{"id":"https://openalex.org/W4417130923","doi":"https://doi.org/10.1109/lra.2025.3641152","title":"DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Densely Cluttered Environments","display_name":"DexSinGrasp: Learning a Unified Policy for Dexterous Object Singulation and Grasping in Densely Cluttered Environments","publication_year":2025,"publication_date":"2025-12-08","ids":{"openalex":"https://openalex.org/W4417130923","doi":"https://doi.org/10.1109/lra.2025.3641152"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3641152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3641152","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":"Lixin Xu","orcid":"https://orcid.org/0009-0002-8028-8114"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Lixin Xu","raw_affiliation_strings":["School of Computing, National University of Singapore, Singapore","School of ComputingNational University of Singapore"],"raw_orcid":"https://orcid.org/0009-0002-8028-8114","affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of ComputingNational University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084075146","display_name":"Z.Y. Liu","orcid":"https://orcid.org/0000-0003-0667-9053"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zixuan Liu","raw_affiliation_strings":["School of Computing, National University of Singapore, Singapore","School of ComputingNational University of Singapore"],"raw_orcid":"https://orcid.org/0000-0003-0667-9053","affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of ComputingNational University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhewei Gui","orcid":"https://orcid.org/0009-0005-5275-7827"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhewei Gui","raw_affiliation_strings":["School of Computing, National University of Singapore, Singapore","School of ComputingNational University of Singapore"],"raw_orcid":"https://orcid.org/0009-0005-5275-7827","affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of ComputingNational University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100316412","display_name":"Jingxiang Guo","orcid":"https://orcid.org/0009-0009-2314-6911"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jingxiang Guo","raw_affiliation_strings":["School of Computing, National University of Singapore, Singapore","School of ComputingNational University of Singapore"],"raw_orcid":"https://orcid.org/0009-0009-2314-6911","affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of ComputingNational University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102733640","display_name":"Zeyu Jiang","orcid":"https://orcid.org/0000-0002-7029-1822"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zeyu Jiang","raw_affiliation_strings":["School of Computing, National University of Singapore, Singapore","School of ComputingNational University of Singapore"],"raw_orcid":"https://orcid.org/0000-0002-7029-1822","affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of ComputingNational University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Tongzhou Zhang","orcid":"https://orcid.org/0009-0003-1495-3005"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Tongzhou Zhang","raw_affiliation_strings":["School of Computing, National University of Singapore, Singapore","School of ComputingNational University of Singapore"],"raw_orcid":"https://orcid.org/0009-0003-1495-3005","affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of ComputingNational University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhixuan Xu","orcid":"https://orcid.org/0009-0003-3979-352X"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhixuan Xu","raw_affiliation_strings":["School of Computing, National University of Singapore, Singapore","School of ComputingNational University of Singapore"],"raw_orcid":"https://orcid.org/0009-0003-3979-352X","affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of ComputingNational University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100531730","display_name":"Chongkai Gao","orcid":"https://orcid.org/0000-0002-4022-7280"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chongkai Gao","raw_affiliation_strings":["School of Computing, National University of Singapore, Singapore","School of ComputingNational University of Singapore"],"raw_orcid":"https://orcid.org/0000-0002-4022-7280","affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of ComputingNational University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100566831","display_name":"Lin Shao","orcid":"https://orcid.org/0000-0002-3412-5755"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lin Shao","raw_affiliation_strings":["School of Computing, National University of Singapore, Singapore","School of ComputingNational University of Singapore"],"raw_orcid":"https://orcid.org/0000-0002-3412-5755","affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"School of ComputingNational University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.46362499,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"1346","last_page":"1353"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.972599983215332,"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":0.972599983215332,"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/T10982","display_name":"Motor Control and Adaptation","score":0.012500000186264515,"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/T10868","display_name":"Soft Robotics and