{"id":"https://openalex.org/W4411019161","doi":"https://doi.org/10.1109/robosoft63089.2025.11020918","title":"SoGraB: A Visual Method for Soft Grasping Benchmarking and Evaluation","display_name":"SoGraB: A Visual Method for Soft Grasping Benchmarking and Evaluation","publication_year":2025,"publication_date":"2025-04-22","ids":{"openalex":"https://openalex.org/W4411019161","doi":"https://doi.org/10.1109/robosoft63089.2025.11020918"},"language":"en","primary_location":{"id":"doi:10.1109/robosoft63089.2025.11020918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","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/A5115002606","display_name":"Benjamin G. Greenland","orcid":null},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Benjamin G. Greenland","raw_affiliation_strings":["CSIRO Robotics,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIRO Robotics,Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028979200","display_name":"Josh Pinskier","orcid":null},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Josh Pinskier","raw_affiliation_strings":["CSIRO Robotics,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIRO Robotics,Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101862298","display_name":"Xing Wang","orcid":"https://orcid.org/0000-0001-7551-9913"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Xing Wang","raw_affiliation_strings":["CSIRO Robotics,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIRO Robotics,Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090841567","display_name":"Daniel Nguyen","orcid":"https://orcid.org/0000-0002-2486-4060"},"institutions":[{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Daniel Nguyen","raw_affiliation_strings":["Queensland University of Technology,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Queensland University of Technology,Australia","institution_ids":["https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014767484","display_name":"Ge Shi","orcid":"https://orcid.org/0000-0002-3981-4744"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ge Shi","raw_affiliation_strings":["CSIRO Robotics,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIRO Robotics,Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010359470","display_name":"Tirthankar Bandyopadhyay","orcid":"https://orcid.org/0000-0003-2229-5383"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Tirthankar Bandyopadhyay","raw_affiliation_strings":["CSIRO Robotics,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIRO Robotics,Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009492797","display_name":"Jen Jen Chung","orcid":"https://orcid.org/0000-0001-7828-0741"},"institutions":[{"id":"https://openalex.org/I165143802","display_name":"The University of Queensland","ror":"https://ror.org/00rqy9422","country_code":"AU","type":"education","lineage":["https://openalex.org/I165143802"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jen Jen Chung","raw_affiliation_strings":["The University of Queensland,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Queensland,Australia","institution_ids":["https://openalex.org/I165143802"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071343523","display_name":"David Howard","orcid":"https://orcid.org/0000-0003-1738-0698"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"David Howard","raw_affiliation_strings":["CSIRO Robotics,Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIRO Robotics,Australia","institution_ids":["https://openalex.org/I1292875679"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.7748,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.9585054,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/benchmarking","display_name":"Benchmarking","score":0.8937351703643799},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6975849866867065},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45710664987564087},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.44658687710762024},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.4306787848472595},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3655097484588623},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.06592097878456116}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.8937351703643799},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6975849866867065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45710664987564087},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.44658687710762024},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.4306787848472595},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3655097484588623},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.06592097878456116},{"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/robosoft63089.2025.11020918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robosoft63089.2025.11020918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 8th International Conference on Soft Robotics (RoboSoft)","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":34,"referenced_works":["https://openalex.org/W2007924815","https://openalex.org/W2109163007","https://openalex.org/W2153681676","https://openalex.org/W2523532412","https://openalex.org/W2612414327","https://openalex.org/W2894687498","https://openalex.org/W2913467116","https://openalex.org/W2990138404","https://openalex.org/W2998869056","https://openalex.org/W3003841598","https://openalex.org/W3022674252","https://openalex.org/W3157853607","https://openalex.org/W3204173919","https://openalex.org/W4225152609","https://openalex.org/W4255466541","https://openalex.org/W4285149089","https://openalex.org/W4311446656","https://openalex.org/W4319459047","https://openalex.org/W4376605589","https://openalex.org/W4376605771","https://openalex.org/W4385848394","https://openalex.org/W4387115471","https://openalex.org/W4390965737","https://openalex.org/W4392735770","https://openalex.org/W4396875096","https://openalex.org/W4396875112","https://openalex.org/W4398788565","https://openalex.org/W4399353636","https://openalex.org/W4400738450","https://openalex.org/W4402354104","https://openalex.org/W4405784951","https://openalex.org/W6855713519","https://openalex.org/W6862394805","https://openalex.org/W6872493681"],"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":{"The":[0],"need":[1],"for":[2,111,118,130],"industrially":[3],"relevant":[4],"tools":[5],"to":[6,30,41,59,97,137,151],"safely":[7],"handle":[8],"delicate":[9],"and":[10,55,67,86,115,133],"deformable":[11],"goods":[12],"has":[13],"driven":[14],"a":[15,128],"recent":[16],"explosion":[17],"in":[18],"soft":[19,46,82,102,109,143],"robotic":[20],"gripper":[21,106],"designs.":[22,33,122],"However,":[23],"there":[24],"is":[25],"currently":[26],"no":[27],"meaningful":[28],"way":[29],"compare":[31],"different":[32,105],"No":[34],"commonly":[35],"available,":[36],"standardised":[37],"evaluation":[38,132],"protocol":[39],"exists":[40],"assess":[42],"the":[43,51,73,94,99,152],"performance":[44],"of":[45,81,101],"grippers.":[47],"This":[48],"work":[49],"introduces":[50],"Soft":[52],"Grasping":[53],"Benchmarking":[54],"Evaluation":[56],"(SoGraB)":[57],"method":[58],"evaluate":[60,98],"grasp":[61,69,131],"quality.":[62],"It":[63],"quantifies":[64],"object":[65],"deformation,":[66],"hence":[68],"quality,":[70],"by":[71,139],"measuring":[72],"Density-Aware":[74],"Chamfer":[75],"Distance":[76],"(DCD)":[77],"between":[78],"point":[79],"clouds":[80],"objects":[83,150],"recorded":[84],"before":[85],"after":[87],"grasping.":[88],"Through":[89],"extensive":[90],"experimentation,":[91],"we":[92],"demonstrate":[93],"method\u2019s":[95],"ability":[96],"quality":[100],"grasps,":[103],"rank":[104],"designs,":[107],"select":[108],"grippers":[110],"complex":[112],"grasping":[113],"tasks,":[114],"benchmark":[116],"them":[117],"comparison":[119],"against":[120,145],"future":[121,135],"We":[123],"believe":[124],"SoGraB":[125],"can":[126],"be":[127],"standard":[129],"invite":[134],"users":[136],"contribute":[138],"benchmarking":[140],"their":[141],"own":[142],"designs":[144],"our":[146],"baselines":[147],"or":[148],"adding":[149],"dataset.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}