{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T16:45:10Z","timestamp":1778085910036,"version":"3.51.4"},"reference-count":36,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,19]]},"DOI":"10.1109\/icra55743.2025.11127930","type":"proceedings-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T17:28:56Z","timestamp":1756834136000},"page":"01-08","source":"Crossref","is-referenced-by-count":4,"title":["BODex: Scalable and Efficient Robotic Dexterous Grasp Synthesis Using Bilevel Optimization"],"prefix":"10.1109","author":[{"given":"Jiayi","family":"Chen","sequence":"first","affiliation":[{"name":"Peking University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yubin","family":"Ke","sequence":"additional","affiliation":[{"name":"Peking University"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"He","family":"Wang","sequence":"additional","affiliation":[{"name":"Peking University"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.01146"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3281153"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3129138"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160982"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10341806"},{"key":"ref6","author":"Chen","year":"2024","journal-title":"Springgrasp: An optimization pipeline for robust and compliant dexterous pre-grasp synthesis"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/icra48891.2023.10160765"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611249"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2025.3577107"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-020-00179-2"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2020.XVI.066"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160667"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2024\/758"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/robot.1992.219918"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1371616"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-20068-7_12"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160314"},{"key":"ref19","article-title":"Task-oriented dexterous grasp synthesis via differentiable grasp wrench boundary estimator","author":"Chen","year":"2023","journal-title":"arXiv preprint"},{"key":"ref20","article-title":"Learning diverse and physically feasible dexterous grasps with generative model and bilevel optimization","author":"Wu","year":"2022","journal-title":"arXiv preprint"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01092"},{"key":"ref22","article-title":"Learning robust real-world dexterous grasping policies via implicit shape augmentation","author":"Chen","year":"2022","journal-title":"arXiv preprint"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.00459"},{"key":"ref24","article-title":"Auto-encoding variational bayes","author":"Kingma","year":"2013","journal-title":"arXiv preprint"},{"key":"ref25","first-page":"6840","article-title":"Denoising diffusion probabilistic models","volume":"33","author":"Ho","year":"2020","journal-title":"Advances in neural information processing systems"},{"key":"ref26","first-page":"1530","article-title":"Variational inference with normalizing flows","volume-title":"International conference on machine learning. PMLR","author":"Rezende","year":"2015"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00360"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914528132"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/56.2083"},{"key":"ref30","volume-title":"Coal - An extension of the Flexible Collision Library","author":"Pan","year":"2025"},{"key":"ref31","volume-title":"MuJoCo Menagerie: A collection of high-quality simulation models for MuJoCo","author":"Zakka","year":"2022"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066673"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2024.xx.067"},{"key":"ref34","article-title":"Submanifold sparse convolutional networks","author":"Graham","year":"2017","journal-title":"arXiv preprint"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.02037"},{"key":"ref36","article-title":"Sam 2: Segment anything in images and videos","author":"Ravi","year":"2024","journal-title":"arXiv preprint"}],"event":{"name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","location":"Atlanta, GA, USA","start":{"date-parts":[[2025,5,19]]},"end":{"date-parts":[[2025,5,23]]}},"container-title":["2025 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11127273\/11127223\/11127930.pdf?arnumber=11127930","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T06:11:39Z","timestamp":1756879899000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11127930\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,19]]},"references-count":36,"URL":"https:\/\/doi.org\/10.1109\/icra55743.2025.11127930","relation":{},"subject":[],"published":{"date-parts":[[2025,5,19]]}}}