{"id":"https://openalex.org/W4413925690","doi":"https://doi.org/10.1109/icra55743.2025.11127404","title":"STEER: Flexible Robotic Manipulation via Dense Language Grounding","display_name":"STEER: Flexible Robotic Manipulation via Dense Language Grounding","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925690","doi":"https://doi.org/10.1109/icra55743.2025.11127404"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127404","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","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/A5111095823","display_name":"Laura Smith","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":true,"raw_author_name":"Laura Smith","raw_affiliation_strings":["Google DeepMind"],"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022032374","display_name":"Alex Irpan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210090411","display_name":"DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Alex Irpan","raw_affiliation_strings":["Google DeepMind"],"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104142242","display_name":"Montserrat Gonzalez Arenas","orcid":null},"institutions":[{"id":"https://openalex.org/I4210090411","display_name":"DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Montserrat Gonzalez Arenas","raw_affiliation_strings":["Google DeepMind"],"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036680156","display_name":"Sean Kirmani","orcid":null},"institutions":[{"id":"https://openalex.org/I4210090411","display_name":"DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Sean Kirmani","raw_affiliation_strings":["Google DeepMind"],"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052190303","display_name":"Dmitry Kalashnikov","orcid":"https://orcid.org/0000-0002-8954-6178"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Dmitry Kalashnikov","raw_affiliation_strings":["Google DeepMind"],"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061979493","display_name":"Dhruv Shah","orcid":"https://orcid.org/0000-0002-7541-3278"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Dhruv Shah","raw_affiliation_strings":["Google DeepMind"],"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008219421","display_name":"Ted Xiao","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Ted Xiao","raw_affiliation_strings":["Google DeepMind"],"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5111095823"],"corresponding_institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"],"apc_list":null,"apc_paid":null,"fwci":2.8414,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.92611883,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"16517","last_page":"16524"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9921000003814697,"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"}},"topics":[{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9921000003814697,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9804999828338623,"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/T12031","display_name":"Speech and dialogue systems","score":0.9472000002861023,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6162233948707581},{"id":"https://openalex.org/keywords/ground","display_name":"Ground","score":0.5591186881065369},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3305986523628235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25006234645843506},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.21973097324371338}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6162233948707581},{"id":"https://openalex.org/C168993435","wikidata":"https://www.wikidata.org/wiki/Q6501125","display_name":"Ground","level":2,"score":0.5591186881065369},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3305986523628235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25006234645843506},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.21973097324371338}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127404","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":21,"referenced_works":["https://openalex.org/W2963915700","https://openalex.org/W2964227312","https://openalex.org/W2983465317","https://openalex.org/W3204657926","https://openalex.org/W4293498911","https://openalex.org/W4312282783","https://openalex.org/W4312769771","https://openalex.org/W4383097638","https://openalex.org/W4385430451","https://openalex.org/W4385430559","https://openalex.org/W4385430674","https://openalex.org/W4385430679","https://openalex.org/W4386065350","https://openalex.org/W4401413695","https://openalex.org/W4401415119","https://openalex.org/W4401415287","https://openalex.org/W4402353985","https://openalex.org/W4402353986","https://openalex.org/W4402354026","https://openalex.org/W4402354083","https://openalex.org/W4403337227"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2021787609","https://openalex.org/W2390279801","https://openalex.org/W1537063595","https://openalex.org/W2097328689","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4234899305"],"abstract_inverted_index":{"The":[0],"complexity":[1],"of":[2],"the":[3,77,83,90],"real":[4],"world":[5],"demands":[6],"robotic":[7],"systems":[8],"that":[9,23],"can":[10,95],"intelligently":[11,75],"adapt":[12,103],"to":[13,74,98,102,104],"unseen":[14],"situations.":[15],"We":[16],"present":[17],"STEER,":[18],"a":[19],"robot":[20],"learning":[21],"framework":[22],"bridges":[24],"highlevel,":[25],"commonsense":[26],"reasoning":[27,81],"with":[28,47],"precise,":[29],"flexible":[30],"low-level":[31,41],"control.":[32],"Our":[33,87],"approach":[34],"translates":[35],"complex":[36],"situational":[37],"awareness":[38],"into":[39],"actionable":[40],"behavior":[42,79],"through":[43],"training":[44,53],"languagegrounded":[45],"policies":[46],"dense":[48],"annotation.":[49],"By":[50],"structuring":[51],"policy":[52],"around":[54],"fundamental,":[55],"modular":[56],"manipulation":[57],"skills":[58,91],"expressed":[59],"in":[60],"natural":[61],"language,":[62],"STEER":[63,94],"exposes":[64],"an":[65],"expressive":[66],"interface":[67],"for":[68],"humans":[69],"or":[70,107,116],"Vision-Language":[71],"Models":[72],"(VLMs)":[73],"orchestrate":[76],"robot's":[78],"by":[80],"about":[82],"task":[84],"and":[85],"context.":[86],"experiments":[88],"demonstrate":[89],"learned":[92],"via":[93],"be":[96],"combined":[97],"synthesize":[99],"novel":[100],"behaviors":[101],"new":[105,110],"situations":[106],"perform":[108],"completely":[109],"tasks":[111],"without":[112],"additional":[113],"data":[114],"collection":[115],"training.":[117],"Project":[118],"website:":[119],"https://lauramsmith.github.io/steer":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
