{"id":"https://openalex.org/W2925241625","doi":"https://doi.org/10.1007/978-3-030-95459-8_9","title":"KPAM: KeyPoint Affordances for Category-Level Robotic Manipulation","display_name":"KPAM: KeyPoint Affordances for Category-Level Robotic Manipulation","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W2925241625","doi":"https://doi.org/10.1007/978-3-030-95459-8_9","mag":"2925241625"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-95459-8_9","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-95459-8_9","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018953170","display_name":"Lucas Manuelli","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lucas Manuelli","raw_affiliation_strings":["CSAIL, Massachusetts Institute of Technology, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010846765","display_name":"Wei Gao","orcid":"https://orcid.org/0000-0003-2257-5684"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Gao","raw_affiliation_strings":["CSAIL, Massachusetts Institute of Technology, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021289514","display_name":"Pete Florence","orcid":"https://orcid.org/0000-0002-7148-5645"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Florence","raw_affiliation_strings":["CSAIL, Massachusetts Institute of Technology, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074291890","display_name":"Russ Tedrake","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russ Tedrake","raw_affiliation_strings":["CSAIL, Massachusetts Institute of Technology, Cambridge, USA"],"affiliations":[{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology, Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018953170"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":304.3066,"has_fulltext":false,"cited_by_count":168,"citation_normalized_percentile":{"value":0.99995111,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"132","last_page":"157"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6779641509056091},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6059793829917908},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5418980121612549},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5282021164894104},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5155039429664612},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.4818521738052368},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4804527461528778},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4668982923030853},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.44518113136291504},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42867010831832886},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4234994649887085},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4162728488445282},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14819267392158508},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.14159604907035828}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6779641509056091},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6059793829917908},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5418980121612549},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5282021164894104},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5155039429664612},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.4818521738052368},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4804527461528778},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4668982923030853},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.44518113136291504},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42867010831832886},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4234994649887085},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4162728488445282},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14819267392158508},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.14159604907035828},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-030-95459-8_9","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-95459-8_9","pdf_url":null,"source":{"id":"https://openalex.org/S4210172544","display_name":"Springer proceedings in advanced robotics","issn_l":"2511-1256","issn":["2511-1256","2511-1264"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319972","host_organization_name":"Springer International Publishing","host_organization_lineage":["https://openalex.org/P4310319972","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer International Publishing","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Proceedings in Advanced Robotics","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1808898315","https://openalex.org/W1861492603","https://openalex.org/W1982920857","https://openalex.org/W1991264156","https://openalex.org/W2009422376","https://openalex.org/W2082761562","https://openalex.org/W2089630413","https://openalex.org/W2134236847","https://openalex.org/W2158292574","https://openalex.org/W2414685554","https://openalex.org/W2558625610","https://openalex.org/W2756627269","https://openalex.org/W2798255267","https://openalex.org/W2885163910","https://openalex.org/W2885546722","https://openalex.org/W2889668339","https://openalex.org/W2893763910","https://openalex.org/W2894169497","https://openalex.org/W2910474428","https://openalex.org/W2950451445","https://openalex.org/W2951595849","https://openalex.org/W2962746398","https://openalex.org/W2963150697","https://openalex.org/W2963166883","https://openalex.org/W2963484919","https://openalex.org/W2963598138","https://openalex.org/W2963654160","https://openalex.org/W2963678509","https://openalex.org/W2963892972","https://openalex.org/W2964000117","https://openalex.org/W2973439545","https://openalex.org/W2979400304","https://openalex.org/W3101044088"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W2295809616","https://openalex.org/W3049116993","https://openalex.org/W2070708245","https://openalex.org/W1541884709","https://openalex.org/W2589081601","https://openalex.org/W4388446985"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":39},{"year":2020,"cited_by_count":29},{"year":2019,"cited_by_count":9}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}