{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,31]],"date-time":"2026-01-31T10:57:34Z","timestamp":1769857054403,"version":"3.49.0"},"reference-count":38,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,10,23]],"date-time":"2022-10-23T00:00:00Z","timestamp":1666483200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,10,23]],"date-time":"2022-10-23T00:00:00Z","timestamp":1666483200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001659","name":"German Research Foundation (DFG)","doi-asserted-by":"publisher","award":["DFG TRR-169"],"award-info":[{"award-number":["DFG TRR-169"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Science Foundation of China (NSFC)","doi-asserted-by":"publisher","award":["NSFC 61621136008,410916101"],"award-info":[{"award-number":["NSFC 61621136008,410916101"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,10,23]]},"DOI":"10.1109\/iros47612.2022.9981900","type":"proceedings-article","created":{"date-parts":[[2022,12,26]],"date-time":"2022-12-26T14:38:15Z","timestamp":1672065495000},"page":"762-769","source":"Crossref","is-referenced-by-count":22,"title":["Learning 6-DoF Task-oriented Grasp Detection via Implicit Estimation and Visual Affordance"],"prefix":"10.1109","author":[{"given":"Wenkai","family":"Chen","sequence":"first","affiliation":[{"name":"Universität Hamburg,Technical Aspects of Multimodal Systems (TAMS),Department of Informatics"}]},{"given":"Hongzhuo","family":"Liang","sequence":"additional","affiliation":[{"name":"Universität Hamburg,Technical Aspects of Multimodal Systems (TAMS),Department of Informatics"}]},{"given":"Zhaopeng","family":"Chen","sequence":"additional","affiliation":[{"name":"Agile Robots AG"}]},{"given":"Fuchun","family":"Sun","sequence":"additional","affiliation":[{"name":"Beijing National Research Center for Information Science and Technology (BNRist), Tsinghua University,State Key Lab on Intelligent Technology and Systems,Department of Computer Science and Technology"}]},{"given":"Jianwei","family":"Zhang","sequence":"additional","affiliation":[{"name":"Universität Hamburg,Technical Aspects of Multimodal Systems (TAMS),Department of Informatics"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/CIRA.2005.1554357"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/56.769"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919872545"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139640"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570580"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2894439"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206484"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2017.164"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3062560"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2930364"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.024"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-020-01202-3"},{"key":"ref13","article-title":"Same object, different grasps: Data and semantic knowledge for task-oriented grasping","author":"Murali","year":"2020","journal-title":"arXiv preprint"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197289"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00299"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00182"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560844"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914549607"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139361"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917735594"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794435"},{"key":"ref22","first-page":"652","article-title":"Pointnet: Deep learning on point sets for 3d classification and segmentation","volume-title":"Proceedings of the IEEE conference on computer vision and pattern recognition","author":"Qi","year":"2017"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-022-01586-4"},{"key":"ref24","first-page":"56","article-title":"The theory of affordances. the ecological approach to visual perception","volume-title":"The People, Place and, Space Reader","author":"Gibson","year":"1979"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10605-2_27"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460902"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139369"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2409912"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803382"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-018-9787-5"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-20904-3_20"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2933815"},{"key":"ref33","article-title":"Shapenet: An information-rich 3d model repository","author":"Chang","year":"2015","journal-title":"arXiv preprint"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v32i1.11829"},{"key":"ref35","article-title":"Implicit maximum likelihood estimation","author":"Li","year":"2018","journal-title":"arXiv preprint"},{"key":"ref36","article-title":"Generative adversarial nets","volume-title":"Advances in neural information processing systems","volume":"27","author":"Goodfellow","year":"2014"},{"key":"ref37","article-title":"Pointnet++: Deep hierarchical feature learning on point sets in a metric space","volume-title":"Advances in neural information processing systems","volume":"30","author":"Qi","year":"2017"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1145\/3326362"}],"event":{"name":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Kyoto, Japan","start":{"date-parts":[[2022,10,23]]},"end":{"date-parts":[[2022,10,27]]}},"container-title":["2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9981026\/9981028\/09981900.pdf?arnumber=9981900","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,24]],"date-time":"2025-11-24T18:58:37Z","timestamp":1764010717000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9981900\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10,23]]},"references-count":38,"URL":"https:\/\/doi.org\/10.1109\/iros47612.2022.9981900","relation":{},"subject":[],"published":{"date-parts":[[2022,10,23]]}}}