{"id":"https://openalex.org/W4408223426","doi":"https://doi.org/10.1109/robio64047.2024.10907705","title":"An Inception Transformer-CNN Architecture for Robotic Grasping Detection","display_name":"An Inception Transformer-CNN Architecture for Robotic Grasping Detection","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408223426","doi":"https://doi.org/10.1109/robio64047.2024.10907705"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907705","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907705","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5104278988","display_name":"Haining Miao","orcid":null},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haining Miao","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China,243002"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China,243002","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102020756","display_name":"Xiangrong Xu","orcid":"https://orcid.org/0000-0001-6055-6797"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangrong Xu","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China,243002"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China,243002","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100309345","display_name":"Weijing Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weijing Wang","raw_affiliation_strings":["School of Cumputer Science and Technology, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China,243002"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Cumputer Science and Technology, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China,243002","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065318233","display_name":"Huanhuan Cui","orcid":"https://orcid.org/0000-0003-4616-0563"},"institutions":[{"id":"https://openalex.org/I92178344","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21","country_code":"CN","type":"education","lineage":["https://openalex.org/I92178344"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huanhuan Cui","raw_affiliation_strings":["School of Mechanical Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China,243002"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Anhui University of Technology,Ma&#x0027;anshan,Anhui,China,243002","institution_ids":["https://openalex.org/I92178344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069527664","display_name":"Aleksandar Rodi\u0107","orcid":"https://orcid.org/0000-0002-5595-9724"},"institutions":[{"id":"https://openalex.org/I4068193","display_name":"University of Belgrade","ror":"https://ror.org/02qsmb048","country_code":"RS","type":"education","lineage":["https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"Aleksandar Rodi\u0107","raw_affiliation_strings":["University of Belgrade,Faculty of Mechani cal Engineering,Belgrade,Serbia,11120"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Belgrade,Faculty of Mechani cal Engineering,Belgrade,Serbia,11120","institution_ids":["https://openalex.org/I4068193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044894804","display_name":"Petar B. Petrovi\u0107","orcid":"https://orcid.org/0000-0002-5375-600X"},"institutions":[{"id":"https://openalex.org/I4068193","display_name":"University of Belgrade","ror":"https://ror.org/02qsmb048","country_code":"RS","type":"education","lineage":["https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"Petar B. Petrovic","raw_affiliation_strings":["University of Belgrade,Faculty of Mechani cal Engineering,Belgrade,Serbia,11120"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Belgrade,Faculty of Mechani cal Engineering,Belgrade,Serbia,11120","institution_ids":["https://openalex.org/I4068193"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031696894","display_name":"Shanshan Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shanshan Xu","raw_affiliation_strings":["School of Osaka Medical Engineering, Ma&#x0027;anshan University,Ma&#x0027;anshan,Anhui,China,243100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Osaka Medical Engineering, Ma&#x0027;anshan University,Ma&#x0027;anshan,Anhui,China,243100","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100354452","display_name":"Haiyan Wang","orcid":"https://orcid.org/0000-0002-4906-8845"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haiyan Wang","raw_affiliation_strings":["School of Osaka Medical Engineering, Ma&#x0027;anshan University,Ma&#x0027;anshan,Anhui,China,243100"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Osaka Medical Engineering, Ma&#x0027;anshan University,Ma&#x0027;anshan,Anhui,China,243100","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"440","last_page":"445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.979200005531311,"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"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.979200005531311,"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/T11241","display_name":"Advanced Malware Detection Techniques","score":0.9365000128746033,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/architecture","display_name":"Architecture","score":0.6739605665206909},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6725136041641235},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.6694724559783936},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.53472900390625},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3410443663597107},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2595784664154053},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2242295742034912},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.09508916735649109},{"id":"https://openalex.org/keywords/history","display_name":"History","score":0.05867388844490051}],"concepts":[{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6739605665206909},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6725136041641235},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.6694724559783936},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.53472900390625},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3410443663597107},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2595784664154053},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2242295742034912},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.09508916735649109},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.05867388844490051},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907705","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907705","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4782799644","display_name":null,"funder_award_id":"QZ202217","funder_id":"https://openalex.org/F4320323709","funder_display_name":"Anhui University of Technology"}],"funders":[{"id":"https://openalex.org/F4320323709","display_name":"Anhui University of Technology","ror":"https://ror.org/02qdtrq21"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1892339738","https://openalex.org/W1999156278","https://openalex.org/W2808521881","https://openalex.org/W2953669419","https://openalex.org/W2963326767","https://openalex.org/W3088158297","https://openalex.org/W3130885760","https://openalex.org/W3160694286","https://openalex.org/W3213354518","https://openalex.org/W4210316419","https://openalex.org/W4221167790","https://openalex.org/W4317242584","https://openalex.org/W4360615633","https://openalex.org/W4386224118"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Addressing":[0],"the":[1,37,54,64,68,75,92,112,117,139],"issue":[2],"of":[3,39,57,72,79,138],"low":[4],"accuracy":[5,38,124],"in":[6,59],"detecting":[7],"suitable":[8],"grasping":[9,26,40,88],"regions":[10],"for":[11,24],"unknown":[12,41],"objects":[13],"through":[14],"visual":[15],"information,":[16],"this":[17],"paper":[18],"proposes":[19],"an":[20,46],"Inception":[21,47],"Transformer-CNN":[22],"architecture":[23,44,93],"robot":[25],"detection,":[27],"referred":[28],"to":[29,35,99],"as":[30],"ITC-Grasp.":[31],"The":[32,43,109,134],"aim":[33],"is":[34],"enhance":[36],"objects.":[42],"incorporates":[45],"mixer":[48],"with":[49],"a":[50,95],"channel-splitting":[51],"mechanism,":[52],"integrating":[53],"powerful":[55],"capability":[56,71,78],"CNN":[58,73],"extracting":[60],"high-frequency":[61],"representations":[62],"into":[63],"Transformer.":[65],"By":[66],"synergizing":[67],"local":[69],"modeling":[70,77],"and":[74,103,125,136],"global":[76],"Transformer,":[80],"it":[81],"achieves":[82,120],"superior":[83],"feature":[84],"representation,":[85],"thereby":[86],"improving":[87],"detection":[89],"performance.":[90,133],"Additionally,":[91],"introduces":[94],"frequency":[96],"slope":[97],"structure":[98],"effectively":[100],"balance":[101],"high":[102],"low-frequency":[104],"components":[105],"across":[106],"different":[107],"layers.":[108],"results":[110],"on":[111],"Cornell":[113],"dataset":[114],"show":[115],"that":[116],"proposed":[118,140],"method":[119,141],"98.2%":[121],"image":[122],"segmentation":[123,128],"97.1%":[126],"object":[127],"accuracy,":[129],"respectively,":[130],"showing":[131],"competitive":[132],"feasibility":[135],"effectiveness":[137],"are":[142],"verified":[143],"by":[144],"simulation":[145],"experiments.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
