{"id":"https://openalex.org/W2921688541","doi":"https://doi.org/10.1109/robio.2018.8665225","title":"Visual Manipulation Relationship Detection with Fully Connected CRFs for Autonomous Robotic Grasp","display_name":"Visual Manipulation Relationship Detection with Fully Connected CRFs for Autonomous Robotic Grasp","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2921688541","doi":"https://doi.org/10.1109/robio.2018.8665225","mag":"2921688541"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8665225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5006018234","display_name":"Chenjie Yang","orcid":"https://orcid.org/0000-0003-1238-0701"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenjie Yang","raw_affiliation_strings":["Institute of Artificial Intelligence, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006277484","display_name":"Xuguang Lan","orcid":"https://orcid.org/0000-0002-3422-944X"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuguang Lan","raw_affiliation_strings":["Institute of Artificial Intelligence, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074050672","display_name":"Hanbo Zhang","orcid":"https://orcid.org/0000-0002-2235-6855"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanbo Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091548136","display_name":"Xinwen Zhou","orcid":"https://orcid.org/0000-0003-1357-7039"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinwen Zhou","raw_affiliation_strings":["Institute of Artificial Intelligence, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047405956","display_name":"Nanning Zheng","orcid":"https://orcid.org/0000-0003-1608-8257"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nanning Zheng","raw_affiliation_strings":["Institute of Artificial Intelligence, Xi'an Jiaotong University, Xi'an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence, Xi'an Jiaotong University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I87445476"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"393","last_page":"400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9983000159263611,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9983000159263611,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9940999746322632,"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":0.9934999942779541,"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/crfs","display_name":"CRFS","score":0.9485490322113037},{"id":"https://openalex.org/keywords/conditional-random-field","display_name":"Conditional random field","score":0.8352397680282593},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8180683851242065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7973951101303101},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.7457370162010193},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6965174078941345},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.615803599357605},{"id":"https://openalex.org/keywords/dependency","display_name":"Dependency (UML)","score":0.6156600713729858},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.602594256401062},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5928159952163696},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42504534125328064},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3809989094734192},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3339056968688965},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08088210225105286}],"concepts":[{"id":"https://openalex.org/C2775953691","wikidata":"https://www.wikidata.org/wiki/Q5013874","display_name":"CRFS","level":3,"score":0.9485490322113037},{"id":"https://openalex.org/C152565575","wikidata":"https://www.wikidata.org/wiki/Q1124538","display_name":"Conditional random field","level":2,"score":0.8352397680282593},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8180683851242065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7973951101303101},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.7457370162010193},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6965174078941345},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.615803599357605},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.6156600713729858},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.602594256401062},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5928159952163696},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42504534125328064},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3809989094734192},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3339056968688965},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08088210225105286},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2018.8665225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1511986666","https://openalex.org/W1547225229","https://openalex.org/W1686810756","https://openalex.org/W1923697677","https://openalex.org/W2049705550","https://openalex.org/W2081613070","https://openalex.org/W2097117768","https://openalex.org/W2098201806","https://openalex.org/W2108598243","https://openalex.org/W2124592697","https://openalex.org/W2161236525","https://openalex.org/W2163605009","https://openalex.org/W2194775991","https://openalex.org/W2277195237","https://openalex.org/W2479423890","https://openalex.org/W2565639579","https://openalex.org/W2605736949","https://openalex.org/W2607855566","https://openalex.org/W2613718673","https://openalex.org/W2736791688","https://openalex.org/W2770106191","https://openalex.org/W2788537278","https://openalex.org/W2800507189","https://openalex.org/W2952793010","https://openalex.org/W2962821282","https://openalex.org/W2963037989","https://openalex.org/W2963650529","https://openalex.org/W2969047925","https://openalex.org/W3106250896","https://openalex.org/W4295602020","https://openalex.org/W6620707391","https://openalex.org/W6684191040","https://openalex.org/W6721769334","https://openalex.org/W6785652829"],"related_works":["https://openalex.org/W50079190","https://openalex.org/W2356597680","https://openalex.org/W182104056","https://openalex.org/W2111726165","https://openalex.org/W2011251309","https://openalex.org/W3108423214","https://openalex.org/W2796133761","https://openalex.org/W3088215229","https://openalex.org/W2511246383","https://openalex.org/W2184553228"],"abstract_inverted_index":{"In":[0,30,60],"multi-object":[1,162],"scenes,":[2],"objects":[3,27],"may":[4],"be":[5],"stacked":[6],"and":[7,93,132],"interact":[8],"with":[9],"each":[10,51],"other,":[11],"which":[12,78,103,125,164],"brings":[13],"an":[14,89],"enormous":[15],"difficulty":[16],"for":[17,100,161],"robotic":[18,31,159],"grasping":[19],"tasks.":[20],"Therefore,":[21],"exploring":[22],"the":[23,48,73,80,101,106,113,119,127,138,166],"manipulation":[24,123],"relationships":[25,84],"between":[26,50],"is":[28],"necessary.":[29],"fields,":[32],"there":[33],"have":[34],"been":[35],"some":[36],"works":[37],"focusing":[38],"on":[39,72,145,153],"this":[40,61,154],"task.":[41],"However,":[42],"most":[43],"of":[44,53,56,75,108,121,168],"them":[45],"only":[46],"detect":[47],"relationship":[49],"pair":[52],"objects,":[54],"regardless":[55],"dependency":[57,81],"among":[58,82],"them.":[59],"paper,":[62],"we":[63,117,156],"construct":[64],"a":[65,86,94,142,158],"fully":[66],"connected":[67],"Conditional":[68],"Random":[69],"Fields":[70],"(CRFs)":[71],"output":[74],"front-end":[76],"network,":[77],"models":[79],"all":[83],"in":[85],"scene.":[87],"Besides,":[88],"exact":[90],"inference":[91,96],"algorithm":[92,97],"variational":[95],"are":[98],"deployed":[99],"CRFs,":[102],"immensely":[104],"improves":[105],"performance":[107],"our":[109,169],"framework":[110],"while":[111],"meeting":[112],"real-time":[114],"requirements.":[115],"Furthermore,":[116],"expand":[118],"types":[120],"visual":[122],"relationship,":[124],"make":[126],"description":[128],"pattern":[129],"more":[130],"powerful":[131],"stable.":[133],"Our":[134],"experiments":[135],"show":[136],"that":[137],"proposed":[139],"approach":[140],"gets":[141],"state-of-the-art":[143],"result":[144],"Visual":[146],"Manipulation":[147],"Relationship":[148],"Dataset":[149],"(VMRD).":[150],"Finally,":[151],"based":[152],"work,":[155],"build":[157],"system":[160],"grasping,":[163],"demonstrates":[165],"practicality":[167],"algorithm.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
