{"id":"https://openalex.org/W1999156278","doi":"https://doi.org/10.1177/0278364914549607","title":"Deep learning for detecting robotic grasps","display_name":"Deep learning for detecting robotic grasps","publication_year":2015,"publication_date":"2015-03-16","ids":{"openalex":"https://openalex.org/W1999156278","doi":"https://doi.org/10.1177/0278364914549607","mag":"1999156278"},"language":"en","primary_location":{"id":"doi:10.1177/0278364914549607","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914549607","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5089647721","display_name":"Ian Lenz","orcid":null},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ian Lenz","raw_affiliation_strings":["Department of Computer Science, Cornell University, Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108652283","display_name":"Honglak Lee","orcid":"https://orcid.org/0000-0002-1279-0068"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Honglak Lee","raw_affiliation_strings":["Department of EECS, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of EECS, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081220276","display_name":"Ashutosh Saxena","orcid":"https://orcid.org/0000-0002-6657-2285"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashutosh Saxena","raw_affiliation_strings":["Department of Computer Science, Cornell University, Ithaca, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5089647721"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":124.3926,"has_fulltext":false,"cited_by_count":1633,"citation_normalized_percentile":{"value":0.99995568,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"34","issue":"4-5","first_page":"705","last_page":"724"},"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9976000189781189,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9884999990463257,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/artificial-intelligence","display_name":"Artificial intelligence","score":0.7804393768310547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7279777526855469},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.6917979717254639},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5324621796607971},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5122324824333191},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5031730532646179},{"id":"https://openalex.org/keywords/deep-neural-networks","display_name":"Deep neural networks","score":0.48076149821281433},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4717175364494324},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4521406888961792},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.41618871688842773},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33162522315979004}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7804393768310547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7279777526855469},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.6917979717254639},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5324621796607971},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5122324824333191},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5031730532646179},{"id":"https://openalex.org/C2984842247","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep neural networks","level":3,"score":0.48076149821281433},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4717175364494324},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4521406888961792},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.41618871688842773},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33162522315979004}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364914549607","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914549607","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":74,"referenced_works":["https://openalex.org/W11048699","https://openalex.org/W294421534","https://openalex.org/W1505137317","https://openalex.org/W1557521822","https://openalex.org/W1573897183","https://openalex.org/W1794703952","https://openalex.org/W1820657498","https://openalex.org/W1829663505","https://openalex.org/W1964420786","https://openalex.org/W1977077642","https://openalex.org/W1978580730","https://openalex.org/W1992097517","https://openalex.org/W1993882792","https://openalex.org/W1994200336","https://openalex.org/W2005824379","https://openalex.org/W2016876803","https://openalex.org/W2033223309","https://openalex.org/W2033574012","https://openalex.org/W2036637075","https://openalex.org/W2041376653","https://openalex.org/W2058761328","