{"id":"https://openalex.org/W4401414422","doi":"https://doi.org/10.1109/icra57147.2024.10611218","title":"Toward Grounded Commonsense Reasoning","display_name":"Toward Grounded Commonsense Reasoning","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414422","doi":"https://doi.org/10.1109/icra57147.2024.10611218"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611218","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611218","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/A5043538173","display_name":"Minae Kwon","orcid":"https://orcid.org/0000-0002-3116-330X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Minae Kwon","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044301434","display_name":"Hengyuan Hu","orcid":"https://orcid.org/0000-0003-2418-9760"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hengyuan Hu","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057846593","display_name":"Vivek Myers","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vivek Myers","raw_affiliation_strings":["UC Berkeley"],"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066892638","display_name":"Siddharth Karamcheti","orcid":"https://orcid.org/0000-0003-2153-2455"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddharth Karamcheti","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005997281","display_name":"Anca D. Dragan","orcid":"https://orcid.org/0000-0001-6312-5466"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anca Dragan","raw_affiliation_strings":["UC Berkeley"],"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080725225","display_name":"Dorsa Sadigh","orcid":"https://orcid.org/0000-0002-7802-9183"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dorsa Sadigh","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5043538173"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":4.0569,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.94517504,"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":"5463","last_page":"5470"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10028","display_name":"Topic Modeling","score":0.9760000109672546,"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/T10028","display_name":"Topic Modeling","score":0.9760000109672546,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9516000151634216,"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/T10181","display_name":"Natural Language Processing Techniques","score":0.9496999979019165,"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/commonsense-reasoning","display_name":"Commonsense reasoning","score":0.8928752541542053},{"id":"https://openalex.org/keywords/commonsense-knowledge","display_name":"Commonsense knowledge","score":0.7065454721450806},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5725719928741455},{"id":"https://openalex.org/keywords/cognitive-science","display_name":"Cognitive science","score":0.3620341122150421},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3200187087059021},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.228843092918396},{"id":"https://openalex.org/keywords/knowledge-representation-and-reasoning","display_name":"Knowledge representation and reasoning","score":0.09710818529129028}],"concepts":[{"id":"https://openalex.org/C193221554","wikidata":"https://www.wikidata.org/wiki/Q5153664","display_name":"Commonsense reasoning","level":2,"score":0.8928752541542053},{"id":"https://openalex.org/C30542707","wikidata":"https://www.wikidata.org/wiki/Q1603203","display_name":"Commonsense knowledge","level":3,"score":0.7065454721450806},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5725719928741455},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.3620341122150421},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3200187087059021},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.228843092918396},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.09710818529129028}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611218","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611218","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":74,"referenced_works":["https://openalex.org/W1583953806","https://openalex.org/W2098774185","https://openalex.org/W2110074961","https://openalex.org/W2169498096","https://openalex.org/W2337977475","https://openalex.org/W2735318784","https://openalex.org/W2906487027","https://openalex.org/W2963115613","https://openalex.org/W2964177756","https://openalex.org/W2973379954","https://openalex.org/W2991223644","https://openalex.org/W3047185145","https://openalex.org/W3105287169","https://openalex.org/W3197594072","https://openalex.org/W3205292576","https://openalex.org/W3207832698","https://openalex.org/W4200150166","https://openalex.org/W4200319909","https://openalex.org/W4221143046","https://openalex.org/W4221143736","https://openalex.org/W4221152848","https://