{"id":"https://openalex.org/W4285484051","doi":"https://doi.org/10.48550/arxiv.2204.13879","title":"DGBench: An Open-Source, Reproducible Benchmark for Dynamic Grasping","display_name":"DGBench: An Open-Source, Reproducible Benchmark for Dynamic Grasping","publication_year":2022,"publication_date":"2022-04-29","ids":{"openalex":"https://openalex.org/W4285484051","doi":"https://doi.org/10.48550/arxiv.2204.13879"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2204.13879","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2204.13879","pdf_url":"https://arxiv.org/pdf/2204.13879","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2204.13879","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073619161","display_name":"Ben Burgess-Limerick","orcid":"https://orcid.org/0000-0001-5048-9295"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Burgess-Limerick, Ben","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081617215","display_name":"Chris Lehnert","orcid":"https://orcid.org/0000-0002-4230-8068"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lehnert, Chris","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023679097","display_name":"J\u00fcrgen Leitner","orcid":"https://orcid.org/0000-0003-1319-5073"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leitner, Jurgen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5080187476","display_name":"Peter Corke","orcid":"https://orcid.org/0000-0001-6650-367X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Corke, Peter","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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":0.9979000091552734,"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/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9516000151634216,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9434000253677368,"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/benchmark","display_name":"Benchmark (surveying)","score":0.7904374599456787},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7555453777313232},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7394641041755676},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7335758209228516},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7320612668991089},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.676437258720398},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.538923978805542},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.5302186608314514},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5290417075157166},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5077851414680481},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5027549266815186},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4187895357608795},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1623729169368744}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7904374599456787},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7555453777313232},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7394641041755676},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7335758209228516},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7320612668991089},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.676437258720398},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.538923978805542},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.5302186608314514},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5290417075157166},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5077851414680481},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5027549266815186},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4187895357608795},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1623729169368744},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2204.13879","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2204.13879","pdf_url":"https://arxiv.org/pdf/2204.13879","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:eprints.qut.edu.au:237777","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402607","display_name":"QUT ePrints (Queensland University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I160993911","host_organization_name":"Queensland University of Technology","host_organization_lineage":["https://openalex.org/I160993911"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"Chapter in Book, Report or Conference volume"},{"id":"doi:10.48550/arxiv.2204.13879","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2204.13879","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2204.13879","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2204.13879","pdf_url":"https://arxiv.org/pdf/2204.13879","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687","https://openalex.org/W2000169967","https://openalex.org/W2148001919"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"DGBench,":[3],"a":[4,54,63,89,101,107],"fully":[5],"reproducible":[6],"open-source":[7],"testing":[8],"system":[9,72],"to":[10,31,46,57],"enable":[11],"benchmarking":[12],"of":[13,53,66],"dynamic":[14,108],"grasping":[15,43,109],"in":[16],"environments":[17],"with":[18,92],"unpredictable":[19],"relative":[20],"motion":[21],"between":[22],"robot":[23,91],"and":[24,62,99],"object.":[25],"We":[26,83],"use":[27],"the":[28,50,86],"proposed":[29],"benchmark":[30],"compare":[32],"several":[33],"visual":[34,95],"perception":[35,38,71],"arrangements.":[36],"Traditional":[37],"systems":[39],"developed":[40],"for":[41],"static":[42],"are":[44],"unable":[45],"provide":[47],"feedback":[48],"during":[49],"final":[51],"phase":[52],"grasp":[55,97],"due":[56],"sensor":[58],"minimum":[59],"range,":[60],"occlusion,":[61],"limited":[64],"field":[65],"view.":[67],"A":[68],"multi-camera":[69],"eye-in-hand":[70],"is":[73],"presented":[74],"that":[75],"has":[76],"advantages":[77],"over":[78],"commonly":[79],"used":[80],"camera":[81],"configurations.":[82],"quantitatively":[84],"evaluate":[85],"performance":[87],"on":[88,106],"real":[90],"an":[93],"image-based":[94],"servoing":[96],"controller":[98],"show":[100],"significantly":[102],"improved":[103],"success":[104],"rate":[105],"task.":[110]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-10-10T00:00:00"}