{"id":"https://openalex.org/W4417251963","doi":"https://doi.org/10.1109/lra.2025.3643270","title":"UniFucGrasp: Human-Hand-Inspired Unified Functional Grasp Annotation Strategy and Dataset for Diverse Dexterous Hands","display_name":"UniFucGrasp: Human-Hand-Inspired Unified Functional Grasp Annotation Strategy and Dataset for Diverse Dexterous Hands","publication_year":2025,"publication_date":"2025-12-11","ids":{"openalex":"https://openalex.org/W4417251963","doi":"https://doi.org/10.1109/lra.2025.3643270"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3643270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643270","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/A5101388825","display_name":"Haoran Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Haoran Lin","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","School of Artificial Intelligence and Robotics, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079242768","display_name":"Wenrui Chen","orcid":"https://orcid.org/0000-0002-6366-7721"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Wenrui Chen","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","School of Artificial Intelligence and Robotics, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100373698","display_name":"Xiao Dong Chen","orcid":"https://orcid.org/0000-0002-0150-0491"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Xianchi Chen","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","School of Artificial Intelligence and Robotics, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028825882","display_name":"Fan Yang","orcid":"https://orcid.org/0000-0003-3407-8183"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Fan Yang","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","School of Artificial Intelligence and Robotics, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010656524","display_name":"Qiang Diao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Qiang Diao","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","School of Artificial Intelligence and Robotics, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101554707","display_name":"Wenxin Xie","orcid":"https://orcid.org/0000-0003-3969-0814"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxin Xie","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","College of Mechanical and Vehicle Engineering, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100582810","display_name":"Sijie Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sijie Wu","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","College of Mechanical and Vehicle Engineering, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027010844","display_name":"Kailun Yang","orcid":"https://orcid.org/0000-0002-1090-667X"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Kailun Yang","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","School of Artificial Intelligence and Robotics, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044151651","display_name":"Maojun Li","orcid":"https://orcid.org/0000-0001-7728-6949"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maojun Li","raw_affiliation_strings":["College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","College of Mechanical and Vehicle Engineering, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]},{"raw_affiliation_string":"College of Mechanical and Vehicle Engineering, Hunan University, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108985831","display_name":"Yaonan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Yaonan Wang","raw_affiliation_strings":["School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","School of Artificial Intelligence and Robotics, Hunan University, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I4210121405"]},{"raw_affiliation_string":"School of Artificial Intelligence and Robotics, Hunan University, China","institution_ids":["https://openalex.org/I4210121405"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5101388825"],"corresponding_institution_ids":["https://openalex.org/I4210121405"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48330983,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"1994","last_page":"2001"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9286999702453613,"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":0.9286999702453613,"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":0.026599999517202377,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.00570000009611249,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9549999833106995},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6632000207901001},{"id":"https://openalex.org/keywords/annotation","display_name":"Annotation","score":0.57669997215271},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4650999903678894},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4562000036239624},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3700000047683716},{"id":"https://openalex.org/keywords/mirroring","display_name":"Mirroring","score":0.3262999951839447}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9549999833106995},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6708999872207642},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