Applications","score":0.006200000178068876,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.7160999774932861},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6331999897956848},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4731999933719635},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4413999915122986},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.3889999985694885},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.30230000615119934}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.744700014591217},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.7160999774932861},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6488000154495239},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6331999897956848},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6083999872207642},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4731999933719635},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4413999915122986},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.3889999985694885},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3037000000476837},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.30230000615119934},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.29179999232292175},{"id":"https://openalex.org/C149810388","wikidata":"https://www.wikidata.org/wiki/Q5374873","display_name":"Emulation","level":2,"score":0.29159998893737793},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.28459998965263367},{"id":"https://openalex.org/C46686674","wikidata":"https://www.wikidata.org/wiki/Q466303","display_name":"Boosting (machine learning)","level":2,"score":0.2824999988079071},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26089999079704285}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3641152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3641152","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/G8363208187","display_name":null,"funder_award_id":"FY2024","funder_id":"https://openalex.org/F4320320751","funder_display_name":"Ministry of Education - Singapore"}],"funders":[{"id":"https://openalex.org/F4320320751","display_name":"Ministry of Education - Singapore","ror":"https://ror.org/01kcva023"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2551182329","https://openalex.org/W2951360122","https://openalex.org/W2962793652","https://openalex.org/W2966615203","https://openalex.org/W3003266338","https://openalex.org/W3037767967","https://openalex.org/W3089580269","https://openalex.org/W3089949728","https://openalex.org/W3132114951","https://openalex.org/W3174510143","https://openalex.org/W3176770340","https://openalex.org/W3186881096","https://openalex.org/W3201312429","https://openalex.org/W3205918749","https://openalex.org/W3206600280","https://openalex.org/W3210327237","https://openalex.org/W4211039365","https://openalex.org/W4285164516","https://openalex.org/W4306770046","https://openalex.org/W4312284415","https://openalex.org/W4312544766","https://openalex.org/W4375959284","https://openalex.org/W4385430685","https://openalex.org/W4385430700","https://openalex.org/W4386071465","https://openalex.org/W4390872441","https://openalex.org/W4400228510","https://openalex.org/W4401414016","https://openalex.org/W4401414162","https://openalex.org/W4403842140","https://openalex.org/W4405785328","https://openalex.org/W4405786948","https://openalex.org/W4413145029","https://openalex.org/W4413925832"],"related_works":[],"abstract_inverted_index":{"Grasping":[0],"objects":[1],"in":[2,11,37,46,79,134,142],"cluttered":[3,47,80,116],"environments":[4],"remains":[5],"a":[6,57,102,113],"fundamental":[7],"yet":[8],"challenging":[9],"problem":[10],"robotic":[12],"manipulation.":[13],"While":[14],"prior":[15],"works":[16],"have":[17,29],"explored":[18],"learning-based":[19],"synergies":[20],"between":[21],"pushing":[22],"and":[23,64,77,92,123,137,147],"grasping":[24,45,105,117,138],"for":[25,44,60],"two-fingered":[26],"grippers,":[27],"few":[28],"leveraged":[30],"the":[31],"high":[32],"degrees":[33],"of":[34,115],"freedom":[35],"(DoF)":[36],"dexterous":[38,61],"hands":[39],"to":[40,71,88],"perform":[41],"efficient":[42],"singulation":[43,63,70],"settings.":[48],"In":[49],"this":[50],"work,":[51],"we":[52,111],"introduce":[53,112],"<italic":[54],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[55,155],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">DexSinGrasp</i>,":[56],"unified":[58],"policy":[59,99],"object":[62,69,121],"grasping.":[65],"DexSinGrasp":[66],"enables":[67,101],"high-dexterity":[68],"facilitate":[72],"grasping,":[73],"significantly":[74],"improving":[75],"efficiency":[76,136],"effectiveness":[78],"environments.":[81],"We":[82],"incorporate":[83],"clutter":[84,96],"arrangement":[85],"curriculum":[86],"learning":[87],"enhance":[89],"success":[90,139],"rates":[91],"generalization":[93],"across":[94],"diverse":[95],"conditions,":[97],"while":[98],"distillation":[100],"deployable":[103],"vision-based":[104],"strategy.":[106],"To":[107],"evaluate":[108],"our":[109,130,152],"approach,":[110],"set":[114],"tasks":[118],"with":[119],"varying":[120],"arrangements":[122],"occlusion":[124],"levels.":[125],"Experimental":[126],"results":[127],"show":[128],"that":[129],"method":[131],"outperforms":[132],"baselines":[133],"both":[135],"rate,":[140],"particularly":[141],"dense":[143],"clutter.":[144],"Codes,":[145],"appendix,":[146],"videos":[148],"are":[149],"available":[150],"on":[151],"website":[153],"<uri":[154],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://nus-lins-lab.github.io/dexsingweb/</uri>.":[156]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-12-08T00:00:00"}