{"id":"https://openalex.org/W4412939566","doi":"https://doi.org/10.1109/lra.2025.3595043","title":"Benchmarking Multi-Object Grasping","display_name":"Benchmarking Multi-Object Grasping","publication_year":2025,"publication_date":"2025-08-04","ids":{"openalex":"https://openalex.org/W4412939566","doi":"https://doi.org/10.1109/lra.2025.3595043"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3595043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3595043","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/A5046826993","display_name":"Tianze Chen","orcid":"https://orcid.org/0009-0004-9016-5294"},"institutions":[{"id":"https://openalex.org/I2613432","display_name":"University of South Florida","ror":"https://ror.org/032db5x82","country_code":"US","type":"education","lineage":["https://openalex.org/I2613432"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianze Chen","raw_affiliation_strings":["Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA"],"raw_orcid":"https://orcid.org/0009-0004-9016-5294","affiliations":[{"raw_affiliation_string":"Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA","institution_ids":["https://openalex.org/I2613432"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119202592","display_name":"Ricardo Frumento","orcid":null},"institutions":[{"id":"https://openalex.org/I2613432","display_name":"University of South Florida","ror":"https://ror.org/032db5x82","country_code":"US","type":"education","lineage":["https://openalex.org/I2613432"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ricardo Frumento","raw_affiliation_strings":["Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA"],"raw_orcid":"https://orcid.org/0000-0001-5121-3848","affiliations":[{"raw_affiliation_string":"Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA","institution_ids":["https://openalex.org/I2613432"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015767767","display_name":"Giulia Pagnanelli","orcid":"https://orcid.org/0009-0005-8335-7316"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulia Pagnanelli","raw_affiliation_strings":["Research Center &#x201C;E. Piaggio&#x201D;, and the Department of Information Engineering, University of Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0009-0005-8335-7316","affiliations":[{"raw_affiliation_string":"Research Center &#x201C;E. Piaggio&#x201D;, and the Department of Information Engineering, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116904586","display_name":"Gianmarco Cei","orcid":null},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianmarco Cei","raw_affiliation_strings":["Research Center &#x201C;E. Piaggio&#x201D;, and the Department of Information Engineering, University of Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0009-0000-7450-4066","affiliations":[{"raw_affiliation_string":"Research Center &#x201C;E. Piaggio&#x201D;, and the Department of Information Engineering, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5117518711","display_name":"Villa Keth","orcid":null},"institutions":[{"id":"https://openalex.org/I2613432","display_name":"University of South Florida","ror":"https://ror.org/032db5x82","country_code":"US","type":"education","lineage":["https://openalex.org/I2613432"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Villa Keth","raw_affiliation_strings":["Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA","institution_ids":["https://openalex.org/I2613432"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119202593","display_name":"Shahaddin Gafarov","orcid":null},"institutions":[{"id":"https://openalex.org/I2613432","display_name":"University of South Florida","ror":"https://ror.org/032db5x82","country_code":"US","type":"education","lineage":["https://openalex.org/I2613432"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shahaddin Gafarov","raw_affiliation_strings":["Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA"],"raw_orcid":"https://orcid.org/0009-0002-8689-7009","affiliations":[{"raw_affiliation_string":"Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA","institution_ids":["https://openalex.org/I2613432"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107949445","display_name":"Jian Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I2613432","display_name":"University of South Florida","ror":"https://ror.org/032db5x82","country_code":"US","type":"education","lineage":["https://openalex.org/I2613432"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jian Gong","raw_affiliation_strings":["Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA"],"raw_orcid":"https://orcid.org/0009-0005-2285-9726","affiliations":[{"raw_affiliation_string":"Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA","institution_ids":["https://openalex.org/I2613432"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112955683","display_name":"Zihe Ye","orcid":"https://orcid.org/0009-0008-4355-8246"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zihe Ye","raw_affiliation_strings":["Rutgers University, New Brunswick, NJ, USA"],"raw_orcid":"https://orcid.org/0009-0008-4355-8246","affiliations":[{"raw_affiliation_string":"Rutgers University, New Brunswick, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036325234","display_name":"Marco Baracca","orcid":"https://orcid.org/0000-0002-5724-4159"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Baracca","raw_affiliation_strings":["Research Center &#x201C;E. Piaggio&#x201D;, and the Department of Information Engineering, University of Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5724-4159","affiliations":[{"raw_affiliation_string":"Research Center &#x201C;E. Piaggio&#x201D;, and the Department of Information Engineering, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011817358","display_name":"Salvatore D\u2019Avella","orcid":"https://orcid.org/0000-0001-7065-8789"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Salvatore D'Avella","raw_affiliation_strings":["Department of Excellence in Robotics &amp; AI, Institute of Mechanical Intelligence, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-7065-8789","affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics &amp; AI, Institute of Mechanical Intelligence, Scuola Superiore Sant&#x0027;Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004273214","display_name":"Matteo Bianchi","orcid":"https://orcid.org/0000-0003-4747-1697"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Bianchi","raw_affiliation_strings":["Research Center &#x201C;E. Piaggio&#x201D;, and the Department of Information Engineering, University of Pisa, Pisa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-4747-1697","affiliations":[{"raw_affiliation_string":"Research Center &#x201C;E. Piaggio&#x201D;, and the Department of Information Engineering, University of Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yu Sun","orcid":"https://orcid.org/0000-0001-9953-291X"},"institutions":[{"id":"https://openalex.org/I2613432","display_name":"University of South Florida","ror":"https://ror.org/032db5x82","country_code":"US","type":"education","lineage":["https://openalex.org/I2613432"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Sun","raw_affiliation_strings":["Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA"],"raw_orcid":"https://orcid.org/0000-0001-9953-291X","affiliations":[{"raw_affiliation_string":"Robot Perception and Action Lab (RPAL) of Computer Science and Engineering Department, University of South Florida, Tampa, FL, USA","institution_ids":["https://openalex.org/I2613432"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":12,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19842143,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"9","first_page":"9510","last_page":"9517"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.679099977016449,"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":0.679099977016449,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.6209999918937683,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.6087999939918518,"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/benchmarking","display_name":"Benchmarking","score":0.9273655414581299},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5885018706321716},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.48206764459609985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39771750569343567},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33472323417663574},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.1675931215286255}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.9273655414581299},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5885018706321716},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.48206764459609985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39771750569343567},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33472323417663574},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.1675931215286255},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3595043","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3595043","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":[{"id":"https://openalex.org/F4320317295","display_name":"Dipartimenti di Eccellenza","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1845043828","https://openalex.org/W2148648901","https://openalex.org/W2529170537","https://openalex.org/W2545671521","https://openalex.org/W2603737562","https://openalex.org/W2807254784","https://openalex.org/W2964137828","https://openalex.org/W2995046958","https://openalex.org/W2998934366","https://openalex.org/W3213354518","https://openalex.org/W3214907063","https://openalex.org/W3216908904","https://openalex.org/W4238299461","https://openalex.org/W4254769284","https://openalex.org/W4282037057","https://openalex.org/W4312920279","https://openalex.org/W4321483885","https://openalex.org/W4323527667","https://openalex.org/W4361858295","https://openalex.org/W4387123622","https://openalex.org/W4387350450","https://openalex.org/W4389666941","https://openalex.org/W4394863014","https://openalex.org/W4405280464","https://openalex.org/W4409473625","https://openalex.org/W6682594430"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3],"describe":[4],"a":[5,60,78,84,123,150,163],"multi-object":[6,30,134],"grasping":[7,12,31,103,135],"benchmark":[8,26],"to":[9,35,54,73,96,113,126,174],"evaluate":[10],"the":[11,46,51,64,70,89,94,117,158,170],"and":[13,22,76,87,104,128,146,157],"manipulation":[14],"capabilities":[15],"of":[16,39,81],"robotic":[17,40,130,166],"systems":[18],"in":[19,59,133,172,177],"both":[20],"pile":[21],"surface":[23],"scenarios.":[24],"The":[25],"introduces":[27],"three":[28],"robot":[29,95],"benchmarking":[32],"protocols":[33,43,110,142],"designed":[34],"challenge":[36],"different":[37],"aspects":[38],"manipulation.":[41],"These":[42,109],"are:":[44],"1)":[45],"Only-Pick-Once":[47],"protocol,":[48,67,91],"which":[49,68,92,161],"assesses":[50],"robot's":[52,71],"ability":[53],"efficiently":[55],"pick":[56],"multiple":[57],"objects":[58,82],"single":[61],"attempt;":[62],"2)":[63],"Accurate":[65],"pick-transferring":[66],"evaluates":[69],"capacity":[72],"selectively":[74],"grasp":[75],"transport":[77],"specific":[79],"number":[80],"from":[83],"cluttered":[85],"environment;":[86],"3)":[88],"Pick-transferring-all":[90],"challenges":[93],"clear":[97],"an":[98],"entire":[99],"scene":[100],"by":[101,116],"sequentially":[102],"transferring":[105],"all":[106],"available":[107],"objects.":[108],"are":[111],"intended":[112],"be":[114],"adopted":[115],"broader":[118],"robotics":[119],"research":[120],"community,":[121],"providing":[122],"standardized":[124],"method":[125],"assess":[127],"compare":[129],"systems'":[131],"performance":[132,176],"tasks.":[136],"We":[137,168],"establish":[138],"baselines":[139],"for":[140],"these":[141],"using":[143],"standard":[144],"planning":[145],"perception":[147],"algorithms":[148],"on":[149],"Barrett":[151],"hand,":[152],"Robotiq":[153],"parallel":[154],"jar":[155],"gripper,":[156],"Pisa/IIT":[159],"Softhand-2,":[160],"is":[162],"soft":[164],"underactuated":[165],"hand.":[167],"discuss":[169],"results":[171],"relation":[173],"human":[175],"similar":[178],"tasks":[179],"as":[180],"well.":[181]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
