{"id":"https://openalex.org/W1876726784","doi":null,"title":"From first contact to close encounters: a developmentally deep perceptual system for a humanoid robot","display_name":"From first contact to close encounters: a developmentally deep perceptual system for a humanoid robot","publication_year":2003,"publication_date":"2003-01-01","ids":{"openalex":"https://openalex.org/W1876726784","mag":"1876726784"},"language":"en","primary_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/7105","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/7105","pdf_url":"http://hdl.handle.net/1721.1/7105","source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/7105","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5030688243","display_name":"Paul Fitzpatrick","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Paul Fitzpatrick","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5113436962","display_name":"Rodney A. Brooks","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rodney A. Brooks","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.527,"has_fulltext":true,"cited_by_count":48,"citation_normalized_percentile":{"value":0.99162908,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":95},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6772000193595886,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6772000193595886,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.15780000388622284,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.0478999987244606,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robots","display_name":"humanoid robots","score":0.796999990940094},{"id":"https://openalex.org/keywords/perceptual-development","display_name":"perceptual development","score":0.7329999804496765},{"id":"https://openalex.org/keywords/object-localization","display_name":"object localization","score":0.8019999861717224},{"id":"https://openalex.org/keywords/object-recognition","display_name":"object recognition","score":0.8479999899864197},{"id":"https://openalex.org/keywords/foreground-background-segmentation","display_name":"foreground-background segmentation","score":0.7070000171661377},{"id":"https://openalex.org/keywords/active-sensing","display_name":"active sensing","score":0.414000004529953},{"id":"https://openalex.org/keywords/visual-ambiguity","display_name":"visual ambiguity","score":0.44200000166893005},{"id":"https://openalex.org/keywords/embodied-learning","display_name":"embodied learning","score":0.36500000953674316},{"id":"https://openalex.org/keywords/robot-vision","display_name":"robot vision","score":0.32100000977516174}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.675828754901886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6206191182136536},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6108144521713257},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5409191250801086},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5234748125076294},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5053444504737854},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4851692318916321},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4720476567745209},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.45892244577407837},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4466910660266876},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.42208561301231384},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36906301975250244},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.3600892424583435},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"pmh:oai:dspace.mit.edu:1721.1/7105","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/7105","pdf_url":"http://hdl.handle.net/1721.1/7105","source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.14.5813","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.14.5813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ftp://publications.ai.mit.edu/ai-publications/2003/AITR-2003-008.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.997.6830","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.997.6830","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://dspace.mit.edu/bitstream/handle/1721.1/16951/53278821-MIT.pdf%3Bjsessionid%3D5306B05BFE4F4416DEAB7286467C2637?sequence%3D2","raw_type":"text"},{"id":"pmh:ADA434779","doi":null,"is_oa":false,"landing_page_url":"http://oai.dtic.mil/oai/oai?&amp;verb=getRecord&amp;metadataPrefix=html&amp;identifier=ADA434779","pdf_url":null,"source":{"id":"https://openalex.org/S4406923043","display_name":"Defense Technical Information Center (DTIC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"DTIC AND