{"id":"https://openalex.org/W4383108538","doi":"https://doi.org/10.1109/icra48891.2023.10160736","title":"Pick2Place: Task-aware 6DoF Grasp Estimation via Object-Centric Perspective Affordance","display_name":"Pick2Place: Task-aware 6DoF Grasp Estimation via Object-Centric Perspective Affordance","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108538","doi":"https://doi.org/10.1109/icra48891.2023.10160736"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160736","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160736","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5103934489","display_name":"Zhanpeng He","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]},{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhanpeng He","raw_affiliation_strings":["Columbia University","Samsung AI Center, New York, NY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Columbia University","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Samsung AI Center, New York, NY","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058244281","display_name":"Nikhil Chavan-Dafle","orcid":"https://orcid.org/0000-0002-9284-503X"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]},{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Nikhil Chavan-Dafle","raw_affiliation_strings":["Samsung AI Center,New York,NY","Samsung AI Center, New York, NY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York,NY","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung AI Center, New York, NY","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000951599","display_name":"Jinwook Huh","orcid":"https://orcid.org/0000-0002-1550-6632"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]},{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Jinwook Huh","raw_affiliation_strings":["Samsung AI Center,New York,NY","Samsung AI Center, New York, NY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York,NY","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung AI Center, New York, NY","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004644695","display_name":"Shuran Song","orcid":"https://orcid.org/0000-0002-8768-7356"},"institutions":[{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]},{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuran Song","raw_affiliation_strings":["Columbia University","Samsung AI Center, New York, NY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Columbia University","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Samsung AI Center, New York, NY","institution_ids":["https://openalex.org/I4210101778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033839227","display_name":"Volkan Isler","orcid":"https://orcid.org/0000-0002-0868-5441"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]},{"id":"https://openalex.org/I4210101778","display_name":"Samsung (United States)","ror":"https://ror.org/01bfbvm65","country_code":"US","type":"company","lineage":["https://openalex.org/I2250650973","https://openalex.org/I4210101778"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Volkan Isler","raw_affiliation_strings":["Samsung AI Center,New York,NY","Samsung AI Center, New York, NY"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Samsung AI Center,New York,NY","institution_ids":["https://openalex.org/I2250650973"]},{"raw_affiliation_string":"Samsung AI Center, New York, NY","institution_ids":["https://openalex.org/I4210101778"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.5983,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.98436935,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7996","last_page":"8002"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9930999875068665,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9926999807357788,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/grasp","display_name":"GRASP","score":0.8912075161933899},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7729675769805908},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.7403230667114258},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7375794649124146},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6874914765357971},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6796734929084778},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6622631549835205},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6496515274047852},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.5784105062484741},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.545251190662384},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5010128021240234},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4976189434528351},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.46357256174087524},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45524802803993225},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28378432989120483},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10039970278739929}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8912075161933899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7729675769805908},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.7403230667114258},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7375794649124146},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6874914765357971},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6796734929084778},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6622631549835205},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6496515274047852},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.5784105062484741},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.545251190662384},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5010128021240234},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4976189434528351},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.46357256174087524},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45524802803993225},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28378432989120483},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10039970278739929},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160736","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160736","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W983375313","https://openalex.org/W1510186039","https://openalex.org/W1820657498","https://openalex.org/W1941722086","https://openalex.org/W2052806293","https://openalex.org/W2070398378","https://openalex.org/W2085545845","https://openalex.org/W2091862867","https://openalex.org/W2109163007","https://openalex.org/W2119344328","https://openalex.org/W2163462573","https://openalex.org/W2201912979","https://openalex.org/W2471962767","https://openalex.org/W2600030077","https://openalex.org/W2962737955","https://openalex.org/W2990839238","https://openalex.org/W3037767967","https://openalex.org/W3040653306","https://openalex.org/W3109585842","https://openalex.org/W3153220274","https://openalex.org/W3176368002","https://openalex.org/W3207187156","https://openalex.org/W3208372443","https://openalex.org/W3210940825","https://openalex.org/W4205137954","https://openalex.org/W4221151978","https://openalex.org/W4221155806","https://openalex.org/W4226344024","https://openalex.org/W4312242724","https://openalex.org/W4312969460","https://openalex.org/W6785308759","https://openalex.org/W6802704039"],"related_works":["https://openalex.org/W3014080459","https://openalex.org/W4386875794","https://openalex.org/W2951631158","https://openalex.org/W4288313544","https://openalex.org/W2976611405","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2101598871","https://openalex.org/W2109003837"],"abstract_inverted_index":{"The":[0],"choice":[1],"of":[2,12,19,29,52,80,101,111,129,174],"a":[3,6,17,24,56,112,126,136,156,184],"grasp":[4,65,137],"plays":[5],"critical":[7],"role":[8],"in":[9,23,55,90,152,182],"the":[10,27,37,45,48,75,78,81,85,102,109,116,122,165,172],"success":[11],"downstream":[13],"manipulation":[14],"tasks.":[15],"Consider":[16],"task":[18,140,173],"placing":[20,51],"an":[21,53,61,69],"object":[22,54,86],"cluttered":[25,57],"scene;":[26],"majority":[28],"possible":[30],"grasps":[31],"may":[32],"not":[33],"be":[34,88],"suitable":[35],"for":[36,63,135],"desired":[38],"placement.":[39],"In":[40],"this":[41],"paper,":[42],"we":[43,159],"study":[44],"synergy":[46],"between":[47,77,115],"picking":[49,119],"and":[50,84,118,132,146,154,191],"scene":[58,83],"to":[59,87,92,124,133,169,188],"develop":[60],"algorithm":[62],"task-aware":[64],"estimation.":[66],"We":[67],"present":[68],"object-centric":[70],"action":[71,106],"space":[72,107],"that":[73,161,186],"encodes":[74],"relationship":[76],"geometry":[79],"placement":[82,94,103,117],"placed":[89],"order":[91],"provide":[93],"affordance":[95],"maps":[96],"directly":[97],"from":[98],"perspective":[99],"views":[100],"scene.":[104],"This":[105],"enables":[108],"computation":[110],"one-to-one":[113],"mapping":[114],"actions":[120],"allowing":[121],"robot":[123,144,158,166],"generate":[125],"diverse":[127],"set":[128],"pick-and-place":[130],"proposals":[131],"optimize":[134],"under":[138],"other":[139],"constraints":[141],"such":[142,183],"as":[143],"kinematics":[145],"collision":[147],"avoidance.":[148],"With":[149],"experiments":[150],"both":[151],"simulation":[153],"on":[155],"real":[157],"demonstrate":[160],"with":[162,177],"our":[163],"method,":[164],"is":[167],"able":[168],"successfully":[170],"complete":[171],"placement-aware":[175],"grasping":[176],"over":[178],"89":[179],"%":[180],"accuracy":[181],"way":[185],"generalizes":[187],"novel":[189],"objects":[190],"scenes.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
