{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,6]],"date-time":"2026-06-06T20:10:31Z","timestamp":1780776631487,"version":"3.54.1"},"reference-count":37,"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\/501100004147","name":"Tsinghua University","doi-asserted-by":"publisher","award":["2019GQG0001"],"award-info":[{"award-number":["2019GQG0001"]}],"id":[{"id":"10.13039\/501100004147","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\/icra46639.2022.9811961","type":"proceedings-article","created":{"date-parts":[[2022,7,12]],"date-time":"2022-07-12T19:36:40Z","timestamp":1657654600000},"page":"8238-8244","source":"Crossref","is-referenced-by-count":30,"title":["Hybrid Physical Metric For 6-DoF Grasp Pose Detection"],"prefix":"10.1109","author":[{"given":"Yuhao","family":"Lu","sequence":"first","affiliation":[{"name":"Tsinghua University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Beixing","family":"Deng","sequence":"additional","affiliation":[{"name":"Tsinghua University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhenyu","family":"Wang","sequence":"additional","affiliation":[{"name":"Tsinghua University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peiyuan","family":"Zhi","sequence":"additional","affiliation":[{"name":"Tsinghua University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yali","family":"Li","sequence":"additional","affiliation":[{"name":"Tsinghua University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shengjin","family":"Wang","sequence":"additional","affiliation":[{"name":"Tsinghua University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00985"},{"key":"ref32","first-page":"5998","article-title":"Attention is all you need","author":"ashish","year":"2017","journal-title":"Advances in neural information processing systems"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206060"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/70.508445"},{"key":"ref37","article-title":"Point transformer","author":"zhao","year":"2020","journal-title":"ArXiv Preprint"},{"key":"ref36","article-title":"Regnet: Region-based grasp network for end-to-end grasp detection in point clouds","author":"zhao","year":"2020","journal-title":"ArXiv Preprint"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460609"},{"key":"ref34","first-page":"1369","article-title":"The best of both modes: Separately leveraging rgb and depth for unseen object instance segmentation","author":"xie","year":"0","journal-title":"Conference on Robot Learning"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/BF02187843"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202237"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917710318"},{"key":"ref13","first-page":"820","article-title":"Pointcnn: Convolution on x-transformed points","volume":"31","author":"li","year":"2018","journal-title":"Advances in neural information processing systems"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794435"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.058"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00299"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197318"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700301"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00738"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561877"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152709"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00086"},{"key":"ref3","first-page":"11444","article-title":"Graspnet-1 billion: A large-scale benchmark for general object grasping","author":"fang","year":"0","journal-title":"Proc Conf Computer Vision and Pattern Recognition"},{"key":"ref6","article-title":"Pct: Point cloud transformer","author":"guo","year":"2020","journal-title":"ArXiv Preprint"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917735594"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561409"},{"key":"ref8","first-page":"3304","article-title":"Efficient grasping from rgbd images: Learning using a new rectangle representation","author":"jiang","year":"0","journal-title":"2011 IEEE International Conference on Robotics and Automation"},{"key":"ref7","first-page":"1641","article-title":"Hierarchical fin-gertip space for multi-fingered precision grasping","author":"kaiyu","year":"0","journal-title":"2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"ref2","article-title":"Acronym: A large-scale grasp dataset based on simulation","author":"eppner","year":"2020","journal-title":"ArXiv Preprint"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139793"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593950"},{"key":"ref20","first-page":"3493","article-title":"Classical grasp quality evalu-ation: New algorithms and theory","author":"pokorny","year":"0","journal-title":"2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"ref22","article-title":"Pointnet++: Deep hierarchical feature learning on point sets in a metric space","author":"charles","year":"2017","journal-title":"ArXiv Preprint"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.16"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139361"},{"key":"ref23","first-page":"53","article-title":"S4g: Amodal single-view single-shot se (3) grasp detection in cluttered scenes","author":"qin","year":"0","journal-title":"Conference on Robot Learning"},{"key":"ref26","article-title":"Multi-task learning as multi-objective optimization","author":"sener","year":"2018","journal-title":"ArXiv Preprint"},{"key":"ref25","article-title":"An overview of multi-task learning in deep neural networks","author":"ruder","year":"2017","journal-title":"ArXiv Preprint"}],"event":{"name":"2022 IEEE International Conference on Robotics and Automation (ICRA)","location":"Philadelphia, PA, USA","start":{"date-parts":[[2022,5,23]]},"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\/09811961.pdf?arnumber=9811961","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,3]],"date-time":"2022-11-03T23:06:11Z","timestamp":1667516771000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9811961\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,23]]},"references-count":37,"URL":"https:\/\/doi.org\/10.1109\/icra46639.2022.9811961","relation":{},"subject":[],"published":{"date-parts":[[2022,5,23]]}}}