{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T08:51:31Z","timestamp":1773305491904,"version":"3.50.1"},"reference-count":53,"publisher":"Tech Science Press","issue":"2","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["CMC"],"published-print":{"date-parts":[[2025]]},"DOI":"10.32604\/cmc.2025.066740","type":"journal-article","created":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T08:10:18Z","timestamp":1753344618000},"page":"2959-2984","source":"Crossref","is-referenced-by-count":0,"title":["CMACF-Net: Cross-Multiscale Adaptive Collaborative and Fusion Grasp Detection Network"],"prefix":"10.32604","volume":"85","author":[{"given":"Xi","family":"Li","sequence":"first","affiliation":[]},{"given":"Runpu","family":"Nie","sequence":"additional","affiliation":[]},{"given":"Zhaoyong","family":"Fan","sequence":"additional","affiliation":[]},{"given":"Lianying","family":"Zou","sequence":"additional","affiliation":[]},{"given":"Zhenhua","family":"Xiao","sequence":"additional","affiliation":[]},{"given":"Kaile","family":"Dong","sequence":"additional","affiliation":[]}],"member":"17807","published-online":{"date-parts":[[2025]]},"reference":[{"key":"ref1","series-title":"Proceedings of the 2024 IEEE International Conference on Mechatronics and Automation (ICMA)","article-title":"FGNet: faster robotic grasp detection network","author":"Cheng","year":"2024 Aug 4\u20137"},{"key":"ref2","doi-asserted-by":"crossref","first-page":"4831","DOI":"10.1109\/TCSVT.2024.3524794","article-title":"T2EA: target-aware Taylor expansion approximation network for infrared and visible image fusion","volume":"35","author":"Huang","year":"2025","journal-title":"IEEE Trans Circuits Syst Video Technol"},{"key":"ref3","doi-asserted-by":"crossref","first-page":"403","DOI":"10.3390\/biomimetics8050403","article-title":"Robotic grasp detection network based on improved deformable convolution and spatial feature center mechanism","volume":"8","author":"Zou","year":"2023","journal-title":"Biomimetics"},{"key":"ref4","series-title":"Proceedings of the 2024 21st International Conference on Ubiquitous Robots (UR)","article-title":"Safety-optimized strategy for grasp detection in high-clutter scenarios","author":"Li","year":"2024 Jun 24\u201327"},{"key":"ref5","doi-asserted-by":"crossref","first-page":"515","DOI":"10.1109\/70.954765","article-title":"Computation of 3-D form-closure grasps","volume":"17","author":"Ding","year":"2001","journal-title":"IEEE Trans Robot Autom"},{"key":"ref6","doi-asserted-by":"crossref","first-page":"10832","DOI":"10.1109\/TNNLS.2023.3244186","article-title":"A novel robotic pushing and grasping method based on vision transformer and convolution","volume":"35","author":"Yu","year":"2024","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"197","DOI":"10.1089\/big.2016.0042","article-title":"Recent data sets on object manipulation: a survey","volume":"4","author":"Huang","year":"2016","journal-title":"Big Data"},{"key":"ref8","doi-asserted-by":"crossref","first-page":"1879","DOI":"10.1109\/TNNLS.2021.3106299","article-title":"A survey on brain effective connectivity network learning","volume":"34","author":"Ji","year":"2023","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"key":"ref9","series-title":"Proceedings of the 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","article-title":"Grasping of unknown objects on a planar surface using a single depth image","author":"Suzuki","year":"2016 Jul 12\u201315"},{"key":"ref10","series-title":"Proceedings of the 5th IEEE-RAS International Conference on Humanoid Robots, 2005","article-title":"A shape matching algorithm for synthesizing humanlike enveloping grasps","author":"Li","year":"2005 Dec 5"},{"key":"ref11","series-title":"Proceedings of the 2012 IEEE International Conference on Robotics and Automation","article-title":"Template-based