https://openalex.org/W2069479606","https://openalex.org/W2072128103","https://openalex.org/W2076014259","https://openalex.org/W2078683742","https://openalex.org/W2088043683","https://openalex.org/W2089630413","https://openalex.org/W2091862867","https://openalex.org/W2098737176","https://openalex.org/W2100495367","https://openalex.org/W2102605133","https://openalex.org/W2105728138","https://openalex.org/W2106869737","https://openalex.org/W2107789863","https://openalex.org/W2109992539","https://openalex.org/W2110208234","https://openalex.org/W2118262422","https://openalex.org/W2121563754","https://openalex.org/W2123435073","https://openalex.org/W2126457740","https://openalex.org/W2126496149","https://openalex.org/W2127833308","https://openalex.org/W2127911825","https://openalex.org/W2130306094","https://openalex.org/W2130325614","https://openalex.org/W2131208256","https://openalex.org/W2134557905","https://openalex.org/W2137313500","https://openalex.org/W2137551701","https://openalex.org/W2146055337","https://openalex.org/W2146447720","https://openalex.org/W2146672645","https://openalex.org/W2156222070","https://openalex.org/W2157094900","https://openalex.org/W2158899491","https://openalex.org/W2160821342","https://openalex.org/W2161071618","https://openalex.org/W2162741153","https://openalex.org/W2164587673","https://openalex.org/W2164598857","https://openalex.org/W2166721725","https://openalex.org/W2169241897","https://openalex.org/W2170969000","https://openalex.org/W2184188583","https://openalex.org/W2194057693","https://openalex.org/W2253807446","https://openalex.org/W2293210482","https://openalex.org/W2293722979","https://openalex.org/W2296360731","https://openalex.org/W2616465717","https://openalex.org/W3112422759","https://openalex.org/W3149673177","https://openalex.org/W3189610221","https://openalex.org/W4205778870"],"related_works":["https://openalex.org/W2292082415","https://openalex.org/W3110875495","https://openalex.org/W2390068883","https://openalex.org/W4220659530","https://openalex.org/W2946812255","https://openalex.org/W2343471997","https://openalex.org/W3006542628","https://openalex.org/W2345277578","https://openalex.org/W4390413434","https://openalex.org/W4405535944"],"abstract_inverted_index":{"We":[0,143],"consider":[1],"the":[2,71,75,80,113,136],"problem":[3],"of":[4,12,34,49],"detecting":[5],"robotic":[6,153,167],"grasps":[7,163],"in":[8],"an":[9,151],"RGB-D":[10],"view":[11],"a":[13,22,46,62,129],"scene":[14],"containing":[15],"objects.":[16],"In":[17,52],"this":[18,28],"work,":[19],"we":[20,42,60,118,127],"apply":[21],"deep":[23,68],"learning":[24],"approach":[25],"to":[26,44,54,90,109,120,160],"solve":[27],"problem,":[29],"which":[30,126],"avoids":[31],"time-consuming":[32],"hand-design":[33],"features.":[35],"This":[36],"presents":[37],"two":[38,67,165],"main":[39],"challenges.":[40],"First,":[41],"need":[43,119],"evaluate":[45],"huge":[47],"number":[48],"candidate":[50,98],"grasps.":[51,99],"order":[53],"make":[55],"detection":[56],"fast":[57],"and":[58,92,156],"robust,":[59],"present":[61,128],"two-step":[63],"cascaded":[64],"system":[65],"with":[66,102],"networks,":[69],"where":[70],"top":[72,114],"detections":[73],"from":[74],"first":[76,83],"are":[77],"re-evaluated":[78],"by":[79],"second.":[81],"The":[82,100],"network":[84],"has":[85,108],"fewer":[86],"features,":[87,104],"is":[88,105],"faster":[89],"run,":[91],"can":[93,157],"effectively":[94],"prune":[95],"out":[96],"unlikely":[97],"second,":[101],"more":[103],"slower":[106],"but":[107],"run":[110],"only":[111],"on":[112,135,139,150,164],"few":[115],"detections.":[116],"Second,":[117],"handle":[121],"multimodal":[122,140],"inputs":[123],"effectively,":[124],"for":[125],"method":[130,147],"that":[131,145],"applies":[132],"structured":[133],"regularization":[134],"weights":[137],"based":[138],"group":[141],"regularization.":[142],"show":[144],"our":[146],"improves":[148],"performance":[149],"RGBD":[152],"grasping":[154],"dataset,":[155],"be":[158],"used":[159],"successfully":[161],"execute":[162],"different":[166],"platforms.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":18},{"year":2025,"cited_by_count":113},{"year":2024,"cited_by_count":166},{"year":2023,"cited_by_count":156},{"year":2022,"cited_by_count":168},{"year":2021,"cited_by_count":196},{"year":2020,"cited_by_count":220},{"year":2019,"cited_by_count":220},{"year":2018,"cited_by_count":149},{"year":2017,"cited_by_count":125},{"year":2016,"cited_by_count":68},{"year":2015,"cited_by_count":23},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}