{"id":"https://openalex.org/W4413918741","doi":"https://doi.org/10.1109/icra55743.2025.11127736","title":"UniAff: A Unified Representation of Affordances for Tool Usage and Articulation with Vision-Language Models","display_name":"UniAff: A Unified Representation of Affordances for Tool Usage and Articulation with Vision-Language Models","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413918741","doi":"https://doi.org/10.1109/icra55743.2025.11127736"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127736","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127736","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/A5110628430","display_name":"Qiaojun Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiaojun Yu","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101529675","display_name":"Siyuan Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyuan Huang","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043605852","display_name":"Xibin Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xibin Yuan","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101637347","display_name":"Zhengkai Jiang","orcid":"https://orcid.org/0000-0003-4064-994X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Zhengkai Jiang","raw_affiliation_strings":["Hong Kong University of Science and Technology,HongKong"],"affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology,HongKong","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102834661","display_name":"Ce Hao","orcid":"https://orcid.org/0009-0000-7653-9713"},"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":"Ce Hao","raw_affiliation_strings":["National University of Singapore,Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100354074","display_name":"Xin Li","orcid":"https://orcid.org/0000-0003-4308-1229"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Li","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103173214","display_name":"Haonan Chang","orcid":"https://orcid.org/0000-0001-5733-4536"},"institutions":[{"id":"https://openalex.org/I4210096112","display_name":"Rutgers Sexual and Reproductive Health and Rights","ror":"https://ror.org/00rcvgx40","country_code":"NL","type":"other","lineage":["https://openalex.org/I4210096112"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Haonan Chang","raw_affiliation_strings":["Rutgers University,United States of America"],"affiliations":[{"raw_affiliation_string":"Rutgers University,United States of America","institution_ids":["https://openalex.org/I4210096112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100372762","display_name":"Jun-Bo Wang","orcid":"https://orcid.org/0000-0002-1881-3558"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junbo Wang","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114429772","display_name":"Liu Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu Liu","raw_affiliation_strings":["Hefei University of Technology,China"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology,China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100732450","display_name":"Hongsheng Li","orcid":"https://orcid.org/0000-0002-2664-7975"},"institutions":[{"id":"https://openalex.org/I1338034494","display_name":"XLAB (Slovenia)","ror":"https://ror.org/04xa5qt51","country_code":"SI","type":"company","lineage":["https://openalex.org/I1338034494"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK","SI"],"is_corresponding":false,"raw_author_name":"Hongsheng Li","raw_affiliation_strings":["CUHK-MMLab,China"],"affiliations":[{"raw_affiliation_string":"CUHK-MMLab,China","institution_ids":["https://openalex.org/I1338034494","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100362398","display_name":"Peng Gao","orcid":"https://orcid.org/0000-0002-1290-6972"},"institutions":[{"id":"https://openalex.org/I4210091156","display_name":"SAIC-GM (China)","ror":"https://ror.org/00h64t852","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091156"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Gao","raw_affiliation_strings":["Shanghai AI Lab,China"],"affiliations":[{"raw_affiliation_string":"Shanghai AI Lab,China","institution_ids":["https://openalex.org/I4210091156"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101470275","display_name":"Cewu Lu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cewu Lu","raw_affiliation_strings":["Shanghai Jiao Tong University,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":5,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5110628430"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":5.7199,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.9608304,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8980","last_page":"8987"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.948199987411499,"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/T10215","display_name":"Semantic Web and Ontologies","score":0.948199987411499,"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":0.9381999969482422,"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/T10181","display_name":"Natural