{"id":"https://openalex.org/W4406856999","doi":"https://doi.org/10.1109/lra.2025.3534065","title":"Diffusion for Multi-Embodiment Grasping","display_name":"Diffusion for Multi-Embodiment Grasping","publication_year":2025,"publication_date":"2025-01-27","ids":{"openalex":"https://openalex.org/W4406856999","doi":"https://doi.org/10.1109/lra.2025.3534065"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3534065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3534065","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":null,"display_name":"Roman Freiberg","orcid":"https://orcid.org/0009-0004-9183-6977"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Roman Freiberg","raw_affiliation_strings":["Bosch Corporate Research, Renningen, Germany"],"raw_orcid":"https://orcid.org/0009-0004-9183-6977","affiliations":[{"raw_affiliation_string":"Bosch Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114618366","display_name":"Alexander Qualmann","orcid":null},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Qualmann","raw_affiliation_strings":["Bosch Corporate Research, Renningen, Germany"],"raw_orcid":"https://orcid.org/0009-0000-6634-682X","affiliations":[{"raw_affiliation_string":"Bosch Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043775193","display_name":"Ngo Anh Vien","orcid":"https://orcid.org/0000-0001-9646-267X"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ngo Anh Vien","raw_affiliation_strings":["Bosch Corporate Research, Renningen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9646-267X","affiliations":[{"raw_affiliation_string":"Bosch Corporate Research, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110467801","display_name":"Gerhard Neumann","orcid":"https://orcid.org/0000-0002-5483-4225"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerhard Neumann","raw_affiliation_strings":["Autonomous Learning Robots Lab, Karlsruhe Institute of Technology, Karlsruhe, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5483-4225","affiliations":[{"raw_affiliation_string":"Autonomous Learning Robots Lab, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.3336,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.86625449,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"10","issue":"3","first_page":"2694","last_page":"2701"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9700999855995178,"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":0.9700999855995178,"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":0.9556000232696533,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.949999988079071,"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/diffusion","display_name":"Diffusion","score":0.6285229921340942},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48349955677986145},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12227141857147217}],"concepts":[{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.6285229921340942},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48349955677986145},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12227141857147217},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3534065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3534065","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1987648924","https://openalex.org/W2086161653","https://openalex.org/W2116341502","https://openalex.org/W2123435073","https://openalex.org/W2158782408","https://openalex.org/W2576915720","https://openalex.org/W2600030077","https://openalex.org/W2603737562","https://openalex.org/W2760103357","https://openalex.org/W2962793481","https://openalex.org/W2963343946","https://openalex.org/W2964239605","https://openalex.org/W2990045899","https://openalex.org/W3022674252","https://openalex.org/W3032127812","https://openalex.org/W3035198432","https://openalex.org/W3037767967","https://openalex.org/W3206600280","https://openalex.org/W3207187156","https://openalex.org/W4221153162","https://openalex.org/W4226052194","https://openalex.org/W4253749331","https://openalex.org/W4285102264","https://openalex.org/W4285102336","https://openalex.org/W4382366145","https://openalex.org/W4383066208","https://openalex.org/W4383097520","https://openalex.org/W4383109043","https://openalex.org/W4383109488","https://openalex.org/W4389665437","https://openalex.org/W4401415287","https://openalex.org/W4402354041","https://openalex.org/W4402754260","https://openalex.org/W6694954494","https://openalex.org/W6768563538","https://openalex.org/W6779823529","https://openalex.org/W6782766965","https://openalex.org/W6785990877","https://openalex.org/W6787995345","https://openalex.org/W6797371470","https://openalex.org/W6797464607","https://openalex.org/W6838483015","https://openalex.org/W6838557027","https://openalex.org/W6839042332","https://openalex.org/W6839117414","https://openalex.org/W6840471720","https://openalex.org/W6846033198","https://openalex.org/W6853982971","https://openalex.org/W6854219189","https://openalex.org/W6859660593","https://openalex.org/W6861392586","https://openalex.org/W6863014259","https://openalex.org/W6868136577","https://openalex.org/W6870241956","https://openalex.org/W6870329307","https://openalex.org/W6870839691","https://openalex.org/W7046421761"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Grasping":[0],"is":[1],"a":[2,86],"fundamental":[3],"skill":[4],"in":[5],"robotics":[6],"with":[7,94],"diverse":[8,51,108],"applications.":[9],"However,":[10],"current":[11],"approaches":[12],"for":[13],"predicting":[14],"successful":[15],"grasps":[16],"are":[17],"often":[18],"tailored":[19],"to":[20,125],"specific":[21],"grippers,":[22],"limiting":[23],"their":[24],"applicability":[25],"when":[26],"gripper":[27,43,78,118],"designs":[28],"change.":[29],"To":[30],"address":[31],"this":[32],"limitation,":[33],"we":[34],"explore":[35],"the":[36,46,81,99,112],"transfer":[37],"of":[38,48,65,73,101,114],"grasping":[39],"strategies":[40],"between":[41],"various":[42],"designs,":[44],"enabling":[45],"use":[47],"data":[49],"from":[50,121],"sources.":[52],"We":[53,83],"present":[54],"an":[55],"approach":[56,116],"based":[57],"on":[58,107],"equivariant":[59],"diffusion":[60],"that":[61,90],"facilitates":[62],"gripper-agnostic":[63],"encoding":[64],"scenes":[66,93],"containing":[67],"graspable":[68],"objects":[69],"and":[70,131],"gripper-aware":[71],"decoding":[72],"grasp":[74,102],"poses":[75],"by":[76],"integrating":[77],"geometry":[79],"into":[80],"model.":[82],"also":[84],"develop":[85],"dataset":[87],"generation":[88],"framework":[89],"produces":[91],"cluttered":[92],"variable-sized":[95],"object":[96,109],"heaps,":[97],"improving":[98],"training":[100],"synthesis":[103],"methods.":[104,134],"Experimental":[105],"evaluation":[106],"datasets":[110],"demonstrates":[111],"generalizability":[113],"our":[115],"across":[117],"architectures,":[119],"ranging":[120],"simple":[122],"parallel-jaw":[123],"grippers":[124],"humanoid":[126],"hands,":[127],"outperforming":[128],"both":[129],"single-gripper":[130],"multi-gripper":[132],"State-of-the-Art":[133]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}