{"id":"https://openalex.org/W7138167672","doi":"https://doi.org/10.1609/aaai.v40i11.37909","title":"SNS-Grasp: Semantic-guided Noise Scaling for Grasp Generation","display_name":"SNS-Grasp: Semantic-guided Noise Scaling for Grasp Generation","publication_year":2026,"publication_date":"2026-03-14","ids":{"openalex":"https://openalex.org/W7138167672","doi":"https://doi.org/10.1609/aaai.v40i11.37909"},"language":"en","primary_location":{"id":"doi:10.1609/aaai.v40i11.37909","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i11.37909","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37909/41871","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37909/41871","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129663393","display_name":"Zhenhua Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Zhenhua Tang","raw_affiliation_strings":["University of Macau"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Macau","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129711463","display_name":"Yudian Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Yudian Zheng","raw_affiliation_strings":["University of Macau"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Macau","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125725759","display_name":"Yuzhang Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Yuzhang Zhong","raw_affiliation_strings":["University of Macau"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Macau","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102905655","display_name":"Haolun Li","orcid":"https://orcid.org/0000-0003-3829-2849"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haolun Li","raw_affiliation_strings":["Nanjing University of Posts and Telecommunications"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing University of Posts and Telecommunications","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129696549","display_name":"Yanbin Hao","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanbin Hao","raw_affiliation_strings":["Hefei University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hefei University of Technology","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5129685879","display_name":"Chi-Man Pun","orcid":null},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Chi-Man Pun","raw_affiliation_strings":["University of Macau"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Macau","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.390625,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":"11","first_page":"9484","last_page":"9492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8432999849319458,"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":0.8432999849319458,"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":0.07240000367164612,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.00839999970048666,"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":0.8690999746322632},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.7153000235557556},{"id":"https://openalex.org/keywords/scaling","display_name":"Scaling","score":0.6190999746322632},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5412999987602234},{"id":"https://openalex.org/keywords/isotropy","display_name":"Isotropy","score":0.4693000018596649},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.4661000072956085},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4088999927043915},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.40799999237060547},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.38659998774528503}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8690999746322632},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.7153000235557556},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7056999802589417},{"id":"https://openalex.org/C99844830","wikidata":"https://www.wikidata.org/wiki/Q102441924","display_name":"Scaling","level":2,"score":0.6190999746322632},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5412999987602234},{"id":"https://openalex.org/C184050105","wikidata":"https://www.wikidata.org/wiki/Q273163","display_name":"Isotropy","level":2,"score":0.4693000018596649},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.4661000072956085},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4616999924182892},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4090999960899353},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4088999927043915},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.40799999237060547},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.38659998774528503},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.37450000643730164},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.364300012588501},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.36239999532699585},{"id":"https://openalex.org/C203504353","wikidata":"https://www.wikidata.org/wiki/Q4765461","display_name":"Anisotropic diffusion","level":3,"score":0.3589000105857849},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3231000006198883},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.30169999599456787},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.3005000054836273},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.29429998993873596},{"id":"https://openalex.org/C163294075","wikidata":"https://www.wikidata.org/wiki/Q581861","display_name":"Noise reduction","level":2,"score":0.29319998621940613},{"id":"https://openalex.org/C114996537","wikidata":"https://www.wikidata.org/wiki/Q4854529","display_name":"Colors of noise","level":3,"score":0.2930000126361847},{"id":"https://openalex.org/C100675267","wikidata":"https://www.wikidata.org/wiki/Q1371624","display_name":"Background noise","level":2,"score":0.29019999504089355},{"id":"https://openalex.org/C200378446","wikidata":"https://www.wikidata.org/wiki/Q4147391","display_name":"Gradient noise","level":5,"score":0.27869999408721924},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2736999988555908},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C182163834","wikidata":"https://www.wikidata.org/wiki/Q2926529","display_name":"Value noise","level":5,"score":0.257999986410141}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1609/aaai.v40i11.37909","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i11.37909","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37909/41871","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},{"id":"pmh:oai:ojs.aaai.org:article/37909","is_oa":false,"landing_page_url":"https://ojs.aaai.org/index.php/AAAI/article/view/37909","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2159-5399","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"doi:10.1609/aaai.v40i11.37909","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i11.37909","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37909/41871","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320311133","display_name":"United Mitochondrial Disease Foundation","ror":"https://ror.org/0528q0t18"},{"id":"https://openalex.org/F4320322841","display_name":"Universidade de Macau","ror":"https://ror.org/01r4q9n85"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7138167672.pdf","grobid_xml":"https://content.openalex.org/works/W7138167672.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"While":[0],"diffusion":[1],"models":[2],"show":[3],"promise":[4],"for":[5,41,109],"intent-based":[6],"grasp":[7,42],"generation,":[8],"their":[9],"isotropic":[10,66],"noise":[11,67,103],"schedules":[12],"struggle":[13],"with":[14,25,68,156],"joint-specific":[15,77,92],"sensitivity":[16],"and":[17,76,91,144,153],"task-aware":[18,88],"variability.":[19],"This":[20],"limitation":[21],"leads":[22],"to":[23,73,86,113,159],"grasps":[24,63],"suboptimal":[26],"semantic":[27,115,151],"alignment":[28],"or":[29],"physical":[30,154],"feasibility.":[31],"To":[32],"address":[33],"this":[34],"challenge,":[35],"we":[36],"propose":[37],"Semantic-guided":[38,55],"Noise":[39,56],"Scaling":[40,57],"generation":[43],"(SNS-Grasp),":[44],"a":[45,82],"novel":[46],"framework":[47],"that":[48],"integrates":[49],"two":[50],"key":[51],"innovations.":[52],"First,":[53],"the":[54,96,102,118],"Diffusion":[58],"(SNS-Diff)":[59],"module":[60,123],"generates":[61],"intent-aware":[62],"by":[64],"replacing":[65],"anisotropic":[69],"modulation,":[70],"dynamically":[71],"adapting":[72],"task":[74],"semantics":[75],"sensitivity.":[78],"Specifically,":[79],"SNS-Diff":[80],"leverages":[81],"pretrained":[83],"Intent":[84],"Recognizer":[85],"extract":[87],"confidence":[89],"scores":[90],"gradient":[93],"sensitivities":[94],"from":[95],"interaction":[97],"context.":[98],"These":[99],"signals":[100],"adjust":[101],"scaling":[104],"during":[105],"denoising,":[106],"downweighting":[107],"perturbations":[108],"semantically":[110],"critical":[111],"joints":[112],"ensure":[114],"alignment.":[116],"Second,":[117],"Fine-grained":[119],"Grasp":[120],"Refinement":[121],"(FGR)":[122],"establishes":[124],"dynamic":[125],"joint-vertex":[126],"coupling":[127],"through":[128],"fine-grained":[129],"hand-object":[130],"spatial":[131],"relationships,":[132],"enabling":[133],"iterative":[134],"optimization":[135],"of":[136],"physically":[137],"executable":[138],"grasps.":[139],"Extensive":[140],"experiments":[141],"on":[142],"OakInk":[143],"GRAB":[145],"demonstrate":[146],"SNS-Grasp's":[147],"superior":[148],"performance":[149],"in":[150],"accuracy":[152],"feasibility,":[155],"robust":[157],"generalization":[158],"unseen":[160],"objects.":[161]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-18T00:00:00"}
