{"id":"https://openalex.org/W4387088394","doi":"https://doi.org/10.1109/ecmr59166.2023.10256389","title":"Multi-Task Learning for Industrial Mobile Robot Perception Using a Simulated Warehouse Dataset","display_name":"Multi-Task Learning for Industrial Mobile Robot Perception Using a Simulated Warehouse Dataset","publication_year":2023,"publication_date":"2023-09-04","ids":{"openalex":"https://openalex.org/W4387088394","doi":"https://doi.org/10.1109/ecmr59166.2023.10256389"},"language":"en","primary_location":{"id":"doi:10.1109/ecmr59166.2023.10256389","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ecmr59166.2023.10256389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},"type":"article","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/A5038256384","display_name":"Dimitrios Arapis","orcid":"https://orcid.org/0000-0001-8166-9926"},"institutions":[{"id":"https://openalex.org/I189090001","display_name":"Novo Nordisk (Denmark)","ror":"https://ror.org/0435rc536","country_code":"DK","type":"company","lineage":["https://openalex.org/I189090001","https://openalex.org/I2801134892","https://openalex.org/I4210159963"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Dimitrios Arapis","raw_affiliation_strings":["Robotics and Operational Technologies, Novo Nordisk A/S,Bagsvaerd,Denmark","Robotics and Operational Technologies, Novo Nordisk A/S, Bagsvaerd, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Operational Technologies, Novo Nordisk A/S,Bagsvaerd,Denmark","institution_ids":["https://openalex.org/I189090001"]},{"raw_affiliation_string":"Robotics and Operational Technologies, Novo Nordisk A/S, Bagsvaerd, Denmark","institution_ids":["https://openalex.org/I189090001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021551156","display_name":"Andrea Vallone","orcid":"https://orcid.org/0000-0002-7470-3417"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Andrea Vallone","raw_affiliation_strings":["Electrical and Photonics Engineering, DTU - Technical University of Denmark,Kgs. Lyngby,Denmark","Electrical and Photonics Engineering, DTU - Technical University of Denmark, Kgs. Lyngby, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Photonics Engineering, DTU - Technical University of Denmark,Kgs. Lyngby,Denmark","institution_ids":["https://openalex.org/I96673099"]},{"raw_affiliation_string":"Electrical and Photonics Engineering, DTU - Technical University of Denmark, Kgs. Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085128679","display_name":"Milad Jami","orcid":null},"institutions":[{"id":"https://openalex.org/I189090001","display_name":"Novo Nordisk (Denmark)","ror":"https://ror.org/0435rc536","country_code":"DK","type":"company","lineage":["https://openalex.org/I189090001","https://openalex.org/I2801134892","https://openalex.org/I4210159963"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Milad Jami","raw_affiliation_strings":["Robotics and Operational Technologies, Novo Nordisk A/S,Bagsvaerd,Denmark","Robotics and Operational Technologies, Novo Nordisk A/S, Bagsvaerd, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Operational Technologies, Novo Nordisk A/S,Bagsvaerd,Denmark","institution_ids":["https://openalex.org/I189090001"]},{"raw_affiliation_string":"Robotics and Operational Technologies, Novo Nordisk A/S, Bagsvaerd, Denmark","institution_ids":["https://openalex.org/I189090001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059750726","display_name":"Lazaros Nalpantidis","orcid":"https://orcid.org/0000-0002-3620-4123"},"institutions":[{"id":"https://openalex.org/I96673099","display_name":"Technical University of Denmark","ror":"https://ror.org/04qtj9h94","country_code":"DK","type":"education","lineage":["https://openalex.org/I96673099"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Lazaros Nalpantidis","raw_affiliation_strings":["Electrical and Photonics Engineering, DTU - Technical University of Denmark,Kgs. Lyngby,Denmark","Electrical and Photonics Engineering, DTU - Technical University of Denmark, Kgs. Lyngby, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Photonics Engineering, DTU - Technical University of Denmark,Kgs. Lyngby,Denmark","institution_ids":["https://openalex.org/I96673099"]},{"raw_affiliation_string":"Electrical and Photonics Engineering, DTU - Technical University of Denmark, Kgs. Lyngby, Denmark","institution_ids":["https://openalex.org/I96673099"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2246,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.51779176,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"7576","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network 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"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network 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"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7889691591262817},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6900666952133179},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6094294786453247},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5817821025848389},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5662537217140198},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5239915251731873},{"id":"https://openalex.org/keywords/multi-task-learning","display_name":"Multi-task learning","score":0.5142328143119812},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4929337501525879},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4886970818042755},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48374319076538086},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4550929069519043},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.43097975850105286},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10232055187225342}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7889691591262817},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6900666952133179},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6094294786453247},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5817821025848389},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5662537217140198},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5239915251731873},{"id":"https://openalex.org/C28006648","wikidata":"https://www.wikidata.org/wiki/Q6934509","display_name":"Multi-task