{"id":"https://openalex.org/W4413125521","doi":"https://doi.org/10.1109/tcds.2025.3596649","title":"Grasp Representation and Detection With Consistent Path in Robotic Grasping","display_name":"Grasp Representation and Detection With Consistent Path in Robotic Grasping","publication_year":2025,"publication_date":"2025-08-07","ids":{"openalex":"https://openalex.org/W4413125521","doi":"https://doi.org/10.1109/tcds.2025.3596649"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2025.3596649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2025.3596649","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pure.hud.ac.uk/ws/files/112422884/tcds.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100432078","display_name":"Lu Chen","orcid":"https://orcid.org/0000-0002-2184-8268"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lu Chen","raw_affiliation_strings":["Institute of Big Data Science and Industry, and the Key Laboratory of Evolutionary Science Intelligence of Shanxi Province, Shanxi University, Taiyuan, China"],"raw_orcid":"https://orcid.org/0000-0002-2184-8268","affiliations":[{"raw_affiliation_string":"Institute of Big Data Science and Industry, and the Key Laboratory of Evolutionary Science Intelligence of Shanxi Province, Shanxi University, Taiyuan, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113274188","display_name":"Zhuomao Li","orcid":null},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuomao Li","raw_affiliation_strings":["Institute of Big Data Science and Industry, and the Key Laboratory of Evolutionary Science Intelligence of Shanxi Province, Shanxi University, Taiyuan, China"],"raw_orcid":"https://orcid.org/0009-0000-1697-7623","affiliations":[{"raw_affiliation_string":"Institute of Big Data Science and Industry, and the Key Laboratory of Evolutionary Science Intelligence of Shanxi Province, Shanxi University, Taiyuan, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jing Yang","orcid":"https://orcid.org/0000-0003-3724-6066"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Yang","raw_affiliation_strings":["School of Automation and Software Engineering, Shanxi University, Taiyuan, China"],"raw_orcid":"https://orcid.org/0000-0003-3724-6066","affiliations":[{"raw_affiliation_string":"School of Automation and Software Engineering, Shanxi University, Taiyuan, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057911864","display_name":"Zhenyu Lu","orcid":"https://orcid.org/0000-0002-5446-7285"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyu Lu","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5446-7285","affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peng Wu","orcid":"https://orcid.org/0000-0003-0822-8782"},"institutions":[{"id":"https://openalex.org/I181877577","display_name":"Shanxi University","ror":"https://ror.org/03y3e3s17","country_code":"CN","type":"education","lineage":["https://openalex.org/I181877577"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Wu","raw_affiliation_strings":["Institute of Big Data Science and Industry, and the Key Laboratory of Evolutionary Science Intelligence of Shanxi Province, Shanxi University, Taiyuan, China"],"raw_orcid":"https://orcid.org/0000-0003-0822-8782","affiliations":[{"raw_affiliation_string":"Institute of Big Data Science and Industry, and the Key Laboratory of Evolutionary Science Intelligence of Shanxi Province, Shanxi University, Taiyuan, China","institution_ids":["https://openalex.org/I181877577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032375511","display_name":"Tianhua Chen","orcid":"https://orcid.org/0000-0003-4495-1871"},"institutions":[{"id":"https://openalex.org/I133837150","display_name":"University of Huddersfield","ror":"https://ror.org/05t1h8f27","country_code":"GB","type":"education","lineage":["https://openalex.org/I133837150"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tianhua Chen","raw_affiliation_strings":["Department of Computer Science, School of Computing and Engineering, University of Huddersfield, UK"],"raw_orcid":"https://orcid.org/0000-0003-4495-1871","affiliations":[{"raw_affiliation_string":"Department of Computer Science, School of Computing and Engineering, University of Huddersfield, UK","institution_ids":["https://openalex.org/I133837150"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5558,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84168822,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"18","issue":"2","first_page":"289","last_page":"302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9915000200271606,"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":0.9915000200271606,"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/T10533","display_name":"Teaching and Learning Programming","score":0.975600004196167,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9550999999046326,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8689405918121338},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8415982127189636},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6844791173934937},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5974500775337219},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5019054412841797},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43184810876846313},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42095476388931274},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4064185619354248},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3808864653110504},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.08095845580101013},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.07915043830871582}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