{"id":"https://openalex.org/W4403534827","doi":"https://doi.org/10.1109/icarm62033.2024.10715794","title":"Joint Learning of Multi-Level Tasks for THz Image Perception in Robots","display_name":"Joint Learning of Multi-Level Tasks for THz Image Perception in Robots","publication_year":2024,"publication_date":"2024-07-08","ids":{"openalex":"https://openalex.org/W4403534827","doi":"https://doi.org/10.1109/icarm62033.2024.10715794"},"language":"en","primary_location":{"id":"doi:10.1109/icarm62033.2024.10715794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715794","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5106732288","display_name":"Haoming Liu","orcid":"https://orcid.org/0009-0002-9631-9448"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haoming Liu","raw_affiliation_strings":["Beijing Institute of Computer Technology and Application,Data Technology and Applications Department,Beijing,China,100080"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Computer Technology and Application,Data Technology and Applications Department,Beijing,China,100080","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090193534","display_name":"Xinhua Li","orcid":"https://orcid.org/0000-0002-6748-9803"},"institutions":[{"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":"Xinhua Li","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100080"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100080","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101465238","display_name":"Ye Zou","orcid":"https://orcid.org/0000-0002-2320-786X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ye Zou","raw_affiliation_strings":["Beijing Institute of Computer Technology and Application,Data Technology and Applications Department,Beijing,China,100080"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Computer Technology and Application,Data Technology and Applications Department,Beijing,China,100080","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065661879","display_name":"Yuting Yang","orcid":"https://orcid.org/0000-0002-6720-4134"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuting Yang","raw_affiliation_strings":["Beijing Institute of Computer Technology and Application,Data Technology and Applications Department,Beijing,China,100080"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Computer Technology and Application,Data Technology and Applications Department,Beijing,China,100080","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031308285","display_name":"Zhi Fang","orcid":"https://orcid.org/0000-0002-0724-8485"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Fang","raw_affiliation_strings":["Beijing Institute of Computer Technology and Application,Data Technology and Applications Department,Beijing,China,100080"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Computer Technology and Application,Data Technology and Applications Department,Beijing,China,100080","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008175415","display_name":"Youchen Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youchen Wang","raw_affiliation_strings":["Beijing Institute of Computer Technology and Application,Data Technology and Applications Department,Beijing,China,100080"],"affiliations":[{"raw_affiliation_string":"Beijing Institute of Computer Technology and Application,Data Technology and Applications Department,Beijing,China,100080","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5106732288"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.3383,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.64951913,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"31","issue":null,"first_page":"1009","last_page":"1014"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9323999881744385,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9323999881744385,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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":0.7112860083580017},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6948645114898682},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6773325204849243},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.660995364189148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5786709189414978},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5232768654823303},{"id":"https://openalex.org/keywords/terahertz-radiation","display_name":"Terahertz radiation","score":0.5054290294647217},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.41872870922088623},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34622111916542053},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12040093541145325},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09499460458755493},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.09236416220664978},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06969970464706421}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7112860083580017},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6948645114898682},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6773325204849243},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.660995364189148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5786709189414978},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5232768654823303},{"id":"https://openalex.org/C107816215","wikidata":"https://www.wikidata.org/wiki/Q647887","display_name":"Terahertz radiation","level":2,"score":0.5054290294647217},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.41872870922088623},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34622111916542053},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12040093541145325},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09499460458755493},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.09236416220664978},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06969970464706421},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm62033.2024.10715794","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm62033.2024.10715794","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1686810756","https://openalex.org/W1885185971","https://openalex.org/W1901129140","https://openalex.org/W2087380704","https://openalex.org/W2097748444","https://openalex.org/W2108598243","https://openalex.org/W2143238378","https://openalex.org/W2157494358","https://openalex.org/W2161969291","https://openalex.org/W2194775991","https://openalex.org/W2549139847","https://openalex.org/W2607041014","https://openalex.org/W2741137940","https://openalex.org/W2891158090","https://openalex.org/W2950673314","https://openalex.org/W2963351448","https://openalex.org/W2963372104","https://openalex.org/W2963430933","https://openalex.org/W2963470893","https://openalex.org/W2963877604","https://openalex.org/W3138516171","https://openalex.org/W3207918547","https://openalex.org/W4312326192","https://openalex.org/W6637373629","https://openalex.org/W6754005058"],"related_works":["https://openalex.org/W2033952283","https://openalex.org/W2762687161","https://openalex.org/W2353254830","https://openalex.org/W2351210568","https://openalex.org/W2028421553","https://openalex.org/W4229079866","https://openalex.org/W2890072373","https://openalex.org/W3000002614","https://openalex.org/W2800192479","https://openalex.org/W3040184894"],"abstract_inverted_index":{"THz":[0,15,95],"imaging":[1],"has":[2,103],"gained":[3],"widespread":[4],"attention":[5],"due":[6],"to":[7],"its":[8],"high":[9,28],"penetration":[10],"ability":[11],"and":[12,27,40,61],"safety.":[13],"However,":[14],"systems":[16],"deployed":[17],"on":[18,67,86],"robotic":[19,88],"platforms":[20],"are":[21],"limited":[22],"by":[23],"their":[24,33],"low":[25],"resolution":[26],"noise":[29],"levels,":[30],"which":[31],"restrict":[32],"appeal":[34],"in":[35,42,107],"low-level":[36],"human":[37],"visual":[38,44,109],"perception":[39],"application":[41],"high-level":[43],"downstream":[45],"tasks.":[46],"In":[47],"this":[48],"research,":[49],"we":[50,69],"proposed":[51,93],"an":[52,62],"algorithmic":[53],"framework":[54,82,102],"featuring":[55],"a":[56,71,94],"$\\mathbf{U}$-shaped":[57],"feature":[58],"extraction":[59],"network":[60],"image":[63],"reconstruction":[64],"module.":[65],"Based":[66],"this,":[68],"introduced":[70],"multi-task":[72,99],"loss":[73],"function":[74],"for":[75,98],"joint":[76],"learning.":[77],"Through":[78],"lightweight":[79],"design,":[80],"the":[81],"is":[83],"made":[84],"deployable":[85],"low-power":[87],"platforms.":[89],"We":[90],"have":[91],"also":[92],"dataset":[96],"suitable":[97],"applications.":[100,110],"This":[101],"demonstrated":[104],"exceptional":[105],"performance":[106],"multi-level":[108]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