learning","level":3,"score":0.5142328143119812},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4929337501525879},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4886970818042755},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48374319076538086},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4550929069519043},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.43097975850105286},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10232055187225342},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ecmr59166.2023.10256389","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ecmr59166.2023.10256389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 European Conference on Mobile Robots (ECMR)","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.atira.dk:publications/34734803-8195-415b-860d-30412a0b090b","is_oa":false,"landing_page_url":"https://orbit.dtu.dk/en/publications/34734803-8195-415b-860d-30412a0b090b","pdf_url":null,"source":{"id":"https://openalex.org/S4306400705","display_name":"Technical University of Denmark, DTU Orbit (Technical University of Denmark, DTU)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I96673099","host_organization_name":"Technical University of Denmark","host_organization_lineage":["https://openalex.org/I96673099"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Arapis , D , Vallone , A , Jami , M & Nalpantidis , L 2023 , Multi-Task Learning for Industrial Mobile Robot Perception Using a Simulated Warehouse Dataset . in Proceedings of 2023 European Conference on Mobile Robots . , 10256389 , IEEE , 2023 European Conference on Mobile Robots , Coimbra , Portugal , 04/09/2023 . https://doi.org/10.1109/ECMR59166.2023.10256389","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W125693051","https://openalex.org/W1986465719","https://openalex.org/W2031489346","https://openalex.org/W2630837129","https://openalex.org/W2767434619","https://openalex.org/W2963430933","https://openalex.org/W2963677766","https://openalex.org/W2964089273","https://openalex.org/W2964185501","https://openalex.org/W2964309882","https://openalex.org/W2975043431","https://openalex.org/W3023305792","https://openalex.org/W3034225195","https://openalex.org/W3034672970","https://openalex.org/W3092189037","https://openalex.org/W3093298238","https://openalex.org/W3095706026","https://openalex.org/W3106539628","https://openalex.org/W3117040724","https://openalex.org/W3130423852","https://openalex.org/W3141797743","https://openalex.org/W3193492850","https://openalex.org/W3212494843","https://openalex.org/W4225452291","https://openalex.org/W4226120050","https://openalex.org/W4226217245","https://openalex.org/W4288791681","https://openalex.org/W4297166032","https://openalex.org/W4302285999","https://openalex.org/W4311080789","https://openalex.org/W4322704459","https://openalex.org/W4383108353","https://openalex.org/W6738279954","https://openalex.org/W6739696289","https://openalex.org/W6745995898","https://openalex.org/W6750189243","https://openalex.org/W6763070779","https://openalex.org/W6771876938","https://openalex.org/W6777287215","https://openalex.org/W6783566936","https://openalex.org/W6783990525","https://openalex.org/W6787232565","https://openalex.org/W6800899058","https://openalex.org/W6803156713","https://openalex.org/W6810766738","https://openalex.org/W6810905777","https://openalex.org/W6811038205","https://openalex.org/W6840563958","https://openalex.org/W6843272417"],"related_works":["https://openalex.org/W3162204513","https://openalex.org/W2371138613","https://openalex.org/W2048963458","https://openalex.org/W43109613","https://openalex.org/W2359952343","https://openalex.org/W2239445980","https://openalex.org/W2080152487","https://openalex.org/W3083152911","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Autonomous":[0],"industrial":[1,55,87,145],"mobile":[2,24,88,146],"robots":[3],"need":[4],"advanced":[5],"perception":[6],"capabilities":[7],"to":[8,33,108],"operate":[9],"safely":[10],"and":[11,38,59,73,80],"human-compliantly":[12],"in":[13,115],"shared":[14],"working":[15],"environments.":[16,148],"To":[17],"achieve":[18],"a":[19,63],"high-level":[20],"understanding":[21],"of":[22,49,123,138],"the":[23,41,47,111,121,130,136],"robots'":[25],"surroundings,":[26],"this":[27],"paper":[28],"investigates":[29],"Multi-Task":[30],"Learning":[31],"approaches":[32,125],"process":[34],"multiple":[35],"tasks":[36],"simultaneously":[37],"potentially":[39],"improve":[40,109],"generalization":[42],"performance.":[43],"Our":[44,91],"work":[45],"alleviates":[46],"scarcity":[48],"datasets":[50,106,142],"that":[51,94,97,120],"are":[52],"relevant":[53,141],"for":[54,86],"settings":[56],"by":[57],"introducing":[58,139],"making":[60],"publicly":[61],"available":[62],"simulated":[64],"warehouse":[65],"dataset":[66],"(Warehous-eSIM)":[67],"covering":[68],"semantic":[69],"segmentation,":[70],"depth":[71],"estimation":[72,76],"surface":[74],"normals":[75],"tasks.":[77],"We":[78],"collect":[79],"examine":[81],"numerous":[82],"MTL":[83,95],"task-balancing":[84],"techniques":[85],"robot":[89,147],"perception.":[90],"experiments":[92],"show":[93],"methods":[96],"have":[98],"shown":[99],"superior":[100],"performance":[101,122],"on":[102,129,144],"different":[103],"computer":[104],"vision":[105],"fail":[107],"over":[110],"single-task":[112],"learning":[113],"setup":[114],"our":[116],"scenario.":[117],"This":[118],"implies":[119],"those":[124],"is":[126],"very":[127],"dependent":[128],"considered":[131],"dataset,":[132],"which":[133],"further":[134],"highlights":[135],"value":[137],"new":[140],"focused":[143]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}