalex.org/W4387245329","https://openalex.org/W4391367885","https://openalex.org/W4391936013","https://openalex.org/W4399422602","https://openalex.org/W6739778489","https://openalex.org/W6763422710"],"related_works":["https://openalex.org/W2963326767","https://openalex.org/W2058170566","https://openalex.org/W2772917594","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Three-fingered":[0],"hands":[1],"can":[2,61],"offer":[3],"more":[4],"contact":[5,97],"points":[6],"and":[7,15,23,37,44,83,106,122,169,191],"flexible":[8],"fingertip":[9],"configurations,":[10],"enabling":[11],"complex":[12],"grasping":[13,32,50,70,81,101,113,118,124,145,167,177,195],"modes":[14],"finer":[16],"manipulations":[17],"for":[18,47,64],"objects":[19,187],"of":[20,67,79,86,141,173,188],"various":[21,65,166],"shapes":[22],"sizes.":[24],"However,":[25],"existing":[26],"research":[27],"on":[28,35,137,152],"visual-tactile":[29],"integrated":[30],"robotic":[31,69,112,176],"primarily":[33],"focuses":[34],"grippers,":[36],"lacks":[38],"a":[39,111,117,123,132,153],"general":[40],"dataset":[41,74],"merging":[42],"visual":[43,105],"tactile":[45,92,107,129,142],"information":[46],"the":[48,57,100,138,144],"entire":[49],"process.":[51,102],"In":[52],"this":[53,181],"letter,":[54],"we":[55,109],"introduce":[56],"VTG":[58,73],"dataset,":[59],"which":[60],"be":[62],"used":[63],"aspects":[66],"three-fingered":[68,87],"control.":[71],"The":[72],"includes":[75],"three-view":[76],"point":[77],"clouds":[78],"objects,":[80],"modes,":[82,168],"finger":[84],"angles":[85],"hands,":[88],"as":[89,91,131],"well":[90],"data":[93,130],"at":[94],"multiple":[95],"spatial":[96,139],"locations":[98],"during":[99],"By":[103,127],"integrating":[104],"information,":[108],"develop":[110],"controller":[114,182],"that":[115],"leverages":[116],"stability":[119,146,178],"prediction":[120,147],"module":[121,148],"adjustment":[125],"module.":[126],"representing":[128],"static":[133],"graphical":[134],"structure":[135],"based":[136,151],"distribution":[140],"sensors,":[143],"is":[149],"constructed":[150],"multi-scale":[154,161],"graph":[155,162],"neural":[156],"network,":[157],"MS-GCN.":[158],"It":[159],"combines":[160],"topological":[163],"features":[164],"with":[165],"achieving":[170],"an":[171],"accuracy":[172],"98.4%":[174],"in":[175],"prediction.":[179],"Additionally,":[180],"successfully":[183],"adapts":[184],"to":[185],"unknown":[186],"varying":[189],"hardness":[190],"shapes,":[192],"providing":[193],"stable":[194],"within":[196],"approximately":[197],"0.4":[198],"s":[199],"after":[200],"contact.":[201]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
