{"id":"https://openalex.org/W3119631062","doi":"https://doi.org/10.1145/3437802.3437820","title":"A Cloud-based Network of 3D Objects for Robust Grasp Planning","display_name":"A Cloud-based Network of 3D Objects for Robust Grasp Planning","publication_year":2020,"publication_date":"2020-10-27","ids":{"openalex":"https://openalex.org/W3119631062","doi":"https://doi.org/10.1145/3437802.3437820","mag":"3119631062"},"language":"en","primary_location":{"id":"doi:10.1145/3437802.3437820","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3437802.3437820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Conference on Control, Robotics and Intelligent System","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/A5048360368","display_name":"Sergey Muravyov","orcid":"https://orcid.org/0000-0002-4251-1744"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sergey Muravyov","raw_affiliation_strings":["ITMO University, Russia Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ITMO University, Russia Federation","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112028318","display_name":"Andrey Filchenkov","orcid":null},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Andrey Filchenkov","raw_affiliation_strings":["ITMO University, Russia Federation"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ITMO University, Russia Federation","institution_ids":["https://openalex.org/I173089394"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I173089394"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.28320686,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"99","last_page":"105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9178000092506409,"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":0.9625886678695679},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8131296038627625},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.8021982908248901},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.634978175163269},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.628649890422821},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.6184681057929993},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.507599949836731},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.47586411237716675},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.45248985290527344},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35398000478744507},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.10384684801101685}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9625886678695679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8131296038627625},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.8021982908248901},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.634978175163269},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.628649890422821},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.6184681057929993},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.507599949836731},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.47586411237716675},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.45248985290527344},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35398000478744507},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.10384684801101685},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3437802.3437820","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3437802.3437820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Conference on Control, Robotics and Intelligent System","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.5299999713897705,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1794703952","https://openalex.org/W2109163007","https://openalex.org/W2414685554","https://openalex.org/W2600030077","https://openalex.org/W2605102758","https://openalex.org/W2914944935","https://openalex.org/W2962736495","https://openalex.org/W2962899390","https://openalex.org/W2963033241","https://openalex.org/W2963326767"],"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/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W2515493494"],"abstract_inverted_index":{"Recent":[0],"developments":[1],"in":[2,12],"the":[3,13,30,34,43,63,71,80],"field":[4],"of":[5,29,79],"robot":[6],"grasping":[7],"have":[8],"shown":[9],"great":[10],"improvements":[11,68],"grasp":[14],"success":[15],"rates":[16],"when":[17],"dealing":[18],"with":[19],"unknown":[20],"objects.":[21],"In":[22],"this":[23],"work":[24],"we":[25],"improve":[26],"on":[27,42],"one":[28],"most":[31],"promising":[32],"approaches,":[33],"Grasp":[35],"Quality":[36],"Convolutional":[37],"Neural":[38],"Network":[39],"(GQ-CNN)":[40],"trained":[41],"DexNet":[44],"2.0":[45],"dataset.":[46],"We":[47],"propose":[48],"a":[49,56],"new":[50,57],"GG-CNN":[51,64],"architecture":[52],"for":[53,59,62],"DexNet,":[54],"provide":[55],"way":[58],"dataset":[60],"generation":[61],"and":[65,75],"describe":[66],"practical":[67],"that":[69],"increase":[70],"model":[72],"validation":[73],"accuracy":[74],"other":[76],"performance":[77],"aspects":[78],"whole":[81],"system":[82]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}