{"id":"https://openalex.org/W3187060969","doi":"https://doi.org/10.1109/iros51168.2021.9635947","title":"Robotic Occlusion Reasoning for Efficient Object Existence Prediction","display_name":"Robotic Occlusion Reasoning for Efficient Object Existence Prediction","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3187060969","doi":"https://doi.org/10.1109/iros51168.2021.9635947","mag":"3187060969"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635947","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100606513","display_name":"Mengdi Li","orcid":"https://orcid.org/0009-0000-2650-2891"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Mengdi Li","raw_affiliation_strings":["Knowledge Technology, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Knowledge Technology, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102025003","display_name":"Cornelius Weber","orcid":"https://orcid.org/0000-0001-5163-938X"},"institutions":[{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]},{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cornelius Weber","raw_affiliation_strings":["Knowledge Technology, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Knowledge Technology, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040045142","display_name":"Matthias Kerzel","orcid":"https://orcid.org/0000-0002-1378-0435"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Kerzel","raw_affiliation_strings":["Knowledge Technology, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Knowledge Technology, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062333532","display_name":"Jae Hee Lee","orcid":"https://orcid.org/0000-0001-9840-780X"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jae Hee Lee","raw_affiliation_strings":["Knowledge Technology, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Knowledge Technology, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008361378","display_name":"Zheni Zeng","orcid":"https://orcid.org/0000-0001-6901-5292"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheni Zeng","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100320722","display_name":"Zhiyuan Liu","orcid":"https://orcid.org/0000-0002-6331-0810"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Liu","raw_affiliation_strings":["Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033486668","display_name":"Stefan Wermter","orcid":"https://orcid.org/0000-0003-1343-4775"},"institutions":[{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]},{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Wermter","raw_affiliation_strings":["Knowledge Technology, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Knowledge Technology, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100606513"],"corresponding_institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"],"apc_list":null,"apc_paid":null,"fwci":0.2626,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.63366762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"2686","last_page":"2692"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9987999796867371,"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"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9987999796867371,"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":0.9939000010490417,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9929999709129333,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6485339403152466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5668174028396606},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5219468474388123},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4804201126098633}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6485339403152466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5668174028396606},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5219468474388123},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4804201126098633}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9635947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635947","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1806263934","https://openalex.org/W2117539524","https://openalex.org/W2119717200","https://openalex.org/W2147527908","https://openalex.org/W2194775991","https://openalex.org/W2296073425","https://openalex.org/W2561715562","https://openalex.org/W2606220156","https://openalex.org/W2627585944","https://openalex.org/W2636355936","https://openalex.org/W2809222802","https://openalex.org/W2883574738","https://openalex.org/W2951527505","https://openalex.org/W2962887844","https://openalex.org/W2963223524","https://openalex.org/W2964084698","https://openalex.org/W2981900248","https://openalex.org/W3004997297","https://openalex.org/W3005188920","https://openalex.org/W3040041096","https://openalex.org/W3102804550","https://openalex.org/W3127593076","https://openalex.org/W3175891028","https://openalex.org/W4297749157","https://openalex.org/W4297798492","https://openalex.org/W6682137061","https://openalex.org/W6736400098","https://openalex.org/W6739847781","https://openalex.org/W6739903437","https://openalex.org/W6748270630","https://openalex.org/W6750253780","https://openalex.org/W6773716603","https://openalex.org/W6780443396","https://openalex.org/W6782705204"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398","https://openalex.org/W2775347418"],"abstract_inverted_index":{"Reasoning":[0],"about":[1,58,155],"potential":[2],"occlusions":[3],"is":[4,33],"essential":[5],"for":[6],"robots":[7],"to":[8,64,78,126,147,171],"efficiently":[9],"predict":[10,79],"whether":[11,80],"an":[12,16,59,148],"object":[13,52,83,173],"exists":[14],"in":[15],"environment.":[17],"Though":[18],"existing":[19],"work":[20],"shows":[21],"that":[22,97,116],"a":[23,61,72,91,109,136,143,176],"robot":[24,62],"with":[25,74,102,175],"active":[26,119],"perception":[27,120],"can":[28,39,98],"achieve":[29,128],"various":[30],"tasks,":[31],"it":[32],"still":[34],"unclear":[35],"if":[36],"occlusion":[37,122,138],"reasoning":[38,123,139],"be":[40,99],"achieved.":[41],"To":[42,85],"answer":[43],"this":[44,87],"question,":[45],"we":[46,89],"introduce":[47],"the":[48,81,129,132,158,168],"task":[49],"of":[50,157,161,179],"robotic":[51],"existence":[53],"prediction:":[54],"when":[55],"being":[56],"asked":[57],"object,":[60],"needs":[63],"move":[65],"as":[66,69],"few":[67],"steps":[68,163],"possible":[70],"around":[71],"table":[73],"randomly":[75],"placed":[76],"objects":[77],"queried":[82],"exists.":[84],"address":[86],"problem,":[88],"propose":[90],"novel":[92,172],"recurrent":[93],"neural":[94],"network":[95],"model":[96,134,169],"jointly":[100],"trained":[101],"supervised":[103],"and":[104,121,166],"reinforcement":[105],"learning":[106],"methods":[107],"using":[108],"curriculum":[110],"training":[111],"strategy.":[112],"Experimental":[113],"results":[114],"show":[115],"1)":[117],"both":[118],"are":[124],"necessary":[125],"successfully":[127],"task;":[130],"2)":[131],"proposed":[133],"demonstrates":[135],"good":[137],"ability":[140],"by":[141],"achieving":[142],"similar":[144],"prediction":[145],"accuracy":[146],"exhaustive":[149],"exploration":[150],"baseline":[151],"while":[152],"requiring":[153],"only":[154],"10%":[156],"baseline\u2019s":[159],"number":[160],"movement":[162],"on":[164],"average;":[165],"3)":[167],"generalizes":[170],"combinations":[174],"moderate":[177],"loss":[178],"accuracy.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3}],"updated_date":"2026-04-23T09:07:50.710637","created_date":"2025-10-10T00:00:00"}
