{"id":"https://openalex.org/W4312572987","doi":"https://doi.org/10.1109/icarm54641.2022.9959551","title":"Learning Latent Object-Centric Representations for Visual-Based Robot Manipulation","display_name":"Learning Latent Object-Centric Representations for Visual-Based Robot Manipulation","publication_year":2022,"publication_date":"2022-07-09","ids":{"openalex":"https://openalex.org/W4312572987","doi":"https://doi.org/10.1109/icarm54641.2022.9959551"},"language":"en","primary_location":{"id":"doi:10.1109/icarm54641.2022.9959551","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959551","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5045375278","display_name":"Yunan Wang","orcid":"https://orcid.org/0000-0002-9812-7709"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunan Wang","raw_affiliation_strings":["Tsinghua University,State Key Lab of Tribology,Department of Mechanical Engineering,Beijing,100084","Beijing Key Lab of Precision/Ultra-Precision Manufacture Equipments and Control, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Lab of Tribology,Department of Mechanical Engineering,Beijing,100084","institution_ids":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Beijing Key Lab of Precision/Ultra-Precision Manufacture Equipments and Control, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100368320","display_name":"Jiayu Wang","orcid":"https://orcid.org/0000-0001-8367-258X"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayu Wang","raw_affiliation_strings":["Tsinghua University,State Key Lab of Tribology,Department of Mechanical Engineering,Beijing,100084","Beijing Key Lab of Precision/Ultra-Precision Manufacture Equipments and Control, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Lab of Tribology,Department of Mechanical Engineering,Beijing,100084","institution_ids":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Beijing Key Lab of Precision/Ultra-Precision Manufacture Equipments and Control, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101754633","display_name":"Yixiao Li","orcid":"https://orcid.org/0000-0001-8895-3663"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixiao Li","raw_affiliation_strings":["Tsinghua University,State Key Lab of Tribology,Department of Mechanical Engineering,Beijing,100084","Beijing Key Lab of Precision/Ultra-Precision Manufacture Equipments and Control, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Lab of Tribology,Department of Mechanical Engineering,Beijing,100084","institution_ids":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Beijing Key Lab of Precision/Ultra-Precision Manufacture Equipments and Control, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079033650","display_name":"Chuxiong Hu","orcid":"https://orcid.org/0000-0002-3504-3065"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuxiong Hu","raw_affiliation_strings":["Tsinghua University,State Key Lab of Tribology,Department of Mechanical Engineering,Beijing,100084","Beijing Key Lab of Precision/Ultra-Precision Manufacture Equipments and Control, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Lab of Tribology,Department of Mechanical Engineering,Beijing,100084","institution_ids":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Beijing Key Lab of Precision/Ultra-Precision Manufacture Equipments and Control, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100673751","display_name":"Yu Zhu","orcid":"https://orcid.org/0000-0003-1535-6520"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Zhu","raw_affiliation_strings":["Tsinghua University,State Key Lab of Tribology,Department of Mechanical Engineering,Beijing,100084","Beijing Key Lab of Precision/Ultra-Precision Manufacture Equipments and Control, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Lab of Tribology,Department of Mechanical Engineering,Beijing,100084","institution_ids":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"raw_affiliation_string":"Beijing Key Lab of Precision/Ultra-Precision Manufacture Equipments and Control, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"138","last_page":"143"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965999722480774,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.994700014591217,"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":0.7411682605743408},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7190864682197571},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7138020992279053},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6721091270446777},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.6457227468490601},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6056769490242004},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49546706676483154},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4402763