“…Inspired by several state-of-arts works in computer vision (Ren et al, 2015 ; He et al, 2016 , 2017 ; Liu et al, 2016 ; Redmon et al, 2016 ), researchers begin to move the attention to grasp candidate generation. Some works attempt to use object detection and instance segmentation approaches to reduce the search space in the point cloud (Lopes et al, 2018 ; Schnaubelt et al, 2019 ; Bui et al, 2020 ) or regress the grasp part using rectangle bounding boxes directly (Vohra et al, 2019 ; Yu Q. et al, 2020 ). Specifically, models designed to process point cloud furtherly accelerate the progress of candidate generation (Lin and Cong, 2019 ; Yu S. et al, 2020 ) and evaluation (Singh et al, 2018 ; Mousavian et al, 2019 ; Yan et al, 2019 ; Fang H.-S. et al, 2020 ; Qian et al, 2020 ).…”