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Robot automatic grasping has important application value in industrial applications. Recent works have explored on the performance of deep learning for robotic grasp detection. They usually use oriented anchor boxes (OABs) as detection prior and achieve better performance than previous works. However, the parameters of their loss belong to different coordinates, this may affect the regression accuracy. This paper aims to propose an oriented regression loss to solve the problem of inconsistency among the loss parameters.

In the oriented loss, the center coordinates errors between the ground truth grasp rectangle and the predicted grasp rectangle rotate to the vertical and horizontal of the OAB. And then the direction error is used as an orientation factor, combining with the errors of the rotated center coordinates, width and height of the predicted grasp rectangle.

The proposed oriented regression loss is evaluated on the YOLO-v3 framework to the grasp detection task. It yields state-of-the-art performance with an accuracy of 98.8% and a speed of 71 frames per second with GTX 1080Ti on Cornell datasets.

This paper proposes an oriented loss to improve the regression accuracy of deep learning for grasp detection. The authors apply the proposed deep grasp network to the visual servo intelligent crane. The experimental result indicates that the approach is accurate and robust enough for real-time grasping applications.

The study aims to devise a comprehensive evaluation model (CEM) for evaluating spatial equity in the layout of elderly service facilities (ESFs) to address the inequity in the layout of ESFs within city center communities characterized by limited land resources and a dense elderly population.

The CEM incorporates a suite of analytical tools, including accessibility assessment, Lorenz curve and Gini coefficient evaluations and spatial autocorrelation analysis. Utilizing this model, the study scrutinized the distributional equity of three distinct categories of ESFs in the city center of Xi’an and proposed targeted optimization strategies.

The findings reveal that (1) there are disparities in ESFs’ accessibility among different categories and communities, manifesting a distinct center (high) and periphery (low) distribution pattern; (2) there exists inequality in ESFs distribution, with nearly 50% of older adults accessing only 18% of elderly services, and these inequalities are more pronounced in urban areas with lower accessibility, and (3) approximately 14.7% of communities experience a supply-demand disequilibrium, with demand surpassing supply as a predominant issue in the ongoing development of ESFs.

The CEM formulated in this study offers policymakers, urban planners and service providers a scientific foundation and guidance for decision-making or policy amendment by promptly assessing and pinpointing areas of spatial inequity in ESFs and identifying deficiencies in their development.