learning of grasp selection","author":"Herzog","year":"2012 May 14\u201318"},{"key":"ref12","series-title":"Proceedings of the 2011 IEEE International Conference on Robotics and Automation","article-title":"Efficient grasping from RGBD images: learning using a new rectangle representation","author":"Jiang","year":"2011 May 9\u201313"},{"key":"ref13","series-title":"Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA)","article-title":"A hybrid deep architecture for robotic grasp detection","author":"Guo","year":"2017 May 29\u2013Jun 3"},{"key":"ref14","series-title":"Proceedings of the 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","article-title":"Fully convolutional grasp detection network with oriented anchor box","author":"Zhou","year":"2018 Oct 1\u20135"},{"key":"ref15","doi-asserted-by":"crossref","first-page":"289","DOI":"10.1109\/TRO.2013.2289018","article-title":"Data-driven grasp synthesis\u2014a survey","volume":"30","author":"Bohg","year":"2014","journal-title":"IEEE Trans Robot"},{"key":"ref16","doi-asserted-by":"crossref","first-page":"7039","DOI":"10.1109\/TSMC.2024.3446841","article-title":"Robotic grasp detection using structure prior attention and multiscale features","volume":"54","author":"Chen","year":"2024","journal-title":"IEEE Trans Syst Man Cybern Syst"},{"key":"ref17","doi-asserted-by":"crossref","first-page":"705","DOI":"10.1177\/0278364914549607","article-title":"Deep learning for detecting robotic grasps","volume":"34","author":"Lenz","year":"2015","journal-title":"Int J Robot Res"},{"key":"ref18","doi-asserted-by":"crossref","first-page":"1137","DOI":"10.1109\/TPAMI.2016.2577031","article-title":"Faster R-CNN: towards real-time object detection with region proposal networks","volume":"39","author":"Ren","year":"2017","journal-title":"IEEE Trans Pattern Anal Mach Intell"},{"key":"ref19","unstructured":"Cao H, Chen G, Li Z, Lin J, Knoll A. Lightweight convolutional neural network with Gaussian-based grasping representation for robotic grasping detection. arXiv:2101.10226. 2021."},{"key":"ref20","doi-asserted-by":"crossref","first-page":"244","DOI":"10.26599\/TST.2023.9010003","article-title":"Grasp detection with hierarchical multi-scale feature fusion and inverted shuffle residual","volume":"29","author":"Geng","year":"2024","journal-title":"Tsinghua Sci Technol"},{"key":"ref21","doi-asserted-by":"crossref","first-page":"8293","DOI":"10.1109\/TNNLS.2022.3226772","article-title":"PHNNs: lightweight neural networks via parameterized hyper complex convolutions","volume":"35","author":"Grassucci","year":"2022","journal-title":"IEEE Trans Neural Netw Learn Syst"},{"key":"ref22","doi-asserted-by":"crossref","first-page":"2633","DOI":"10.1109\/TVCG.2015.2513408","article-title":"Pose estimation for augmented reality: a hands-on survey","volume":"22","author":"Marchand","year":"2016","journal-title":"IEEE Trans Vis Comput Graph"},{"key":"ref23","doi-asserted-by":"crossref","first-page":"183","DOI":"10.1177\/0278364919859066","article-title":"Learning robust, real-time, reactive robotic grasping","volume":"39","author":"Morrison","year":"2020","journal-title":"Int J Robot Res"},{"key":"ref24","series-title":"Proceedings of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","article-title":"Antipodal robotic grasping using generative residual convolutional neural network","author":"Kumra","year":"2021 Oct 24\u2013Jan 24"},{"key":"ref25","doi-asserted-by":"crossref","first-page":"5238","DOI":"10.1109\/LRA.2022.3145064","article-title":"SE-ResUNet: a novel robotic grasp detection method","volume":"7","author":"Yu","year":"2022","journal-title":"IEEE Robot Autom Lett"},{"key":"ref26","doi-asserted-by":"crossref","first-page":"4653","DOI":"10.3390\/app14114653","article-title":"ODGNet: robotic grasp detection network based on omni-dimensional