6632000207901001},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6499999761581421},{"id":"https://openalex.org/C2776321320","wikidata":"https://www.wikidata.org/wiki/Q857525","display_name":"Annotation","level":2,"score":0.57669997215271},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4650999903678894},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4562000036239624},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3991999924182892},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3700000047683716},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34470000863075256},{"id":"https://openalex.org/C189645446","wikidata":"https://www.wikidata.org/wiki/Q350865","display_name":"Mirroring","level":2,"score":0.3262999951839447},{"id":"https://openalex.org/C117797892","wikidata":"https://www.wikidata.org/wiki/Q286363","display_name":"Shadow (psychology)","level":2,"score":0.3248000144958496},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3140000104904175},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.30140000581741333},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3010999858379364},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.29170000553131104},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.29120001196861267},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.2590999901294708}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3643270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3643270","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/G1548865700","display_name":null,"funder_award_id":"62473139","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4041047505","display_name":null,"funder_award_id":"U23A20341","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6659111588","display_name":null,"funder_award_id":"62273137","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8354495100","display_name":null,"funder_award_id":"U21A20518","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":36,"referenced_works":["https://openalex.org/W205184021","https://openalex.org/W1606226685","https://openalex.org/W1974072120","https://openalex.org/W2012368703","https://openalex.org/W2066437909","https://openalex.org/W2106215490","https://openalex.org/W2110741537","https://openalex.org/W2138983671","https://openalex.org/W2158422304","https://openalex.org/W2158782408","https://openalex.org/W2159280862","https://openalex.org/W2159579247","https://openalex.org/W2963318232","https://openalex.org/W2964344211","https://openalex.org/W2967695057","https://openalex.org/W2968653604","https://openalex.org/W2979750740","https://openalex.org/W2986382673","https://openalex.org/W2987039068","https://openalex.org/W3003177118","https://openalex.org/W3003296541","https://openalex.org/W3034479523","https://openalex.org/W3180172155","https://openalex.org/W3203740651","https://openalex.org/W3215810277","https://openalex.org/W4206247072","https://openalex.org/W4221156515","https://openalex.org/W4361858295","https://openalex.org/W4362653715","https://openalex.org/W4383108746","https://openalex.org/W4390874827","https://openalex.org/W4393147500","https://openalex.org/W4401025125","https://openalex.org/W4402754209","https://openalex.org/W4404317180","https://openalex.org/W4414050570"],"related_works":[],"abstract_inverted_index":{"Dexterous":[0],"grasp":[1,11,50,101,131],"datasets":[2],"are":[3],"vital":[4],"for":[5,17,55],"embodied":[6],"intelligence,":[7],"but":[8],"mostly":[9],"emphasize":[10],"stability,":[12,132],"ignoring":[13],"functional":[14,49,92,100,127],"grasps":[15],"needed":[16],"tasks":[18,121],"like":[19],"opening":[20],"bottle":[21],"caps":[22],"or":[23],"holding":[24],"cup":[25],"handles.":[26],"Most":[27],"rely":[28],"on":[29,61,113],"bulky,":[30],"costly,":[31],"and":[32,53,72,103,118,130,145],"hard-to-control":[33],"high-DOF":[34],"Shadow":[35],"Hands.":[36],"Inspired":[37],"by":[38],"the":[39,97,114],"human":[40,66],"hand's":[41],"underactuated":[42],"mechanism,":[43],"we":[44,95],"establish":[45,96],"UniFucGrasp,":[46],"a":[47,105],"universal":[48],"annotation":[51,143],"strategy":[52],"dataset":[54,102],"multiple":[56,137],"dexterous":[57,149],"hand":[58,70],"types.":[59],"Based":[60],"biomimicry,":[62],"it":[63],"maps":[64],"natural":[65],"motions":[67],"to":[68,77,108,141],"diverse":[69],"structures":[71],"uses":[73],"geometry-based":[74],"force":[75],"closure":[76],"ensure":[78],"functional,":[79],"stable,":[80],"human-like":[81],"grasps.":[82,93],"This":[83],"method":[84,125],"supports":[85],"low-cost,":[86],"efficient":[87],"collection":[88],"of":[89],"diverse,":[90],"high-quality":[91],"Finally,":[94],"first":[98],"multi-hand":[99],"provide":[104],"synthesis":[106],"model":[107],"validate":[109],"its":[110],"effectiveness.":[111],"Experiments":[112],"UFG":[115],"dataset,":[116],"IsaacSim,":[117],"complex":[119],"robotic":[120,138],"show":[122],"that":[123],"our":[124],"improves":[126],"manipulation":[128],"accuracy":[129],"demonstrates":[133],"improved":[134],"adaptability":[135],"across":[136],"hands,":[139],"helping":[140],"alleviate":[142],"cost":[144],"generalization":[146],"challenges":[147],"in":[148],"grasping.":[150]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-12-11T00:00:00"}