# TransGrasp: A Multi-Scale Hierarchical Point Transformer for 7-DoF Grasp Detection

> Research article (2022 International Conference on Robotics and Automation (ICRA), 2022) · cited 30× · AI/ML

**Wikidata**: [openalex:W4285102142](https://www.wikidata.org/wiki/openalex:W4285102142)  
**Source**: https://4ort.xyz/entity/transgrasp-a-multi-scale-hierarchical-point-transformer-for-7-dof-grasp-detection