dynamic convolution","volume":"14","author":"Kuang","year":"2024","journal-title":"Appl Sci"},{"key":"ref27","doi-asserted-by":"crossref","first-page":"6696","DOI":"10.1109\/TII.2024.3353841","article-title":"Light-weight convolutional neural networks for generative robotic grasping","volume":"20","author":"Fu","year":"2024","journal-title":"IEEE Trans Ind Inform"},{"key":"ref28","doi-asserted-by":"crossref","first-page":"884","DOI":"10.1109\/TMECH.2022.3209488","article-title":"CGNet: robotic grasp detection in heavily cluttered scenes","volume":"28","author":"Yu","year":"2023","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"ref29","doi-asserted-by":"crossref","first-page":"7958","DOI":"10.3390\/s24247958","article-title":"Cascaded feature fusion grasping network for real-time robotic systems","volume":"24","author":"Li","year":"2024","journal-title":"Sensors"},{"key":"ref30","series-title":"Proceedings of the 2020 IEEE\/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","article-title":"EfficientDet: scalable and efficient object detection","author":"Tan","year":"2020 Jun 13\u201319"},{"key":"ref31","doi-asserted-by":"crossref","first-page":"5097","DOI":"10.3390\/app14125097","article-title":"FAGD-net: feature-augmented grasp detection network based on efficient multi-scale attention and fusion mechanisms","volume":"14","author":"Zhong","year":"2024","journal-title":"Appl Sci"},{"key":"ref32","doi-asserted-by":"crossref","first-page":"5193","DOI":"10.3390\/app14125193","article-title":"Robot grasp detection with loss-guided collaborative attention mechanism and multi-scale feature fusion","volume":"14","author":"Fang","year":"2024","journal-title":"Appl Sci"},{"key":"ref33","series-title":"Proceedings of the 2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","article-title":"Grasp detection method based on grasp center and key features","author":"Zhai","year":"2024 Oct 3\u20135"},{"key":"ref34","doi-asserted-by":"crossref","first-page":"117775","DOI":"10.1016\/j.measurement.2025.117775","article-title":"HFNet: high-precision robotic grasp detection in unstructured environments using hierarchical RGB-D feature fusion and fine-grained pose alignment","volume":"253","author":"Tong","year":"2025","journal-title":"Measurement"},{"key":"ref35","doi-asserted-by":"crossref","first-page":"437","DOI":"10.3390\/electronics14030437","article-title":"A lightweight detection model without convolutions for complex stacked grasping tasks","volume":"14","author":"Ren","year":"2025","journal-title":"Electronics"},{"key":"ref36","first-page":"5609615","article-title":"RCST: residual context-sharing transformer cascade to approximate Taylor expansion for remote sensing image denoising","volume":"63","author":"Huang","year":"2025","journal-title":"IEEE Trans Geosci Remote Sens"},{"key":"ref37","doi-asserted-by":"crossref","first-page":"8170","DOI":"10.1109\/LRA.2022.3187261","article-title":"When transformer meets robotic grasping: exploits context for efficient grasp detection","volume":"7","author":"Wang","year":"2022","journal-title":"IEEE Robot Autom Lett"},{"key":"ref38","doi-asserted-by":"crossref","first-page":"109014","DOI":"10.1016\/j.compag.2024.109014","article-title":"End-to-end lightweight transformer-based neural network for grasp detection towards fruit robotic handling","volume":"221","author":"Guo","year":"2024","journal-title":"Comput Electron Agric"},{"key":"ref39","doi-asserted-by":"crossref","first-page":"39206","DOI":"10.1109\/JSEN.2024.3449946","article-title":"MCT-grasp: a novel grasp detection using multimodal embedding and convolutional modulation transformer","volume":"24","author":"Yang","year":"2024","journal-title":"IEEE Sens J"},{"key":"ref40","doi-asserted-by":"crossref","first-page":"4702","DOI":"10.1109\/LRA.2024.3381091","article-title":"DSNet: double