NTIS","raw_type":"Text"},{"id":"mag:1876726784","doi":null,"is_oa":false,"landing_page_url":"https://apps.dtic.mil/dtic/tr/fulltext/u2/a434779.pdf","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/7105","doi":null,"is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/7105","pdf_url":"http://hdl.handle.net/1721.1/7105","source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1876726784.pdf","grobid_xml":"https://content.openalex.org/works/W1876726784.grobid-xml"},"referenced_works_count":193,"referenced_works":["https://openalex.org/W6093035","https://openalex.org/W18709828","https://openalex.org/W34686378","https://openalex.org/W36434594","https://openalex.org/W38340148","https://openalex.org/W42860436","https://openalex.org/W60702688","https://openalex.org/W108856365","https://openalex.org/W148181850","https://openalex.org/W168365783","https://openalex.org/W170780903","https://openalex.org/W199109716","https://openalex.org/W199176224","https://openalex.org/W207707685","https://openalex.org/W586881686","https://openalex.org/W1230512944","https://openalex.org/W1488778327","https://openalex.org/W1490764682","https://openalex.org/W1492278152","https://openalex.org/W1494914454","https://openalex.org/W1498001173","https://openalex.org/W1498101238","https://openalex.org/W1499677203","https://openalex.org/W1501139663","https://openalex.org/W1506635893","https://openalex.org/W1514526806","https://openalex.org/W1517795220","https://openalex.org/W1522258013","https://openalex.org/W1544726070","https://openalex.org/W1551095406","https://openalex.org/W1559689083","https://openalex.org/W1561130515","https://openalex.org/W1562462135","https://openalex.org/W1563925795","https://openalex.org/W1571895365","https://openalex.org/W1572621281","https://openalex.org/W1575785373","https://openalex.org/W1576523092","https://openalex.org/W1577244021","https://openalex.org/W1580568969","https://openalex.org/W1581218697","https://openalex.org/W1581334392","https://openalex.org/W1582450390","https://openalex.org/W1582682500","https://openalex.org/W1584697775","https://openalex.org/W1592377142","https://openalex.org/W1596419332","https://openalex.org/W1598442403","https://openalex.org/W1604989400","https://openalex.org/W1629504082","https://openalex.org/W1652032257","https://openalex.org/W1688666919","https://openalex.org/W1720344338","https://openalex.org/W1780355205","https://openalex.org/W1785556983","https://openalex.org/W1827429949","https://openalex.org/W1841828540","https://openalex.org/W1866195740","https://openalex.org/W1866852672","https://openalex.org/W1868569611","https://openalex.org/W1877154798","https://openalex.org/W1879974976","https://openalex.org/W1887100226","https://openalex.org/W1892231674","https://openalex.org/W1910237049","https://openalex.org/W1931972414","https://openalex.org/W1950975572","https://openalex.org/W1964648330","https://openalex.org/W1965244358","https://openalex.org/W1965367179","https://openalex.org/W1972963882","https://openalex.org/W1973492835","https://openalex.org/W1980491396","https://openalex.org/W1980882881","https://openalex.org/W1991605728","https://openalex.org/W1991699601","https://openalex.org/W2001914359","https://openalex.org/W2007033345","https://openalex.org/W2008208299","https://openalex.org/W2009969435","https://openalex.org/W2011364639","https://openalex.org/W2018528947","https://openalex.org/W2019178608","https://openalex.org/W2021749795","https://openalex.org/W2026036461","https://openalex.org/W2027484351","https://openalex.org/W2028750032","https://openalex.org/W2029271530","https://openalex.org/W2033088432","https://openalex.org/W2038056950","https://openalex.org/W2045870530","https://openalex.org/W2057832152","https://openalex.org/W2058408366","https://openalex.org/W2070311906","https://openalex.org/W2071402670","https://openalex.org/W2093131319","https://openalex.org/W2096133321","https://openalex.org/W2096568301","https://openalex.org/W2097856935","https://openalex.org/W2102625004","https://openalex.org/W2102682303","https://openalex.org/W2107333657","https://openalex.org/W2107658650","https://openalex.org/W2107726111","https://openalex.org/W2107917162","https://openalex.org/W2108766544","https://openalex.org/W2109269337","https://openalex.org/W2110484863","https://openalex.org/W2110683152","https://openalex.org/W2111010907","https://openalex.org/W2112337124","https://openalex.org/W2113137767","https://openalex.org/W2114967341","https://openalex.org/W2115721886","https://openalex.org/W2116360511","https://openalex.org/W2116871363","https://openalex.org/W2117448986","https://openalex.org/W2117644365","https://openalex.org/W2118791062","https://openalex.org/W2120019338","https://openalex.org/W2120876866","https://openalex.org/W2122903255","https://openalex.org/W2123008846","https://openalex.org/W2125746275","https://openalex.org/W2130103520","https://openalex.org/W2130607791","https://openalex.org/W2131420259","https://openalex.org/W2133001582","https://openalex.org/W2133623440","https://openalex.org/W2134187939","https://openalex.org/W2137171066","https://openalex.org/W2137484302","https://openalex.org/W2138162238","https://openalex.org/W2138494898","https://openalex.org/W2139531267","https://openalex.org/W2140235142","https://openalex.org/W2141204697","https://openalex.org/W2142136787","https://openalex.org/W2143351011","https://openalex.org/W2144071905","https://openalex.org/W2145023731","https://openalex.org/W2146498863","https://openalex.org/W2146670093","https://openalex.org/W2146913448","https://openalex.org/W2149234824","https://openalex.org/W2153137796","https://openalex.org/W2155539570","https://openalex.org/W2156030192","https://openalex.org/W2156626285","https://openalex.org/W2157237807","https://openalex.org/W2157772455","https://openalex.org/W2157915068","https://openalex.org/W2159498975","https://openalex.org/W2159688811","https://openalex.org/W2159995778","https://openalex.org/W2160619799","https://openalex.org/W2162160325","https://openalex.org/W2162439674","https://openalex.org/W2164770604","https://openalex.org/W2166164107","https://openalex.org/W2166431160","https://openalex.org/W2166770390","https://openalex.org/W2168682262","https://openalex.org/W2168753754","https://openalex.org/W2170017761","https://openalex.org/W2171137737","https://openalex.org/W2180646040","https://openalex.org/W2187648319","https://openalex.org/W2204117973","https://openalex.org/W2246006780","https://openalex.org/W2264742718","https://openalex.org/W2296039540","https://openalex.org/W2311284842","https://openalex.org/W2322999553","https://openalex.org/W2397253692","https://openalex.org/W2474303913","https://openalex.org/W2496613329","https://openalex.org/W2544163307","https://openalex.org/W2565088704","https://openalex.org/W2590612749","https://openalex.org/W2799137018","https://openalex.org/W2911709767","https://openalex.org/W2911783315","https://openalex.org/W2913703059","https://openalex.org/W2914331897","https://openalex.org/W2914885528","https://openalex.org/W2928979496","https://openalex.org/W2984214420","https://openalex.org/W2996202006","https://openalex.org/W3014646291","https://openalex.org/W3017143921","https://openalex.org/W3022562948","https://openalex.org/W3097096317"],"related_works":["https://openalex.org/W7100414519","https://openalex.org/W7037335127","https://openalex.org/W7095924318","https://openalex.org/W2488840220","https://openalex.org/W1563560256","https://openalex.org/W2154273950","https://openalex.org/W2018193380","https://openalex.org/W2212845483","https://openalex.org/W7097140141","https://openalex.org/W2888881726"],"abstract_inverted_index":{"This":[0,290],"thesis":[1,265],"presents":[2],"a":[3,7,37,45,63,75,240,271,274,296,301],"perceptual":[4,196,303,311],"system":[5,46],"for":[6,47,165,175,191,226],"humanoid":[8],"robot":[9,59,110,124],"that":[10,36,91,113,267,277,323],"integrates":[11],"abilities":[12],"such":[13,198,213,229],"as":[14,95,199,230,263],"object":[15,48,118,231],"localization":[16],"and":[17,43,51,80,136,141,150,161,169,202,283,315],"recognition":[18,201],"with":[19,61,102],"the":[20,58,85,99,109,117,120,123,206,234,247,310],"deeper":[21],"developmental":[22],"machinery":[23],"required":[24],"to":[25,66,107,115,195,259,287,299,319],"forge":[26],"those":[27,143],"competences":[28],"out":[29,285],"of":[30,77,130,184,212,236,249,295],"raw":[31],"physical":[32],"experiences.":[33],"It":[34],"shows":[35],"robotic":[38,275],"platform":[39,276],"can":[40,111,125,154,278,324],"build":[41],"up":[42],"maintain":[44],"localization,":[49],"segmentation,":[50],"recognition,":[52,171],"starting":[53],"from":[54,119,134,137,246],"very":[55],"little.":[56],"What":[57],"starts":[60],"is":[62,93,178,257,292,313],"direct":[64],"solution":[65],"achieving":[67],"figure/ground":[68],"separation:":[69],"it":[70,106,132],"simply":[71],"'pokes":[72],"around'":[73],"in":[74,158,239,308],"region":[76],"visual":[78,152],"ambiguity":[79],"watches":[81],"what":[82],"happens.":[83],"If":[84,98],"arm":[86,100],"passes":[87],"through":[88],"an":[89,103,293],"area,":[90],"area":[92],"recognized":[94],"free":[96],"space.":[97],"collides":[101],"object,":[104],"causing":[105],"move,":[108],"use":[112],"motion":[114],"segment":[116],"background.":[121],"Once":[122],"acquire":[126],"reliable":[127],"segmented":[128],"views":[129],"objects,":[131],"learns":[133],"them,":[135],"then":[138],"on":[139,181,273],"recognizes":[140],"segments":[142],"objects":[144,237,250],"without":[145],"further":[146],"contact.":[147],"Both":[148],"low-level":[149],"high-level":[151],"features":[153,322],"also":[155],"be":[156,244,270,325],"learned":[157],"this":[159,176,264],"way,":[160],"examples":[162],"are":[163,215],"presented":[164],"both:":[166],"orientation":[167],"detection":[168],"affordance":[170],"respectively.":[172],"The":[173,253],"motivation":[174],"work":[177,291],"simple.":[179],"Training":[180],"large":[182],"corpora":[183],"annotated":[185],"real-world":[186],"data":[187],"has":[188],"proven":[189],"crucial":[190],"creating":[192],"robust":[193],"solutions":[194],"problems":[197],"speech":[200],"face":[203],"detection.":[204],"But":[205],"powerful":[207],"tools":[208],"used":[209],"during":[210],"training":[211,260],"systems":[214],"typically":[216],"stripped":[217],"away":[218],"at":[219],"deployment.":[220],"Ideally":[221],"they":[222],"should":[223],"remain,":[224],"particularly":[225],"unstable":[227],"tasks":[228],"detection,":[232],"where":[233],"set":[235,248],"needed":[238,251],"task":[241],"tomorrow":[242],"might":[243],"different":[245],"today.":[252],"key":[254],"limiting":[255],"factor":[256],"access":[258],"data,":[261],"but":[262],"shows,":[266],"need":[268],"not":[269],"problem":[272],"actively":[279],"probe":[280],"its":[281],"environment,":[282],"carry":[284],"experiments":[286],"resolve":[288],"ambiguity.":[289],"instance":[294],"general":[297],"approach":[298],"learning":[300],"new":[302],"judgment:":[304],"find":[305,320],"special":[306],"situations":[307,318],"which":[309],"judgment":[312],"easy":[314],"study":[316],"these":[317],"correlated":[321],"observed":[326],"more":[327],"generally.":[328]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2016-06-24T00:00:00"}
