{"id":"https://openalex.org/W3202140905","doi":"https://doi.org/10.1109/iros51168.2021.9636502","title":"Improving Object Permanence using Agent Actions and Reasoning","display_name":"Improving Object Permanence using Agent Actions and Reasoning","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3202140905","doi":"https://doi.org/10.1109/iros51168.2021.9636502","mag":"3202140905"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636502","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/A5101484558","display_name":"Ying Liang","orcid":"https://orcid.org/0000-0001-5618-197X"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3004594783","display_name":"Institute of High Performance Computing","ror":"https://ror.org/02n0ejh50","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3004594783","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Ying Siu Liang","raw_affiliation_strings":["Social and Cognitive Computing at the Institute of High Performance Computing, Agency for Science, Technology and Research, Singapore"],"affiliations":[{"raw_affiliation_string":"Social and Cognitive Computing at the Institute of High Performance Computing, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I3004594783","https://openalex.org/I115228651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100374170","display_name":"Chen Zhang","orcid":"https://orcid.org/0000-0003-2068-7279"},"institutions":[{"id":"https://openalex.org/I3004594783","display_name":"Institute of High Performance Computing","ror":"https://ror.org/02n0ejh50","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3004594783","https://openalex.org/I91275662"]},{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chen Zhang","raw_affiliation_strings":["Social and Cognitive Computing at the Institute of High Performance Computing, Agency for Science, Technology and Research, Singapore"],"affiliations":[{"raw_affiliation_string":"Social and Cognitive Computing at the Institute of High Performance Computing, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I3004594783","https://openalex.org/I115228651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056481909","display_name":"Dongkyu Choi","orcid":"https://orcid.org/0000-0001-8239-9825"},"institutions":[{"id":"https://openalex.org/I3004594783","display_name":"Institute of High Performance Computing","ror":"https://ror.org/02n0ejh50","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3004594783","https://openalex.org/I91275662"]},{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Dongkyu Choi","raw_affiliation_strings":["Social and Cognitive Computing at the Institute of High Performance Computing, Agency for Science, Technology and Research, Singapore"],"affiliations":[{"raw_affiliation_string":"Social and Cognitive Computing at the Institute of High Performance Computing, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I3004594783","https://openalex.org/I115228651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046638272","display_name":"Kenneth Kwok","orcid":"https://orcid.org/0000-0002-5387-8197"},"institutions":[{"id":"https://openalex.org/I3004594783","display_name":"Institute of High Performance Computing","ror":"https://ror.org/02n0ejh50","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3004594783","https://openalex.org/I91275662"]},{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kenneth Kwok","raw_affiliation_strings":["Social and Cognitive Computing at the Institute of High Performance Computing, Agency for Science, Technology and Research, Singapore"],"affiliations":[{"raw_affiliation_string":"Social and Cognitive Computing at the Institute of High Performance Computing, Agency for Science, Technology and Research, Singapore","institution_ids":["https://openalex.org/I3004594783","https://openalex.org/I115228651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101484558"],"corresponding_institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3004594783"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06365207,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8044","last_page":"8051"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9997000098228455,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9997000098228455,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.998199999332428,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9955999851226807,"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":0.7426379323005676},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7400136590003967},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7116301655769348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6848134994506836},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.647512674331665},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6339550614356995},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5166195034980774},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4709872901439667},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4694497287273407},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4342750310897827},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.41936323046684265},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4123392701148987},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.14334699511528015},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09252092242240906}