247489929},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.42704737186431885}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7411682605743408},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7190864682197571},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7138020992279053},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6721091270446777},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.6457227468490601},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6056769490242004},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49546706676483154},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4402763247489929},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.42704737186431885},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm54641.2022.9959551","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm54641.2022.9959551","pdf_url":null,"source":{"id":"https://openalex.org/S4363608069","display_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320330944","display_name":"Nature","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2603737562","https://openalex.org/W2797679738","https://openalex.org/W2807591401","https://openalex.org/W2811406147","https://openalex.org/W2890218953","https://openalex.org/W2902125520","https://openalex.org/W2907424612","https://openalex.org/W2963402657","https://openalex.org/W3032077725","https://openalex.org/W3088321106","https://openalex.org/W3089633944","https://openalex.org/W3090394117","https://openalex.org/W4288088514","https://openalex.org/W4288094291","https://openalex.org/W4298157202","https://openalex.org/W4394671432","https://openalex.org/W6687484953","https://openalex.org/W6712884540","https://openalex.org/W6750642828","https://openalex.org/W6752823625","https://openalex.org/W6756908582","https://openalex.org/W6757865169","https://openalex.org/W6769166761","https://openalex.org/W6769281838","https://openalex.org/W6769570503"],"related_works":["https://openalex.org/W2468279273","https://openalex.org/W2354198838","https://openalex.org/W1989130879","https://openalex.org/W1834370135","https://openalex.org/W2114275278","https://openalex.org/W1489511283","https://openalex.org/W2974914859","https://openalex.org/W2026565050","https://openalex.org/W2110244802","https://openalex.org/W949345935"],"abstract_inverted_index":{"For":[0],"multi-step":[1,153],"robotic":[2,32,212],"manipulation,":[3],"it":[4],"is":[5,92,202],"important":[6,204],"but":[7],"challenging":[8],"to":[9,94,117,127,135,139,143,151],"predict":[10],"the":[11,15,19,24,46,77,101,105,128,141,145,149,167],"future":[12,102],"state":[13],"of":[14,45,76,108],"object":[16,78,97,142,197],"conditioned":[17],"on":[18,85,162,176],"applied":[20,106],"action,":[21],"especially":[22],"from":[23,49,66,125],"original":[25],"sensory":[26],"observation":[27],"such":[28,156],"as":[29,39,41,157],"images.":[30,51],"Successful":[31],"manipulation":[33,154],"requires":[34],"an":[35,42,203],"accurate":[36],"predictive":[37],"model":[38],"well":[40],"intricate":[43],"understanding":[44],"object-environment":[47],"interactions":[48],"high-dimensional":[50],"This":[52],"paper":[53],"proposes":[54],"a":[55,71,109,172],"latent":[56],"object-centric":[57],"representation":[58,75],"(LOR)":[59],"that":[60,166,194],"can":[61,114,121,132,170],"encode":[62,96],"implicit":[63],"visual":[64],"features":[65],"raw":[67],"RGB":[68],"images":[69],"into":[70],"compact":[72],"and":[73,99,120,184,189,209],"generalizable":[74,210],"states":[79,98,103],"suitable":[80],"for":[81],"future-state":[82],"prediction.":[83],"Based":[84],"LOR,":[86],"LOR":[87],"dynamic":[88],"neural":[89],"network":[90],"(LOR-DNN)":[91],"proposed":[93,168,200],"simultaneously":[95],"predicts":[100],"with":[104,181],"actions":[107],"robot.":[110],"The":[111,199],"learned":[112],"LOR-DNN":[113,131],"generalize":[115],"effectively":[116],"new":[118],"situations":[119],"even":[122],"directly":[123],"transfer":[124],"simulation":[126],"real":[129],"world.":[130],"be":[133],"used":[134],"plan":[136],"action":[137],"sequences":[138],"manipulate":[140],"achieve":[144,171],"target":[146],"state,":[147],"allowing":[148],"robot":[150],"perform":[152],"tasks":[155,164],"planar":[158],"pushing.":[159],"Real-world":[160],"experiments":[161],"pushing":[163,177],"demonstrate":[165],"method":[169],"high":[173],"success":[174],"rate":[175],"previously":[178],"unseen":[179],"objects":[180],"diverse":[182],"shapes":[183],"scales,":[185],"outperforming":[186],"state-of-the-art":[187],"model-based":[188],"end-to-end":[190],"methods":[191],"including":[192],"baselines":[193],"use":[195],"ground-truth":[196],"poses.":[198],"approach":[201],"step":[205],"toward":[206],"fully":[207],"autonomous":[208],"visual-based":[211],"manipulation.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
