{"id":"https://openalex.org/W4416148861","doi":"https://doi.org/10.1109/tsmc.2025.3628946","title":"PCF-Grasp: Converting Point Completion to Geometry Feature to Enhance 6-DoF Grasp","display_name":"PCF-Grasp: Converting Point Completion to Geometry Feature to Enhance 6-DoF Grasp","publication_year":2025,"publication_date":"2025-11-12","ids":{"openalex":"https://openalex.org/W4416148861","doi":"https://doi.org/10.1109/tsmc.2025.3628946"},"language":null,"primary_location":{"id":"doi:10.1109/tsmc.2025.3628946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3628946","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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/A5027056395","display_name":"Yaofeng Cheng","orcid":"https://orcid.org/0000-0001-8126-7302"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaofeng Cheng","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-8126-7302","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008850130","display_name":"Fusheng Zha","orcid":"https://orcid.org/0000-0001-9695-1940"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fusheng Zha","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-9695-1940","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102013616","display_name":"Wei Guo","orcid":"https://orcid.org/0000-0002-1845-2174"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Guo","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1845-2174","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102913847","display_name":"Pengfei Wang","orcid":"https://orcid.org/0000-0003-2610-0993"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-2610-0993","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101850794","display_name":"Chao Zeng","orcid":"https://orcid.org/0000-0003-3648-4644"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chao Zeng","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, U.K"],"raw_orcid":"https://orcid.org/0000-0003-3648-4644","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028713186","display_name":"Lining Sun","orcid":"https://orcid.org/0000-0001-5557-3509"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lining Sun","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0001-5557-3509","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, U.K"],"raw_orcid":"https://orcid.org/0000-0001-5255-5559","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.37475258,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"56","issue":"1","first_page":"617","last_page":"628"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9805999994277954,"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":0.9805999994277954,"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/T10982","display_name":"Motor Control and Adaptation","score":0.004000000189989805,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.0020000000949949026,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9556000232696533},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5911999940872192},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5512999892234802},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5304999947547913},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5234000086784363},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5192999839782715},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.43689998984336853}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9556000232696533},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6632000207901001},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6105999946594238},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5911999940872192},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5662999749183655},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5512999892234802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5304999947547913},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5234000086784363},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5192999839782715},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.43689998984336853},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.3952000141143799},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.33329999446868896},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.27239999175071716},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.26930001378059387},{"id":"https://openalex.org/C29123130","wikidata":"https://www.wikidata.org/wiki/Q874709","display_name":"Computational geometry","level":2,"score":0.2630999982357025},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.2596000134944916}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2025.3628946","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2025.3628946","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4226092470","display_name":null,"funder_award_id":"2023FRFK01001","funder_id":"https://openalex.org/F4320327827","funder_display_name":"Key