openalex.org/W4224912544","https://openalex.org/W4283218993","https://openalex.org/W4283388932","https://openalex.org/W4285069854","https://openalex.org/W4285096920","https://openalex.org/W4285428875","https://openalex.org/W4285484119","https://openalex.org/W4286894947","https://openalex.org/W4286910039","https://openalex.org/W4287278739","https://openalex.org/W4287887263","https://openalex.org/W4287887283","https://openalex.org/W4288284400","https://openalex.org/W4292779060","https://openalex.org/W4302306219","https://openalex.org/W4303648971","https://openalex.org/W4304699790","https://openalex.org/W4322825501","https://openalex.org/W4323572061","https://openalex.org/W4376312115","https://openalex.org/W4383097638","https://openalex.org/W4383108296","https://openalex.org/W4389665575","https://openalex.org/W4389665836","https://openalex.org/W4389667233","https://openalex.org/W4390872744","https://openalex.org/W4390872747","https://openalex.org/W6640174482","https://openalex.org/W6674884181","https://openalex.org/W6767858076","https://openalex.org/W6769174716","https://openalex.org/W6778883912","https://openalex.org/W6781254577","https://openalex.org/W6791862963","https://openalex.org/W6799626271","https://openalex.org/W6802963051","https://openalex.org/W6803439393","https://openalex.org/W6809509765","https://openalex.org/W6809646742","https://openalex.org/W6810640255","https://openalex.org/W6838557027","https://openalex.org/W6839243581","https://openalex.org/W6839390831","https://openalex.org/W6839459284","https://openalex.org/W6839643428","https://openalex.org/W6839928859","https://openalex.org/W6845228302","https://openalex.org/W6845738930","https://openalex.org/W6846242362","https://openalex.org/W6849548236","https://openalex.org/W6850503672","https://openalex.org/W6851860556","https://openalex.org/W6853116092"],"related_works":["https://openalex.org/W3035583586","https://openalex.org/W4320165839","https://openalex.org/W2151799802","https://openalex.org/W4385488510","https://openalex.org/W2196562041","https://openalex.org/W2073302931","https://openalex.org/W3206107299","https://openalex.org/W3082691151","https://openalex.org/W4287633646","https://openalex.org/W4378501473"],"abstract_inverted_index":{"Consider":[0],"a":[1,6,9,40,129,134,151,191],"robot":[2,41,107,152,192,215],"tasked":[3],"with":[4,8,190],"tidying":[5],"desk":[7],"meticulously":[10],"constructed":[11],"Lego":[12],"sports":[13,27],"car.":[14],"A":[15],"human":[16],"may":[17,108],"recognize":[18],"that":[19,43,88,100,140,180,219],"it":[20,31,118],"is":[21,89,102,119],"not":[22,221],"appropriate":[23],"to":[24,54,91,110,115,149,157,182],"disassemble":[25],"the":[26,36,62,71,86,93,106,113,170,205,214],"car":[28,114,123,131],"and":[29,81,144,208,228],"put":[30],"away":[32],"as":[33],"part":[34],"of":[35,126,176,230],"\"tidying.\"":[37],"How":[38],"can":[39,233],"reach":[42],"conclusion?":[44],"Although":[45],"large":[46],"language":[47,146],"models":[48],"(LLMs)":[49],"have":[50],"recently":[51],"been":[52,66],"used":[53],"enable":[55],"commonsense":[56,160],"reasoning,":[57],"grounding":[58],"this":[59],"reasoning":[60],"in":[61,70],"real":[63,72],"world":[64],"has":[65],"challenging.":[67],"To":[68,162],"reason":[69],"world,":[73],"robots":[74],"must":[75],"go":[76],"beyond":[77],"passively":[78],"querying":[79],"LLMs":[80],"actively":[82,111,153],"gather":[83],"information":[84],"from":[85],"environment":[87,156],"required":[90],"make":[92],"right":[94],"decision.":[95],"For":[96],"instance,":[97],"after":[98],"detecting":[99],"there":[101],"an":[103,120,138,142,200,209],"occluded":[104],"car,":[105],"need":[109,181],"perceive":[112,154],"know":[116],"whether":[117],"advanced":[121],"model":[122,147],"made":[124],"out":[125],"Legos":[127],"or":[128],"toy":[130],"built":[132],"by":[133],"toddler.":[135],"We":[136,185,198],"propose":[137],"approach":[139,189,232],"leverages":[141],"LLM":[143],"vision":[145],"(VLM)":[148],"help":[150],"its":[155],"perform":[158],"grounded":[159],"reasoning.":[161],"evaluate":[163],"our":[164,188,231],"framework":[165],"at":[166,236],"scale,":[167],"we":[168],"release":[169],"MessySurfaces":[171,206],"dataset":[172],"which":[173],"contains":[174],"images":[175],"70":[177],"real-world":[178],"surfaces":[179],"be":[183,234],"cleaned.":[184],"additionally":[186],"illustrate":[187],"on":[193,204,213],"2":[194],"carefully":[195],"designed":[196],"surfaces.":[197],"find":[199],"average":[201,210],"12.9%":[202],"improvement":[203,212],"benchmark":[207],"15%":[211],"experiments":[216],"over":[217],"baselines":[218],"do":[220],"use":[222],"active":[223],"perception.":[224],"The":[225],"dataset,":[226],"code,":[227],"videos":[229],"found":[235],"https://minaek.github.io/grounded_commonsense_reasoning/.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":4}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}
