{"id":"https://openalex.org/W3089655727","doi":"https://doi.org/10.1109/icra40945.2020.9197384","title":"Is That a Chair? Imagining Affordances Using Simulations of an Articulated Human Body","display_name":"Is That a Chair? Imagining Affordances Using Simulations of an Articulated Human Body","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089655727","doi":"https://doi.org/10.1109/icra40945.2020.9197384","mag":"3089655727"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","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/A5044013282","display_name":"Hongtao Wu","orcid":"https://orcid.org/0000-0002-6442-8159"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongtao Wu","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065563099","display_name":"Deven Misra","orcid":"https://orcid.org/0000-0003-3576-3414"},"institutions":[{"id":"https://openalex.org/I55486353","display_name":"Reed College","ror":"https://ror.org/00a6ram87","country_code":"US","type":"education","lineage":["https://openalex.org/I55486353"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Deven Misra","raw_affiliation_strings":["Physics Department, Reed College, Portland, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Physics Department, Reed College, Portland, OR, USA","institution_ids":["https://openalex.org/I55486353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012775344","display_name":"Gregory S. Chirikjian","orcid":"https://orcid.org/0000-0003-0542-9028"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gregory S. Chirikjian","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.7063,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.94668937,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"7240","last_page":"7246"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/affordance","display_name":"Affordance","score":0.9397162795066833},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.8078578114509583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7220439910888672},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7046456336975098},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6267999410629272},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5795005559921265},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5204196572303772},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.44305065274238586},{"id":"https://openalex.org/keywords/sitting","display_name":"Sitting","score":0.4308852553367615},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4191510081291199},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09249657392501831}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9397162795066833},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.8078578114509583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7220439910888672},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7046456336975098},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6267999410629272},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5795005559921265},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5204196572303772},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.44305065274238586},{"id":"https://openalex.org/C2776370487","wikidata":"https://www.wikidata.org/wiki/Q1144593","display_name":"Sitting","level":2,"score":0.4308852553367615},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4191510081291199},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09249657392501831},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197384","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197384","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W15647147","https://openalex.org/W297606974","https://openalex.org/W1522395424","https://openalex.org/W1524405667","https://openalex.org/W1891689858","https://openalex.org/W1920022804","https://openalex.org/W1920293286","https://openalex.org/W1933657216","https://openalex.org/W1989695841","https://openalex.org/W1989739075","https://openalex.org/W1995628331","https://openalex.org/W2011876213","https://openalex.org/W2032165333","https://openalex.org/W2040279394","https://openalex.org/W2044032519","https://openalex.org/W2059100041","https://openalex.org/W2060851700","https://openalex.org/W2065154656","https://openalex.org/W2065476635","https://openalex.org/W2068397385","https://openalex.org/W2082648764","https://openalex.org/W2105797824","https://openalex.org/W2119552610","https://openalex.org/W2145429668","https://openalex.org/W2148519839","https://openalex.org/W2181623680","https://openalex.org/W2215238295","https://openalex.org/W2343134171","https://openalex.org/W2465056104","https://openalex.org/W2467598065","https://openalex.org/W2519537448","https://openalex.org/W2527587652","https://openalex.org/W2561523096","https://openalex.org/W2639200898","https://openalex.org/W2741998915","https://openalex.org/W2793904209","https://openalex.org/W2902744786","https://openalex.org/W2925241625","https://openalex.org/W2949233999","https://openalex.org/W2962984928","https://openalex.org/W2963397183","https://openalex.org/W2964342398","https://openalex.org/W3032127812","https://openalex.org/W4205137954","https://openalex.org/W4251051282","https://openalex.org/W4288414710","https://openalex.org/W6600647119","https://openalex.org/W6610763601","https://openalex.org/W6640300118","https://openalex.org/W6686008357","https://openalex.org/W6754827684","https://openalex.org/W6756933802","https://openalex.org/W6760546089"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W2163296013","https://openalex.org/W3014080459","https://openalex.org/W4386875794","https://openalex.org/W2951631158","https://openalex.org/W4288313544","https://openalex.org/W2976611405"],"abstract_inverted_index":{"For":[0],"robots":[1,32,55],"to":[2,17,33,53,59,79,156,210],"exhibit":[3],"a":[4,50,81,99,103,122,137,197,213,241],"high":[5],"level":[6],"of":[7,68,77,93,148,163,200,224],"intelligence":[8],"in":[9,172],"the":[10,43,88,91,113,139,145,149,153,165,204,220],"real":[11,237],"world,":[12],"they":[13,22],"must":[14],"be":[15,211],"able":[16],"assess":[18],"objects":[19,78,238],"for":[20,31,124,187],"which":[21,151,195],"have":[23],"no":[24],"prior":[25],"knowledge.":[26],"Therefore,":[27],"it":[28,189],"is":[29,70,119,134,207],"crucial":[30],"perceive":[34],"object":[35,61,97,116,125,133,150],"affordances":[36,62],"by":[37,101,240],"reasoning":[38,118,141],"about":[39],"physical":[40,64,104],"interactions":[41],"with":[42,56,229],"object.":[44,114],"In":[45,85,215],"this":[46,161],"paper,":[47],"we":[48,217],"propose":[49],"novel":[51],"method":[52,171,182,226],"provide":[54],"an":[57,74,94,108,132],"ability":[58],"imagine":[60],"using":[63],"simulations.":[65],"The":[66],"class":[67],"chair":[69,100,173],"chosen":[71],"here":[72],"as":[73,98,121,136],"initial":[75],"category":[76],"illustrate":[80],"more":[82],"general":[83],"paradigm.":[84],"our":[86,170,181,225],"method,":[87],"robot":[89],"\"imagines\"":[90],"affordance":[92,117,140],"arbitrarily":[95],"oriented":[96],"simulating":[102],"sitting":[105,154],"interaction":[106,155],"between":[107],"articulated":[109],"human":[110,230],"body":[111],"and":[112,236],"This":[115],"used":[120],"cue":[123],"classification":[126,174],"(chair":[127],"vs":[128],"non-chair).":[129],"Moreover,":[130],"if":[131],"classified":[135],"chair,":[138],"can":[142],"also":[143],"predict":[144],"upright":[146,205],"pose":[147,222],"allows":[152],"take":[157],"place.":[158],"We":[159,168],"call":[160],"type":[162],"poses":[164],"functional":[166,221],"pose.":[167],"demonstrate":[169],"on":[175,232],"synthetic":[176,234],"3D":[177],"CAD":[178],"models.":[179],"Although":[180],"uses":[183],"only":[184],"30":[185],"models":[186,235],"training,":[188],"outperforms":[190],"appearance-based":[191],"deep":[192],"learning":[193],"methods,":[194],"require":[196],"large":[198],"amount":[199],"training":[201],"data,":[202],"when":[203],"orientation":[206],"not":[208],"assumed":[209],"known":[212],"priori.":[214],"addition,":[216],"showcase":[218],"that":[219],"predictions":[223],"align":[227],"well":[228],"judgments":[231],"both":[233],"scanned":[239],"depth":[242],"camera.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
