{"id":"https://openalex.org/W4413925701","doi":"https://doi.org/10.1109/icra55743.2025.11128058","title":"Leveraging Semantic and Geometric Information for Zero-Shot Robot-to-Human Handover","display_name":"Leveraging Semantic and Geometric Information for Zero-Shot Robot-to-Human Handover","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925701","doi":"https://doi.org/10.1109/icra55743.2025.11128058"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128058","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/A5046718186","display_name":"Jiangshan Liu","orcid":"https://orcid.org/0000-0001-7933-5003"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangshan Liu","raw_affiliation_strings":["Southern University of Science and Technology,JShenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,JShenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101338631","display_name":"Wenlong Dong","orcid":"https://orcid.org/0009-0004-4127-2720"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenlong Dong","raw_affiliation_strings":["Southern University of Science and Technology,JShenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,JShenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087262165","display_name":"Jiankun Wang","orcid":"https://orcid.org/0000-0002-5147-5490"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Southern University of Science and Technology,JShenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,JShenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107772417","display_name":"Max Q.-H. Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Southern University of Science and Technology,JShenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,JShenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Shenzhen,China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.10771707,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16340","last_page":"16346"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9172000288963318,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9172000288963318,"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":0.7147353887557983},{"id":"https://openalex.org/keywords/handover","display_name":"Handover","score":0.6600508093833923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6264955997467041},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.5968733429908752},{"id":"https://openalex.org/keywords/zero-knowledge-proof","display_name":"Zero-knowledge proof","score":0.589479386806488},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4422563314437866},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.43422114849090576},{"id":"https://openalex.org/keywords/shot","display_name":"Shot (pellet)","score":0.4285017251968384},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4095846712589264},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.177668958902359},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.17378729581832886},{"id":"https://openalex.org/keywords/cryptography","display_name":"Cryptography","score":0.09606906771659851}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7147353887557983},{"id":"https://openalex.org/C111852164","wikidata":"https://www.wikidata.org/wiki/Q1414679","display_name":"Handover","level":2,"score":0.6600508093833923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6264955997467041},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.5968733429908752},{"id":"https://openalex.org/C176329583","wikidata":"https://www.wikidata.org/wiki/Q191943","display_name":"Zero-knowledge proof","level":3,"score":0.589479386806488},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4422563314437866},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43422114849090576},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.4285017251968384},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4095846712589264},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.177668958902359},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.17378729581832886},{"id":"https://openalex.org/C178489894","wikidata":"https://www.wikidata.org/wiki/Q8789","display_name":"Cryptography","level":2,"score":0.09606906771659851},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128058","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/G1328130129","display_name":null,"funder_award_id":"62473191","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4527326195","display_name":null,"funder_award_id":"G03034K003","funder_id":"https://openalex.org/F4320327605","funder_display_name":"Southern University of Science and Technology"},{"id":"https://openalex.org/G7755912295","display_name":null,"funder_award_id":"2023QNRC001","funder_id":"https://openalex.org/F4320311778","funder_display_name":"China Association for Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320311778","display_name":"China Association for Science and Technology","ror":"https://ror.org/035vmht26"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327605","display_name":"Southern University of Science and Technology","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1106499465","https://openalex.org/W1524405667","https://openalex.org/W2036559740","https://openalex.org/W2551817479","https://openalex.org/W2773786573","https://openalex.org/W3011646207","https://openalex.org/W3135049585","https://openalex.org/W3144859763","https://openalex.org/W3172917672","https://openalex.org/W3175335528","https://openalex.org/W3177495920","https://openalex.org/W3207187156","https://openalex.org/W4312268118","https://openalex.org/W4312741289","https://openalex.org/W4312799843","https://openalex.org/W4313026212","https://openalex.org/W4383097638","https://openalex.org/W4383108761","https://openalex.org/W4387092545","https://openalex.org/W4388505466","https://openalex.org/W4388999775","https://openalex.org/W4389666604","https://openalex.org/W4390874575","https://openalex.org/W4391486597","https://openalex.org/W4405786906","https://openalex.org/W4407637743"],"related_works":["https://openalex.org/W2520149731","https://openalex.org/W2074502265","https://openalex.org/W4214877189","https://openalex.org/W1870614684","https://openalex.org/W2773965352","https://openalex.org/W1981519115","https://openalex.org/W1985631144","https://openalex.org/W2087123996","https://openalex.org/W4406460655","https://openalex.org/W2952570804"],"abstract_inverted_index":{"Human-robot":[0],"interaction":[1,180],"(HRI)":[2],"encompasses":[3],"a":[4,96,177],"wide":[5],"range":[6],"of":[7,14],"collaborative":[8],"tasks,":[9],"with":[10,58],"handover":[11,109,172],"being":[12],"one":[13],"the":[15,26,46,59],"most":[16],"fundamental.":[17],"As":[18],"robots":[19,30],"become":[20],"more":[21,178,185],"integrated":[22],"into":[23,67],"human":[24,150],"environments,":[25],"potential":[27],"for":[28,51],"service":[29],"to":[31,36,85,106,148],"assist":[32],"in":[33,133],"handing":[34],"objects":[35],"humans":[37],"is":[38,49,138],"increasingly":[39],"promising.":[40],"In":[41],"robot-to-human":[42],"(R2H)":[43],"handover,":[44],"selecting":[45],"optimal":[47,108],"grasp":[48,62,115,137,143],"crucial":[50],"success,":[52],"as":[53],"it":[54],"requires":[55],"avoiding":[56],"interference":[57],"human's":[60],"preferred":[61],"region":[63,134],"and":[64,103,145,152,162,175,184],"minimizing":[65],"intrusion":[66],"their":[68],"workspace.":[69],"Existing":[70],"methods":[71],"either":[72],"inadequately":[73],"consider":[74],"geometric":[75,104],"information":[76,105],"or":[77],"rely":[78],"on":[79,142],"data-driven":[80],"approaches,":[81],"which":[82],"often":[83],"struggle":[84],"generalize":[86],"across":[87],"diverse":[88],"objects.":[89],"To":[90],"address":[91],"these":[92],"limitations,":[93],"we":[94],"propose":[95],"novel":[97],"zero-shot":[98],"system":[99,170],"that":[100,168],"combines":[101],"semantic":[102,118],"generate":[107],"grasps.":[110],"Our":[111],"method":[112],"first":[113],"identifies":[114],"regions":[116],"using":[117],"knowledge":[119],"from":[120],"vision-language":[121],"models":[122],"(VLMs)":[123],"and,":[124],"by":[125],"incorporating":[126],"customized":[127],"visual":[128],"prompts,":[129],"achieves":[130],"finer":[131],"granularity":[132],"grounding.":[135],"A":[136],"then":[139],"selected":[140],"based":[141],"distance":[144],"approach":[146,158],"angle":[147],"maximize":[149],"ease":[151],"avoid":[153],"interference.":[154],"We":[155],"validate":[156],"our":[157,169],"through":[159],"ablation":[160],"studies":[161],"real-world":[163],"comparison":[164],"experiments.":[165],"Results":[166],"demonstrate":[167],"improves":[171],"success":[173],"rates":[174],"provides":[176],"user-preferred":[179],"experience.":[181],"Videos,":[182],"appendixes":[183],"are":[186],"available":[187],"at":[188],"https://sites.google.com/view/vlm-handover.":[189]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}