8689405918121338},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8415982127189636},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6844791173934937},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5974500775337219},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5019054412841797},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43184810876846313},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42095476388931274},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4064185619354248},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3808864653110504},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.08095845580101013},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.07915043830871582},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcds.2025.3596649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2025.3596649","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Cognitive and Developmental Systems","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire/5a948bca-00bd-4edc-b441-eb5b1ebe8d71","is_oa":true,"landing_page_url":"https://pure.hud.ac.uk/en/publications/5a948bca-00bd-4edc-b441-eb5b1ebe8d71","pdf_url":"https://pure.hud.ac.uk/ws/files/112422884/tcds.pdf","source":{"id":"https://openalex.org/S4306402508","display_name":"Huddersfield Research Portal (University of Huddersfield)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I133837150","host_organization_name":"University of Huddersfield","host_organization_lineage":["https://openalex.org/I133837150"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Chen, L, Li, Z, Yang, J, Lu, Z, Wu, P & Chen, T 2026, 'Grasp Representation and Detection with Consistent Path in Robotic Grasping', IEEE Transactions on Cognitive and Developmental Systems, vol. 18, no. 2, 1119298, pp. 289-302. https://doi.org/10.1109/TCDS.2025.3596649","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:openaire/5a948bca-00bd-4edc-b441-eb5b1ebe8d71","is_oa":true,"landing_page_url":"https://pure.hud.ac.uk/en/publications/5a948bca-00bd-4edc-b441-eb5b1ebe8d71","pdf_url":"https://pure.hud.ac.uk/ws/files/112422884/tcds.pdf","source":{"id":"https://openalex.org/S4306402508","display_name":"Huddersfield Research Portal (University of Huddersfield)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I133837150","host_organization_name":"University of Huddersfield","host_organization_lineage":["https://openalex.org/I133837150"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Chen, L, Li, Z, Yang, J, Lu, Z, Wu, P & Chen, T 2026, 'Grasp Representation and Detection with Consistent Path in Robotic Grasping', IEEE Transactions on Cognitive and Developmental Systems, vol. 18, no. 2, 1119298, pp. 289-302. https://doi.org/10.1109/TCDS.2025.3596649","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2965578435","display_name":null,"funder_award_id":"62373233","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7517799950","display_name":null,"funder_award_id":"62406181","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"},{"id":"https://openalex.org/F4320321884","display_name":"Shanxi Scholarship Council of China","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4413125521.pdf","grobid_xml":"https://content.openalex.org/works/W4413125521.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2523147401","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Detecting":[0],"feasible":[1,47,85],"graspable":[2,86],"positions":[3],"on":[4,63,150],"object":[5],"is":[6,80,97,140],"crucial":[7],"for":[8,142],"robotic":[9,177],"grasping.":[10],"Existing":[11],"methods":[12],"generally":[13],"evaluate":[14],"grasp":[15,55,77,109,113,130,162,185],"detection":[16,78,167],"by":[17,66,88],"comparing":[18],"predicted":[19],"grasps":[20,32,139],"with":[21],"limited":[22],"ground":[23,30],"truth":[24,31],"data.":[25],"However,":[26],"since":[27],"the":[28,117,134,143,160],"labeled":[29],"are":[33],"not":[34],"exhaustive,":[35],"this":[36,51,73],"strategy":[37],"lacks":[38],"comprehensiveness":[39],"of":[40,107,120,137,184],"grasping":[41,178],"features":[42],"and":[43,122,146,172],"may":[44],"miss":[45],"some":[46],"grasps.":[48],"To":[49],"solve":[50],"problem,":[52],"we":[53],"enhance":[54,166],"representation":[56,164],"from":[57,111],"isolated":[58],"rectangles":[59,110],"to":[60,83,99,132],"consistent":[61],"paths":[62,131],"objects,":[64],"represented":[65],"single":[67],"or":[68],"multiple":[69],"line":[70],"segments,":[71],"in":[72,169,175],"work.":[74],"A":[75,125],"novel":[76],"model":[79],"also":[81],"proposed":[82,161],"predict":[84],"regions":[87,114],"offering":[89],"more":[90],"varied":[91],"selections,":[92],"where":[93],"multi-dimensional":[94],"attention":[95],"mechanism":[96],"integrated":[98],"highlight":[100],"grasping-specific":[101],"features.":[102],"This":[103],"facilitates":[104],"automatic":[105],"search":[106],"optimal":[108],"numerous":[112],"as":[115,153,155],"per":[116],"physical":[118],"size":[119],"gripper":[121],"task-specific":[123],"requirements.":[124],"Grasp":[126],"Path":[127],"Dataset":[128],"using":[129],"reveal":[133],"spatial":[135],"distribution":[136],"viable":[138],"constructed":[141],"first":[144],"time":[145],"experimental":[147],"results":[148],"taken":[149],"benchmark":[151],"datasets":[152,171],"well":[154],"real-world":[156],"scenarios":[157],"demonstrate":[158],"that":[159],"path":[163],"can":[165],"accuracy":[168],"public":[170],"success":[173],"rates":[174],"practical":[176],"tasks,":[179],"providing":[180],"a":[181],"richer":[182],"set":[183],"candidates.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T06:08:40.794217","created_date":"2025-10-10T00:00:00"}