{"id":"https://openalex.org/W4407390513","doi":"https://doi.org/10.1109/tase.2025.3541026","title":"Three-Fingered Grasp Detection in Clutter With a Unified Grasping Representation","display_name":"Three-Fingered Grasp Detection in Clutter With a Unified Grasping Representation","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4407390513","doi":"https://doi.org/10.1109/tase.2025.3541026"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3541026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3541026","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5102561183","display_name":"Guangbao Zhao","orcid":"https://orcid.org/0009-0004-4962-740X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guangbao Zhao","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","Institute of Robotics, School of Mechanical Engineering, State Key Laboratory of Mechanical System, and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Institute of Robotics, School of Mechanical Engineering, State Key Laboratory of Mechanical System, and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101537957","display_name":"Yan Xing","orcid":"https://orcid.org/0000-0002-6706-3618"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan Xing","raw_affiliation_strings":["Beijing Institute of Control Engineering, Beijing, China","Beijing Institute of Control Engineering, China"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Control Engineering, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Beijing Institute of Control Engineering, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101471000","display_name":"Jianhua Wu","orcid":"https://orcid.org/0000-0002-2410-5013"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianhua Wu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","Institute of Robotics, School of Mechanical Engineering, State Key Laboratory of Mechanical System, and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Institute of Robotics, School of Mechanical Engineering, State Key Laboratory of Mechanical System, and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036757330","display_name":"Zhenhua Xiong","orcid":"https://orcid.org/0000-0001-6046-3101"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Xiong","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","Institute of Robotics, School of Mechanical Engineering, State Key Laboratory of Mechanical System, and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Institute of Robotics, School of Mechanical Engineering, State Key Laboratory of Mechanical System, and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102561183"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02451152,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"11869","last_page":"11880"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9904000163078308,"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":0.9904000163078308,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9174000024795532,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9050999879837036,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8169403076171875},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.7762411832809448},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5799227952957153},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5618647336959839},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5517022609710693},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.5160607695579529},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.482340544462204},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29718902707099915},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.17096653580665588}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8169403076171875},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.7762411832809448},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5799227952957153},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5618647336959839},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5517022609710693},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.5160607695579529},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.482340544462204},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29718902707099915},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.17096653580665588},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3541026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3541026","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5328732139","display_name":null,"funder_award_id":"MSVZD202205","funder_id":"https://openalex.org/F4320327024","funder_display_name":"State Key Laboratory of Mechanical System and