{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:19:43Z","timestamp":1766067583615,"version":"3.37.3"},"reference-count":53,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100010661","name":"European Unions Horizon 2020 research and innovation programme","doi-asserted-by":"publisher","award":["778602"],"award-info":[{"award-number":["778602"]}],"id":[{"id":"10.13039\/100010661","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,5,23]]},"DOI":"10.1109\/icra46639.2022.9811666","type":"proceedings-article","created":{"date-parts":[[2022,7,12]],"date-time":"2022-07-12T19:36:40Z","timestamp":1657654600000},"page":"762-769","source":"Crossref","is-referenced-by-count":24,"title":["FFHNet: Generating Multi-Fingered Robotic Grasps for Unknown Objects in Real-time"],"prefix":"10.1109","author":[{"given":"Vincent","family":"Mayer","sequence":"first","affiliation":[{"name":"Agile Robots AG"}]},{"given":"Qian","family":"Feng","sequence":"additional","affiliation":[{"name":"Agile Robots AG"}]},{"given":"Jun","family":"Deng","sequence":"additional","affiliation":[{"name":"Agile Robots AG"}]},{"given":"Yunlei","family":"Shi","sequence":"additional","affiliation":[{"name":"Agile Robots AG"}]},{"given":"Zhaopeng","family":"Chen","sequence":"additional","affiliation":[{"name":"Agile Robots AG"}]},{"given":"Alois","family":"Knoll","sequence":"additional","affiliation":[{"name":"Technische Universit&#x00E4;t M&#x00FC;nchen,Chair for Robotics and Embedded Systems"}]}],"member":"263","reference":[{"key":"ref39","article-title":"Classification based grasp detection using spatial transformer network","volume":"abs 1803 1356","author":"park","year":"2018","journal-title":"CoRR"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2651945"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1371616"},{"key":"ref32","article-title":"Shape completion enabled robotic grasping","volume":"abs 1609 8546","author":"varley","year":"2016","journal-title":"CoRR"},{"key":"ref31","article-title":"6-dof grasp planning using fast 3d reconstruction and grasp quality CNN","volume":"abs 2009 8618","author":"avigal","year":"2020","journal-title":"CoRR"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2017.8014068"},{"key":"ref37","article-title":"Pointnet++: Deep hierarchical feature learning on point sets in a metric space","author":"qi","year":"2017","journal-title":"ArXiv Preprint"},{"key":"ref36","article-title":"Conditional wgan for grasp generation","author":"patzelt","year":"2019","journal-title":"ESANN"},{"key":"ref35","article-title":"Multi-fingan: Generative coarse-to-fine sampling of multi-finger grasps","author":"lundell","year":"2020","journal-title":"ArXiv Preprint"},{"journal-title":"Mixture density networks","year":"1994","author":"bishop","key":"ref34"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906903"},{"key":"ref27","doi-asserted-by":"crossref","first-page":"510","DOI":"10.1109\/ICAR.2015.7251504","article-title":"The ycb object and model set: Towards common benchmarks for manipulation research","author":"calli","year":"2015","journal-title":"Advanced Robotics (ICAR) 2015 international conference on IEEE"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912445831"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.2316\/Journal.206.2014.1.206-3669"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650624"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968115"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969946"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2020.XVI.066"},{"key":"ref24","article-title":"Dexterous robotic grasping with objectcentric visual affordances","author":"mandikal","year":"2020","journal-title":"ArXiv Preprint"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-020-09907-y"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-58548-8_34"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8463204"},{"key":"ref50","article-title":"Adam: A method for stochastic optimization","author":"kingma","year":"2014","journal-title":"ArXiv Preprint"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.90"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909105606"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139793"},{"journal-title":"Automated Construction of Robotic Manipulation Programs","year":"2010","author":"diankov","key":"ref11"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354004"},{"key":"ref12","first-page":"1","article-title":"grasping known objects with humanoid robots: a box-based approach","author":"huebner","year":"2009","journal-title":"2009 International Conference on Advanced Robotics ICAR"},{"key":"ref13","article-title":"Learning to predict grasp reliability for a multifinger robot hand by using visual features","author":"morales","year":"2004","journal-title":"International Conference AI Soft Computing"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3033696"},{"key":"ref15","article-title":"Planning multi-fingered grasps as probabilistic inference in a learned deep network","author":"lu","year":"2017","journal-title":"Int Symp Robotics Res"},{"key":"ref16","article-title":"Learning continuous 3d reconstructions for geometrically aware grasping","volume":"abs 1910 983","author":"der merwe","year":"2019","journal-title":"CoRR"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2020.2976322"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197320"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2020.103550"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.058"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5650186"},{"key":"ref6","first-page":"307","author":"pas","year":"2018","journal-title":"Using Geometry to Detect Grasps in 3D Point Clouds"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917735594"},{"journal-title":"A Mathematical Introduction to Robotic Manipulation","year":"1994","author":"murray","key":"ref8"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00299"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00589"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202167"},{"key":"ref46","first-page":"4332","article-title":"Efficient learning on point clouds with basis point sets","author":"prokudin","year":"2019","journal-title":"Proceedings of the IEEE\/CVF International Conference on Computer Vision"},{"key":"ref45","article-title":"Grasp proposal networks: An end-to-end solution for visual learning of robotic grasps","author":"wu","year":"2020","journal-title":"ArXiv Preprint"},{"key":"ref48","article-title":"Auto-encoding variational bayes","author":"kingma","year":"2013","journal-title":"ArXiv Preprint"},{"key":"ref47","first-page":"3483","article-title":"Learning structured output representation using deep conditional generative models","volume":"28","author":"sohn","year":"2015","journal-title":"Advances in neural information processing systems"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196740"},{"key":"ref41","first-page":"652","article-title":"Pointnet: Deep learning on point sets for 3d classification and segmentation","author":"qi","year":"2017","journal-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition"},{"key":"ref44","article-title":"A coarse-to-fine (c2f) representation for end-to-end 6-dof grasp detection","author":"jeng","year":"2020","journal-title":"ArXiv Preprint"},{"key":"ref43","first-page":"53","article-title":"S4g: Amodal single-view single-shot se (3) grasp detection in cluttered scenes","author":"qin","year":"2020","journal-title":"Conference on Robot Learning"}],"event":{"name":"2022 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2022,5,23]]},"location":"Philadelphia, PA, USA","end":{"date-parts":[[2022,5,27]]}},"container-title":["2022 International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9811522\/9811357\/09811666.pdf?arnumber=9811666","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,3]],"date-time":"2022-11-03T23:08:01Z","timestamp":1667516881000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9811666\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,23]]},"references-count":53,"URL":"https:\/\/doi.org\/10.1109\/icra46639.2022.9811666","relation":{},"subject":[],"published":{"date-parts":[[2022,5,23]]}}}