Research and Development Project of Hainan Province"},{"id":"https://openalex.org/G478387158","display_name":null,"funder_award_id":"U2013602","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4820361670","display_name":null,"funder_award_id":"2022YFB4601800","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5383534787","display_name":null,"funder_award_id":"51521003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7401222004","display_name":null,"funder_award_id":"2022YFB4601800","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/F4320327827","display_name":"Key Research and Development Project of Hainan Province","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1820657498","https://openalex.org/W1999156278","https://openalex.org/W2080279876","https://openalex.org/W2524140598","https://openalex.org/W2560609797","https://openalex.org/W2796426482","https://openalex.org/W2886499109","https://openalex.org/W2889969363","https://openalex.org/W2914944935","https://openalex.org/W2949924544","https://openalex.org/W2962737955","https://openalex.org/W2963150697","https://openalex.org/W2963177347","https://openalex.org/W2975039016","https://openalex.org/W2979750740","https://openalex.org/W2986303149","https://openalex.org/W3004167188","https://openalex.org/W3035198432","https://openalex.org/W3090132439","https://openalex.org/W3090814639","https://openalex.org/W3109518641","https://openalex.org/W3119044505","https://openalex.org/W3124837174","https://openalex.org/W3128685514","https://openalex.org/W3203898101","https://openalex.org/W3204876017","https://openalex.org/W3206683563","https://openalex.org/W3207187156","https://openalex.org/W3207755626","https://openalex.org/W4205151370","https://openalex.org/W4214627646","https://openalex.org/W4244404253","https://openalex.org/W4312242724","https://openalex.org/W4312848711","https://openalex.org/W4382568091","https://openalex.org/W4383108761","https://openalex.org/W4383109347"],"related_works":[],"abstract_inverted_index":{"The":[0],"6-degree-of-freedom":[1],"(DoF)":[2],"grasp":[3,17,73,112,146,172,186,207],"method":[4,181,225,235],"based":[5,25],"on":[6,26],"point":[7,28,38,101,115,198],"clouds":[8,29,39],"has":[9],"shown":[10],"significant":[11],"potential":[12],"in":[13,66,188,236],"enabling":[14],"robots":[15],"to":[16,57,84,108,127,141,144,150,168,182],"target":[18,63],"objects.":[19],"However,":[20],"most":[21],"existing":[22],"methods":[23],"are":[24,242],"the":[27,46,54,59,62,100,110,123,128,139,151,154,175,201,210,218,233],"(2.5-D":[30],"points)":[31],"generated":[32],"from":[33,75,122],"single-view":[34],"depth":[35],"images.":[36],"These":[37],"only":[40],"have":[41],"one":[42],"surface":[43],"side":[44],"of":[45,61,203,212,220],"object,":[47,64],"providing":[48],"incomplete":[49],"geometry":[50,82,130],"information,":[51],"which":[52],"misleads":[53],"grasping":[55,68,96],"algorithm":[56],"judge":[58],"shape":[60,106,136],"resulting":[65],"low":[67],"accuracy.":[69],"Humans":[70],"can":[71,117],"accurately":[72],"objects":[74],"a":[76,93,162,184,213,227],"single":[77],"view":[78],"by":[79,89],"leveraging":[80],"their":[81],"experience":[83],"estimate":[85],"object":[86,105],"shapes.":[87],"Inspired":[88],"humans,":[90],"we":[91,160],"propose":[92],"novel":[94],"6-DoF":[95,111],"framework":[97,167],"that":[98,195],"converts":[99],"completion":[102,116],"results":[103],"as":[104],"features":[107,137,199],"train":[109],"network.":[113],"Here,":[114],"generate":[118],"approximately":[119],"complete":[120,197],"points":[121,125],"2.5-D":[124],"similar":[126],"human":[129],"experience,":[131],"and":[132,157,209,240],"converting":[133],"them":[134],"into":[135,165],"is":[138],"way":[140],"utilize":[142],"it":[143],"improve":[145],"efficiency.":[147],"Furthermore,":[148],"due":[149],"gap":[152],"between":[153],"network":[155],"generation":[156,202],"actual":[158],"execution,":[159],"integrate":[161],"score":[163,214],"filter":[164,215],"our":[166,180],"select":[169],"more":[170,205],"executable":[171],"proposals":[173],"for":[174],"real":[176],"robot.":[177],"This":[178],"enables":[179,200],"maintain":[183],"high":[185],"quality":[187],"any":[189],"camera":[190],"viewpoint.":[191],"Extensive":[192],"experiments":[193],"demonstrate":[194],"utilizing":[196],"significantly":[204],"accurate":[206],"proposals,":[208],"inclusion":[211],"greatly":[216],"enhances":[217],"credibility":[219],"real-world":[221,237],"robot":[222],"grasping.":[223],"Our":[224],"achieves":[226],"17.8%":[228],"success":[229],"rate,":[230],"higher":[231],"than":[232],"state-of-the-art":[234],"experiments.":[238],"Code":[239],"videos":[241],"available":[243],"at":[244],"https://github.com/ChengYaofeng/PCF-Grasp":[245]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-12T00:00:00"}