{"id":"https://openalex.org/W4402123964","doi":"https://doi.org/10.1080/01691864.2024.2393408","title":"Reflectance estimation for proximity sensing by vision-language models: utilizing distributional semantics for low-level cognition in robotics","display_name":"Reflectance estimation for proximity sensing by vision-language models: utilizing distributional semantics for low-level cognition in robotics","publication_year":2024,"publication_date":"2024-09-02","ids":{"openalex":"https://openalex.org/W4402123964","doi":"https://doi.org/10.1080/01691864.2024.2393408"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2024.2393408","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2393408","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2024.2393408?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2024.2393408?needAccess=true","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052472568","display_name":"Masashi Osada","orcid":"https://orcid.org/0009-0006-7150-1525"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Osada","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Japan"],"raw_orcid":"https://orcid.org/0009-0006-7150-1525","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037692282","display_name":"Gustavo Alfonso Garcia Ricardez","orcid":"https://orcid.org/0000-0001-6518-577X"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Gustavo A. Garcia Ricardez","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6518-577X","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056573210","display_name":"Yosuke Suzuki","orcid":"https://orcid.org/0000-0001-6862-9719"},"institutions":[{"id":"https://openalex.org/I10091056","display_name":"Kanazawa University","ror":"https://ror.org/02hwp6a56","country_code":"JP","type":"education","lineage":["https://openalex.org/I10091056"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yosuke Suzuki","raw_affiliation_strings":["College of Science and Engineering, Kanazawa University, Kanazawa, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6862-9719","affiliations":[{"raw_affiliation_string":"College of Science and Engineering, Kanazawa University, Kanazawa, Japan","institution_ids":["https://openalex.org/I10091056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023160093","display_name":"Tadahiro Taniguchi","orcid":"https://orcid.org/0000-0002-5682-2076"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadahiro Taniguchi","raw_affiliation_strings":["College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5682-2076","affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5037692282"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":0.6131,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.67600288,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"38","issue":"18","first_page":"1287","last_page":"1306"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9998000264167786,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9980000257492065,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6783396005630493},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6738570332527161},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.6516696810722351},{"id":"https://openalex.org/keywords/reflectivity","display_name":"Reflectivity","score":0.6074819564819336},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5478357076644897},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5459063649177551},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4913293421268463},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4559685289859772},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.4558982849121094},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.42514902353286743},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3808041512966156},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3294374346733093},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.24281319975852966},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2117176353931427},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14905765652656555},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.09174841642379761}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6783396005630493},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6738570332527161},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.6516696810722351},{"id":"https://openalex.org/C108597893","wikidata":"https://www.wikidata.org/wiki/Q663650","display_name":"Reflectivity","level":2,"score":0.6074819564819336},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5478357076644897},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5459063649177551},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4913293421268463},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4559685289859772},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.4558982849121094},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.42514902353286743},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3808041512966156},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3294374346733093},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.24281319975852966},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2117176353931427},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14905765652656555},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.09174841642379761},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2024.2393408","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2393408","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2024.2393408?