strand robotic grasp detection network based on cross attention","volume":"9","author":"Zhang","year":"2024","journal-title":"IEEE Robot Autom Lett"},{"key":"ref41","doi-asserted-by":"crossref","first-page":"e3","DOI":"10.23915\/distill.00003","article-title":"Deconvolution and checkerboard artifacts","volume":"1","author":"Odena","year":"2016","journal-title":"Distill"},{"key":"ref42","doi-asserted-by":"crossref","first-page":"129866","DOI":"10.1016\/j.neucom.2025.129866","article-title":"SCSA: exploring the synergistic effects between spatial and channel attention","volume":"634","author":"Si","year":"2025","journal-title":"Neurocomputing"},{"key":"ref43","series-title":"Proceedings of the 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)","article-title":"Xception: deep learning with depthwise separable convolutions","author":"Chollet","year":"2017 Jul 21\u201326"},{"key":"ref44","series-title":"Proceedings of the 2019 IEEE\/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","article-title":"Selective kernel networks","author":"Li","year":"2019 Jun 15\u201320"},{"key":"ref45","doi-asserted-by":"crossref","unstructured":"Xu W, Wan Y. ELA: efficient local attention for deep convolutional neural networks. arXiv:2403.01123. 2024.","DOI":"10.1007\/s11554-025-01719-6"},{"key":"ref46","unstructured":"Mehta S, Rastegari M. Mobilevit: light-weight, general-purpose, and mobile-friendly vision transformer. arXiv:2110.02178. 2021."},{"key":"ref47","first-page":"11863","article-title":"SimAM: a simple, parameter-free attention module for convolutional neural networks","volume":"139","author":"Yang","year":"2021","journal-title":"Proc Mach Learn Res"},{"key":"ref48","series-title":"Proceedings of the 2024 IEEE\/CVF Conference on Computer Vision and Pattern Recognition (CVPR)","article-title":"EMCAD: efficient multi-scale convolutional attention decoding for medical image segmentation","author":"Rahman","year":"2024 Jun 16\u201322"},{"key":"ref49","doi-asserted-by":"crossref","first-page":"394","DOI":"10.1109\/LSP.2021.3138351","article-title":"Learning a contrast enhancer for intensity correction of remotely sensed images","volume":"29","author":"Huang","year":"2021","journal-title":"IEEE Signal Process Lett"},{"key":"ref50","series-title":"Proceedings of the 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","article-title":"Jacquard: a large scale dataset for robotic grasp detection","author":"Depierre","year":"2018 Oct 1\u20135"},{"key":"ref51","unstructured":"Kingma DP, Ba J. Adam: a method for stochastic optimization. arXiv:1412.6980. 2014."},{"key":"ref52","doi-asserted-by":"crossref","first-page":"6208","DOI":"10.3390\/s22166208","article-title":"GR-ConvNet v2: a real-time multi-grasp detection network for robotic grasping","volume":"22","author":"Kumra","year":"2022","journal-title":"Sensors"},{"key":"ref53","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1007\/s12555-020-0197-z","article-title":"Deep robotic grasping prediction with hierarchical RGB-D fusion","volume":"20","author":"Song","year":"2022","journal-title":"Int J Control Autom Syst"}],"container-title":["Computers, Materials &amp; Continua"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/cdn.techscience.cn\/files\/cmc\/2025\/TSP_CMC-85-2\/TSP_CMC_66740\/TSP_CMC_66740.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,4]],"date-time":"2025-12-04T05:35:40Z","timestamp":1764826540000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.techscience.com\/cmc\/v85n2\/63797"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":53,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2025]]},"published-print":{"date-parts":[[2025]]}},"URL":"https:\/\/doi.org\/10.32604\/cmc.2025.066740","relation":{},"ISSN":["1546-2226"],"issn-type":[{"value":"1546-2226","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]}}}