Vibration"}],"funders":[{"id":"https://openalex.org/F4320327024","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W1510186039","https://openalex.org/W1794703952","https://openalex.org/W1971688004","https://openalex.org/W1974506533","https://openalex.org/W1999156278","https://openalex.org/W1999375810","https://openalex.org/W2036637075","https://openalex.org/W2088502613","https://openalex.org/W2201912979","https://openalex.org/W2282481780","https://openalex.org/W2288223183","https://openalex.org/W2414685554","https://openalex.org/W2889969363","https://openalex.org/W2910474428","https://openalex.org/W2919115771","https://openalex.org/W2953249127","https://openalex.org/W2953669419","https://openalex.org/W2962737955","https://openalex.org/W2963125977","https://openalex.org/W2964239605","https://openalex.org/W2966015075","https://openalex.org/W3004103739","https://openalex.org/W3035198432","https://openalex.org/W3089542352","https://openalex.org/W3091619233","https://openalex.org/W3101269502","https://openalex.org/W3128685514","https://openalex.org/W3168829710","https://openalex.org/W3170679572","https://openalex.org/W3186881096","https://openalex.org/W3204876017","https://openalex.org/W3205994030","https://openalex.org/W3206600280","https://openalex.org/W3207287914","https://openalex.org/W4200532352","https://openalex.org/W4207061897","https://openalex.org/W4285178161","https://openalex.org/W4312324773","https://openalex.org/W4312712504","https://openalex.org/W4377716582","https://openalex.org/W4382366145","https://openalex.org/W4385834071","https://openalex.org/W4399469378","https://openalex.org/W4400111043","https://openalex.org/W4400228510"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W4312985843","https://openalex.org/W2583647647","https://openalex.org/W2613999385","https://openalex.org/W4210583734","https://openalex.org/W3159512259"],"abstract_inverted_index":{"Robust":[0],"grasp":[1,47,59,79,85,100,110,136,228,242,250,256,262,278,324,333,351,360],"pose":[2,229],"detection":[3,48,202,230],"is":[4,129,208,272,288],"crucial":[5],"for":[6,14,51,214,233,269,345,388],"robotic":[7,34,200,337,389],"manipulation.":[8],"Antipodal":[9],"grasps":[10],"are":[11],"often":[12],"inadequate":[13],"spatial":[15,215],"objects.":[16,120,244,348,379],"However,":[17,206],"insufficient":[18,209],"demonstrations":[19],"and":[20,66,134,149,161,260,280,330],"the":[21,90,96,108,158,175,179,185,300,303,320,340,355,370],"higher":[22],"complexity":[23],"compared":[24],"to":[25,31,75,94,112,131,169,183,199,210,238,290,318,331,383,391,393],"parallel":[26,204],"grippers":[27,271],"make":[28],"it":[29,207],"challenging":[30],"implement":[32],"learning-based":[33,227],"grasping":[35,68,155,187,201,213,346,372,390],"with":[36,81,140,218],"multi-fingered":[37],"hands.":[38],"To":[39],"address":[40],"these":[41],"deficiencies,":[42],"we":[43,71,122,313,365,381],"propose":[44,247],"a":[45,56,73,77,82,103,141,226,240,248,265,276,315,327],"multi-modal":[46,78,154],"method":[49,231],"tailored":[50,232],"three-fingered":[52,234,270],"grippers.":[53,205],"We":[54,87,245],"utilize":[55,203],"simplified":[57],"unified":[58,249],"representation,":[60],"which":[61],"can":[62,156,253],"represent":[63,254],"both":[64,146],"precision":[65,259],"power":[67,261],"modes.":[69,263],"Additionally,":[70,380],"introduce":[72],"pipeline":[74,283,296],"generate":[76,384],"dataset":[80,268],"three-point":[83],"contact":[84],"metric.":[86],"also":[88,308],"present":[89],"concept":[91],"of":[92,98,119,177,188,302,322,342,357,378],"confness":[93,133],"quantify":[95,319],"probabilities":[97,321],"different":[99,255,323],"configurations":[101,182],"within":[102,326],"given":[104],"graspable":[105,328],"area,":[106],"guiding":[107],"predicted":[109],"poses":[111,352],"be":[113],"concentrated":[114],"around":[115,354],"on":[116,243],"centroidal":[117],"region":[118],"Furthermore,":[121,312],"develop":[123],"QcMNet,":[124],"an":[125,281],"end-to-end":[126],"network":[127,317],"that":[128,153,252],"used":[130],"predict":[132],"infer":[135,332],"parameters.":[137],"Experiments":[138],"conducted":[139],"Robotiq":[142],"3-Finger":[143],"Adaptive":[144],"Gripper,":[145],"in":[147,165,193,284],"simulation":[148],"real-world":[150],"scenarios,":[151],"demonstrate":[152],"increase":[157],"percent-cleared":[159],"rate":[160],"enhance":[162],"anti-disturbance":[163],"capabilities":[164],"cluttered":[166],"scenes.":[167],"Note":[168],"Practitioners\u2014This":[170],"paper":[171,224],"was":[172],"motivated":[173],"by":[174,274],"problem":[176],"finding":[178],"proper":[180],"gripper":[181],"ensure":[184],"stable":[186,212,241],"objects":[189,216],"across":[190],"diverse":[191],"tasks":[192],"industrial":[194],"automation.":[195],"Most":[196],"existing":[197],"approaches":[198],"achieve":[211,239],"only":[217,298],"two":[219],"frictional":[220],"point":[221],"contacts.":[222],"This":[223,286],"presents":[225],"grippers,":[235],"enabling":[236],"robots":[237],"first":[246],"representation":[251],"modes,":[257],"including":[258],"Subsequently,":[264],"densely":[266],"annotated":[267],"obtained":[273],"employing":[275],"robust":[277],"metric":[279],"auto-annotation":[282],"simulation.":[285],"approach":[287,344],"designed":[289],"reduce":[291],"labor":[292],"consumption.":[293],"The":[294],"proposed":[295],"not":[297],"enhances":[299],"efficiency":[301],"data":[304],"collection":[305],"process":[306],"but":[307],"ensures":[309],"its":[310],"diversity.":[311],"introduced":[314],"neural":[316],"modes":[325],"area":[329],"poses.":[334],"Extensive":[335],"physical":[336],"experiments":[338],"validate":[339],"feasibility":[341],"this":[343],"various":[347],"Significantly,":[349],"most":[350],"concentrate":[353],"centroid":[356],"objects,":[358],"enhancing":[359],"stability.":[361],"In":[362],"future":[363],"research,":[364],"will":[366],"involve":[367],"further":[368],"optimizing":[369],"generated":[371],"candidates":[373],"using":[374],"local":[375],"geometry":[376],"information":[377],"intend":[382],"online":[385],"collision-free":[386],"trajectories":[387],"adapt":[392],"more":[394],"complex":[395],"automation":[396],"environments.":[397]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
