{"id":"https://openalex.org/W4401414409","doi":"https://doi.org/10.1109/icra57147.2024.10610870","title":"InterRep: A Visual Interaction Representation for Robotic Grasping","display_name":"InterRep: A Visual Interaction Representation for Robotic Grasping","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414409","doi":"https://doi.org/10.1109/icra57147.2024.10610870"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5103495659","display_name":"Yu Cui","orcid":"https://orcid.org/0009-0001-6203-3022"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Cui","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052177334","display_name":"Qi Ye","orcid":"https://orcid.org/0000-0003-0328-5075"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Ye","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103166291","display_name":"Qingtao Liu","orcid":"https://orcid.org/0000-0002-6105-2969"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingtao Liu","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101770129","display_name":"Anjun Chen","orcid":"https://orcid.org/0000-0003-4209-8301"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anjun Chen","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726488","display_name":"Gaofeng Li","orcid":"https://orcid.org/0000-0002-9369-2928"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gaofeng Li","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100726041","display_name":"Jiming Chen","orcid":"https://orcid.org/0000-0003-3155-3145"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiming Chen","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China,310027","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1652,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.78406679,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6448","last_page":"6454"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9980999827384949,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9968000054359436,"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/representation","display_name":"Representation (politics)","score":0.7327808737754822},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6929304003715515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5276621580123901},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5160636305809021},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4206172525882721}],"concepts":[{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7327808737754822},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6929304003715515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5276621580123901},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5160636305809021},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4206172525882721},{"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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610870","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W639708223","https://openalex.org/W2021683594","https://openalex.org/W2122331303","https://openalex.org/W2158782408","https://openalex.org/W2194775991","https://openalex.org/W2604382266","https://openalex.org/W2768683308","https://openalex.org/W2896457183","https://openalex.org/W2963411833","https://openalex.org/W3035524453","https://openalex.org/W3081268564","https://openalex.org/W3091133300","https://openalex.org/W3099926824","https://openalex.org/W3125947392","https://openalex.org/W4224308101","https://openalex.org/W4226167593","https://openalex.org/W4229456580","https://openalex.org/W4307078757","https://openalex.org/W4312396403","https://openalex.org/W4313156423","https://openalex.org/W4320477822","https://openalex.org/W4362514550","https://openalex.org/W4364387022","https://openalex.org/W4379260839","https://openalex.org/W4385431288","https://openalex.org/W4389665571","https://openalex.org/W4390874575","https://openalex.org/W6620707391","https://openalex.org/W6755207826","https://openalex.org/W6769596995","https://openalex.org/W6774314701","https://openalex.org/W6779827379","https://openalex.org/W6810080435","https://openalex.org/W6810081322","https://openalex.org/W6810536332","https://openalex.org/W6810630513","https://openalex.org/W6810655313","https://openalex.org/W6841115740","https://openalex.org/W6845226490","https://openalex.org/W6845737239","https://openalex.org/W6849354660","https://openalex.org/W6851416138","https://openalex.org/W6851724587","https://openalex.org/W6853053110"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Recently,":[0],"pre-trained":[1,43,55,75,173],"vision":[2],"models":[3,45,56],"have":[4],"gained":[5],"significant":[6],"attention":[7],"in":[8,81,87,136],"motor":[9],"control,":[10],"showcasing":[11],"impressive":[12],"performance":[13,183,197],"across":[14],"diverse":[15],"robotic":[16,58,151,189],"learning":[17,118],"tasks.":[18],"While":[19],"previous":[20],"works":[21],"predominantly":[22],"concentrate":[23],"on":[24,41,109,198],"the":[25,28,31,51,72,93,105,110,134,145,165,169],"significance":[26],"of":[27,35,54,74,95,138,168,205],"pre-training":[29],"phase,":[30],"equally":[32],"important":[33],"task":[34],"extracting":[36],"more":[37],"effective":[38],"representations":[39],"based":[40],"existing":[42],"visual":[44],"remains":[46],"unexplored.":[47],"To":[48],"better":[49],"leverage":[50],"representation":[52,66,132,179],"capabilities":[53],"for":[57,78],"grasping,":[59],"we":[60,113],"propose":[61],"InterRep,":[62],"a":[63,115,156,187,202],"novel":[64,111],"interaction":[65,98],"method":[67,119,154,180],"that":[68,129],"possesses":[69],"not":[70],"only":[71],"strengths":[73],"models,":[76],"known":[77],"their":[79,85],"robustness":[80],"noisy":[82],"environments":[83],"and":[84,100,142,191],"proficiency":[86],"recognizing":[88],"essential":[89],"features,":[90],"but":[91],"also":[92,194],"capacity":[94],"capturing":[96],"dynamic":[97],"details":[99],"local":[101],"geometric":[102],"features":[103,167],"during":[104],"grasping":[106,123,147],"process.":[107],"Based":[108],"representation,":[112],"introduce":[114],"deep":[116],"reinforcement":[117],"to":[120,186],"learn":[121],"generalizable":[122],"policies.":[124],"The":[125],"experimental":[126],"results":[127],"demonstrate":[128],"our":[130,153,177],"proposed":[131,178],"outperforms":[133],"baselines":[135],"terms":[137],"both":[139],"training":[140],"speed":[141],"generalization.":[143],"For":[144],"generalized":[146],"tasks":[148],"with":[149,201],"dexterous":[150],"hands,":[152],"boasts":[155],"success":[157,203],"rate":[158,204],"nearly":[159],"20%":[160],"higher":[161],"than":[162],"methods":[163],"using":[164],"global":[166],"entire":[170],"image":[171],"from":[172],"models.":[174],"In":[175],"addition,":[176],"demonstrates":[181],"promising":[182],"when":[184],"applied":[185],"different":[188],"hand":[190],"task.":[192],"It":[193],"exhibits":[195],"excellent":[196],"real":[199],"robots":[200],"70%.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}