Language Processing Techniques","score":0.9376000165939331,"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/affordance","display_name":"Affordance","score":0.9233030676841736},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7459427714347839},{"id":"https://openalex.org/keywords/articulation","display_name":"Articulation (sociology)","score":0.7387211918830872},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6948440670967102},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46973881125450134},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.4624927341938019},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4293370842933655},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3975420594215393}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9233030676841736},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7459427714347839},{"id":"https://openalex.org/C2779337067","wikidata":"https://www.wikidata.org/wiki/Q4800961","display_name":"Articulation (sociology)","level":3,"score":0.7387211918830872},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6948440670967102},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46973881125450134},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.4624927341938019},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4293370842933655},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3975420594215393},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/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/icra55743.2025.11127736","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127736","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":[{"id":"https://openalex.org/G1235217363","display_name":null,"funder_award_id":"62302143","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1465260254","display_name":null,"funder_award_id":"2308085QF207","funder_id":"https://openalex.org/F4320334897","funder_display_name":"Natural Science Foundation of Anhui Province"},{"id":"https://openalex.org/G1817111062","display_name":null,"funder_award_id":"2022ZD0160102","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334897","display_name":"Natural Science Foundation of Anhui Province","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1524405667","https://openalex.org/W3035198432","https://openalex.org/W3035624836","https://openalex.org/W3058625773","https://openalex.org/W3120441392","https://openalex.org/W3199614037","https://openalex.org/W4383097638","https://openalex.org/W4386065846","https://openalex.org/W4386113267","https://openalex.org/W4388720459","https://openalex.org/W4389666682","https://openalex.org/W4390874575","https://openalex.org/W4393140159","https://openalex.org/W4401416532","https://openalex.org/W4401416612","https://openalex.org/W4401417048","https://openalex.org/W4402354115","https://openalex.org/W4402727730","https://openalex.org/W4402754134","https://openalex.org/W4403941285","https://openalex.org/W4405786114","https://openalex.org/W4405786295","https://openalex.org/W4405786528"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W3049116993","https://openalex.org/W1541884709","https://openalex.org/W2589081601","https://openalex.org/W2226037301","https://openalex.org/W2026855223","https://openalex.org/W2417026147","https://openalex.org/W3089455568"],"abstract_inverted_index":{"Previous":[0],"studies":[1],"on":[2,7,133],"robotic":[3,101,120],"manipulation":[4,34,74,102,121],"are":[5,131],"based":[6],"a":[8,25,39,45,115],"limited":[9],"understanding":[10,37],"of":[11,100],"the":[12,98,124,134],"underlying":[13],"3D":[14,32,82],"motion":[15,83],"constraints":[16],"and":[17,35,59,79,90,105,129],"affordances.":[18],"To":[19],"address":[20],"these":[21],"challenges,":[22],"we":[23,43,66],"propose":[24],"comprehensive":[26],"paradigm,":[27],"termed":[28],"UniAff,":[29],"that":[30,94,110],"integrates":[31],"object-centric":[33,71],"task":[36],"in":[38,87,123],"unified":[40,119],"formulation.":[41],"Specifically,":[42],"constructed":[44],"dataset":[46,128],"labeled":[47],"with":[48],"manipulation-related":[49],"key":[50],"attributes,":[51],"comprising":[52],"900":[53],"articulated":[54,106],"objects":[55],"from":[56,62],"19":[57],"categories":[58],"600":[60],"tools":[61,104],"12":[63],"categories.":[64],"Furthermore,":[65],"leverage":[67],"MLLMs":[68],"to":[69],"infer":[70],"representations":[72],"for":[73,103,118],"tasks,":[75],"including":[76],"affordance":[77],"recognition":[78],"reasoning":[80],"about":[81],"constraints.":[84],"Comprehensive":[85],"experiments":[86],"both":[88],"simulation":[89],"real-world":[91],"settings":[92],"indicate":[93],"UniAff":[95,111],"significantly":[96],"improves":[97],"generalization":[99],"objects.":[107],"We":[108],"hope":[109],"will":[112],"serve":[113],"as":[114],"general":[116],"baseline":[117],"tasks":[122],"future.":[125],"Images,":[126],"videos,":[127],"code":[130],"published":[132],"project":[135],"website":[136],"at:https://sites.google.com/view/uni-aff/home.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}