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1080/01691864.2024.2393408","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2393408","pdf_url":"https://www.tandfonline.com/doi/pdf/10.1080/01691864.2024.2393408?needAccess=true","source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3056003011","display_name":null,"funder_award_id":"JPMJMS2011","funder_id":"https://openalex.org/F4320338247","funder_display_name":"Moonshot Research and Development Program"},{"id":"https://openalex.org/G3302257970","display_name":"\u8ab0\u3082\u304c\u81ea\u5728\u306b\u6d3b\u8e8d\u3067\u304d\u308b\u30a2\u30d0\u30bf\u30fc\u5171\u751f\u793e\u4f1a\u306e\u5b9f\u73fe","funder_award_id":"JPMJMS2011","funder_id":"https://openalex.org/F4320334789","funder_display_name":"Japan Science and Technology Agency"}],"funders":[{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"},{"id":"https://openalex.org/F4320338247","display_name":"Moonshot Research and Development Program","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402123964.pdf","grobid_xml":"https://content.openalex.org/works/W4402123964.grobid-xml"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W2162160008","https://openalex.org/W2194775991","https://openalex.org/W2213646491","https://openalex.org/W2565540283","https://openalex.org/W2910733688","https://openalex.org/W2918995630","https://openalex.org/W2962800603","https://openalex.org/W3138748647","https://openalex.org/W3211462570","https://openalex.org/W4246184524","https://openalex.org/W4252907012","https://openalex.org/W4285792015","https://openalex.org/W4313446488","https://openalex.org/W4321020529","https://openalex.org/W4385567149","https://openalex.org/W4385837416","https://openalex.org/W4387092545","https://openalex.org/W4389519337","https://openalex.org/W4392935324","https://openalex.org/W4401417048","https://openalex.org/W4402512774"],"related_works":["https://openalex.org/W3162204513","https://openalex.org/W1508899372","https://openalex.org/W2371138613","https://openalex.org/W2048963458","https://openalex.org/W43109613","https://openalex.org/W2359952343","https://openalex.org/W2239445980","https://openalex.org/W2356841320","https://openalex.org/W2080152487","https://openalex.org/W2012658348"],"abstract_inverted_index":{"Large":[0],"language":[1,78],"models":[2,6],"(LLMs)":[3],"and":[4,72,97,109,178,184],"vision-language":[5],"(VLMs)":[7],"have":[8],"been":[9],"increasingly":[10],"used":[11],"in":[12,69,79,120,176],"robotics":[13],"for":[14,20,40],"high-level":[15],"cognition,":[16,22],"but":[17],"their":[18,117,181],"use":[19],"low-level":[21],"such":[23,94,112],"as":[24,43,95,107,113],"interpreting":[25],"sensor":[26],"information,":[27],"remains":[28],"underexplored.":[29],"In":[30,86],"robotic":[31],"grasping,":[32,42],"estimating":[33],"the":[34,47,65,74,147,153,173,185,192],"reflectance":[35,59,84,103,121,134],"of":[36,77,143,157,195],"objects":[37],"is":[38],"crucial":[39],"successful":[41],"it":[44],"significantly":[45],"impacts":[46],"distance":[48],"measured":[49],"by":[50,188],"proximity":[51],"sensors.":[52],"We":[53],"investigate":[54],"whether":[55],"LLMs":[56,93,177],"can":[57,99,115,130],"estimate":[58,100,131],"from":[60,123,191],"object":[61],"names":[62],"alone,":[63],"leveraging":[64],"embedded":[66],"human":[67],"knowledge":[68,186],"distributional":[70,174],"semantics,":[71],"if":[73],"latent":[75,193],"structure":[76,194],"VLMs":[80,111,179,189],"positively":[81],"affects":[82],"image-based":[83],"estimation.":[85],"this":[87],"paper,":[88],"we":[89],"verify":[90],"that":[91,128,172],"(1)":[92],"GPT-3.5":[96,160],"GPT-4":[98,129],"an":[101,132],"object's":[102,133],"using":[104,135],"only":[105,136],"text":[106,137],"input;":[108],"(2)":[110],"CLIP":[114,151],"increase":[116],"generalization":[118,182],"capabilities":[119],"estimation":[122],"images.":[124],"Our":[125],"experiments":[126],"show":[127],"input":[138],"with":[139],"a":[140,162],"mean":[141,155],"error":[142,156],"14.7%,":[144],"lower":[145],"than":[146],"image-only":[148],"ResNet.":[149],"Moreover,":[150],"achieved":[152],"lowest":[154],"11.8%,":[158],"while":[159],"obtained":[161],"competitive":[163],"19.9%":[164],"compared":[165],"to":[166],"ResNet's":[167],"17.8%.":[168],"These":[169],"results":[170],"suggest":[171],"semantics":[175],"increases":[180],"capabilities,":[183],"acquired":[187],"benefits":[190],"language.":[196]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-15T08:34:33.830935","created_date":"2025-10-10T00:00:00"}