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7426379323005676},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7400136590003967},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7116301655769348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6848134994506836},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.647512674331665},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6339550614356995},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5166195034980774},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4709872901439667},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4694497287273407},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4342750310897827},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.41936323046684265},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4123392701148987},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.14334699511528015},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09252092242240906},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636502","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636502","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":[{"id":"https://metadata.un.org/sdg/9","score":0.46000000834465027,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W2009996243","https://openalex.org/W2020456813","https://openalex.org/W2064084932","https://openalex.org/W2099442061","https://openalex.org/W2115674166","https://openalex.org/W2117404108","https://openalex.org/W2127923214","https://openalex.org/W2133815132","https://openalex.org/W2138953318","https://openalex.org/W2141461755","https://openalex.org/W2408241409","https://openalex.org/W2547593455","https://openalex.org/W2572461503","https://openalex.org/W2614829311","https://openalex.org/W2788946035","https://openalex.org/W2799058067","https://openalex.org/W2886910176","https://openalex.org/W2894176037","https://openalex.org/W2959105467","https://openalex.org/W2963227409","https://openalex.org/W2963854930","https://openalex.org/W2995849700","https://openalex.org/W3045988483","https://openalex.org/W3097352633","https://openalex.org/W3133026276","https://openalex.org/W3207749741","https://openalex.org/W4251041671","https://openalex.org/W4288093753","https://openalex.org/W6731904516","https://openalex.org/W6753818355","https://openalex.org/W6769024994"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W4390721878","https://openalex.org/W2114275278","https://openalex.org/W4292830139","https://openalex.org/W4319309705","https://openalex.org/W1489511283","https://openalex.org/W2974914859","https://openalex.org/W2026565050","https://openalex.org/W2110244802","https://openalex.org/W949345935"],"abstract_inverted_index":{"Object":[0],"permanence":[1,34,90,160,225],"in":[2,27,80,192,206,231],"psychology":[3],"means":[4],"knowing":[5],"that":[6,74,88,116,169],"objects":[7,47],"still":[8],"exist":[9],"even":[10],"if":[11],"they":[12],"are":[13,48],"no":[14],"longer":[15],"visible.":[16],"It":[17],"is":[18],"a":[19,81,141,146,218],"crucial":[20],"concept":[21],"for":[22,217],"robots":[23,213],"to":[24,63,68,106],"operate":[25],"autonomously":[26],"uncontrolled":[28],"environments.":[29],"Existing":[30],"approaches":[31],"learn":[32],"object":[33,61,76,89,109,159,224],"from":[35,111],"low-level":[36],"perception,":[37],"but":[38,126],"perform":[39],"poorly":[40],"on":[41,59,140],"more":[42],"complex":[43],"scenarios,":[44],"like":[45],"when":[46,94],"contained":[49],"and":[50,102,163,181,204,209,221],"carried":[51],"by":[52,195],"others.":[53],"Knowledge":[54],"about":[55,70,99],"manipulation":[56],"actions":[57,101,119],"performed":[58],"an":[60,104,232],"prior":[62],"its":[64,71,132],"disappearance":[65],"allows":[66],"us":[67],"reason":[69],"location,":[72],"e.g.,":[73],"the":[75,95,155,187,223],"has":[77],"been":[78],"placed":[79],"carrier.":[82],"In":[83],"this":[84],"paper":[85],"we":[86,136,153,185],"argue":[87],"can":[91,174],"be":[92],"improved":[93],"robot":[96],"uses":[97],"knowledge":[98],"executed":[100],"describe":[103],"approach":[105,191],"infer":[107],"hidden":[108],"states":[110],"agent":[112,118],"actions.":[113],"We":[114,167],"show":[115],"considering":[117],"not":[120],"only":[121],"improves":[122],"rule-based":[123,182],"reasoning":[124],"models":[125,161,170],"also":[127],"purely":[128],"neural":[129,180],"approaches,":[130],"showing":[131],"general":[133],"applicability.":[134],"Then,":[135],"conduct":[137],"quantitative":[138],"experiments":[139,198],"snitch":[142],"localization":[143],"task":[144],"using":[145],"dataset":[147],"of":[148,157,178,189],"1,371":[149],"synthesized":[150],"videos,":[151],"where":[152],"compare":[154],"performance":[156,177],"different":[158],"with":[162,171,199,227],"without":[164],"action":[165,172],"annotations.":[166],"demonstrate":[168,222],"annotations":[173],"significantly":[175],"increase":[176],"both":[179,207],"approaches.":[183],"Finally,":[184],"evaluate":[186],"usability":[188],"our":[190],"real-world":[193],"applications":[194],"conducting":[196],"qualitative":[197],"two":[200],"Universal":[201],"Robots":[202],"(UR5":[203],"UR16e)":[205],"lab":[208],"industrial":[210,233],"settings.":[211],"The":[212],"complete":[214],"benchmark":[215],"tasks":[216],"gearbox":[219],"assembly":[220],"capabilities":[226],"real":[228],"sensor":[229],"data":[230],"environment.":[234]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
