# Double-Dot Network for Antipodal Grasp Detection

arXiv: https://arxiv.org/abs/2108.01527 · HTML: https://mlsanity.com/paper/2108.01527/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 46 references that are in the map.
- First posted on arXiv 3 Aug 2021.

## Builds on (most cited first, 21 of 21)

- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [SSD: Single Shot MultiBox Detector](https://mlsanity.com/paper/1512.02325/) (2015)
- [Stacked Hourglass Networks for Human Pose Estimation](https://mlsanity.com/paper/1603.06937/) (2016)
- [CornerNet: Detecting Objects as Paired Keypoints](https://mlsanity.com/paper/1808.01244/) (2018)
- [CenterNet: Keypoint Triplets for Object Detection](https://mlsanity.com/paper/1904.08189/) (2019)
- [Deep Reinforcement Learning for Robotic Manipulation with Asynchronous Off-Policy Updates](https://mlsanity.com/paper/1610.00633/) (2016)
- [Learning Hand-Eye Coordination for Robotic Grasping with Deep Learning and Large-Scale Data Collection](https://mlsanity.com/paper/1603.02199/) (2016)
- [Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics](https://mlsanity.com/paper/1703.09312/) (2017)
- [6-DOF GraspNet: Variational Grasp Generation for Object Manipulation](https://mlsanity.com/paper/1905.10520/) (2019)
- [Arbitrary-Oriented Scene Text Detection via Rotation Proposals](https://mlsanity.com/paper/1703.01086/) (2017)
- [Receptive Field Block Net for Accurate and Fast Object Detection](https://mlsanity.com/paper/1711.07767/) (2017)
- [Deep Learning for Detecting Robotic Grasps](https://mlsanity.com/paper/1301.3592/) (2013)
- [Jacquard: A Large Scale Dataset for Robotic Grasp Detection](https://mlsanity.com/paper/1803.11469/) (2018)
- [Real-Time Grasp Detection Using Convolutional Neural Networks](https://mlsanity.com/paper/1412.3128/) (2014)
- [Antipodal Robotic Grasping using Generative Residual Convolutional Neural Network](https://mlsanity.com/paper/1909.04810/) (2019)
- [Robotic Grasp Detection using Deep Convolutional Neural Networks](https://mlsanity.com/paper/1611.08036/) (2016)
- [ROI-based Robotic Grasp Detection for Object Overlapping Scenes](https://mlsanity.com/paper/1808.10313/) (2018)
- [Fully Convolutional Grasp Detection Network with Oriented Anchor Box](https://mlsanity.com/paper/1803.02209/) (2018)
- [GQ-STN: Optimizing One-Shot Grasp Detection based on Robustness Classifier](https://mlsanity.com/paper/1903.02489/) (2019)
- [Dealing with Ambiguity in Robotic Grasping via Multiple Predictions](https://mlsanity.com/paper/1811.00793/) (2018)
- [Scoring Graspability based on Grasp Regression for Better Grasp Prediction](https://mlsanity.com/paper/2002.00872/) (2020)

## Built on by (most cited first, 2 of 2)

- [RGB-D Grasp Detection via Depth Guided Learning with Cross-modal Attention](https://mlsanity.com/paper/2302.14264/) (2023)
- [Lightweight Language-driven Grasp Detection using Conditional Consistency Model](https://mlsanity.com/paper/2407.17967/) (2024)

## Abstract (arXiv)

This paper proposes a new deep learning approach to antipodal grasp detection, named Double-Dot Network (DD-Net). It follows the recent anchor-free object detection framework, which does not depend on empirically pre-set anchors and thus allows more generalized and flexible prediction on unseen objects. Specifically, unlike the widely used 5-dimensional rectangle, the gripper configuration is defined as a pair of fingertips. An effective CNN architecture is introduced to localize such fingertips, and with the help of auxiliary centers for refinement, it accurately and robustly infers grasp candidates. Additionally, we design a specialized loss function to measure the quality of grasps, and in contrast to the IoU scores of bounding boxes adopted in object detection, it is more consistent to the grasp detection task. Both the simulation and robotic experiments are executed and state of the art accuracies are achieved, showing that DD-Net is superior to the counterparts in handling unseen objects.