@article{dong2022graspvdn,
  title={GraspVDN: scene-oriented grasp estimation by learning vector representations of grasps},
  author={Dong, Zhipeng and Tian, Hongkun and Bao, Xuefeng and Yan, Yunhui and Chen, Fei},
  journal={Complex \& Intelligent Systems},
  volume={8},
  number={4},
  pages={2911--2922},
  year={2022},
  publisher={Springer}
}