{"id":"https://openalex.org/W4389665942","doi":"https://doi.org/10.1109/iros55552.2023.10341421","title":"One-Shot Affordance Learning (OSAL): Learning to Manipulate Articulated Objects by Observing Once","display_name":"One-Shot Affordance Learning (OSAL): Learning to Manipulate Articulated Objects by Observing Once","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665942","doi":"https://doi.org/10.1109/iros55552.2023.10341421"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341421","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341421","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5113069971","display_name":"Ruomeng Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ruomeng Fan","raw_affiliation_strings":["Institute of Industrial Science, The University of Tokyo,Tokyo,Japan,153-8505"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo,Tokyo,Japan,153-8505","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041754730","display_name":"Taohan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taohan Wang","raw_affiliation_strings":["Institute of Industrial Science, The University of Tokyo,Tokyo,Japan,153-8505"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo,Tokyo,Japan,153-8505","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101412704","display_name":"Masahiro Hirano","orcid":"https://orcid.org/0009-0005-4544-1955"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Hirano","raw_affiliation_strings":["Institute of Industrial Science, The University of Tokyo,Tokyo,Japan,153-8505"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo,Tokyo,Japan,153-8505","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019385536","display_name":"Yuji Yamakawa","orcid":"https://orcid.org/0000-0002-2880-7055"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuji Yamakawa","raw_affiliation_strings":["Institute of Industrial Science, The University of Tokyo,Tokyo,Japan,153-8505"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, The University of Tokyo,Tokyo,Japan,153-8505","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.3397,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.60156084,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2955","last_page":"2962"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9908999800682068,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.9109885692596436},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7385543584823608},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7149826288223267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6458195447921753},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6360741257667542},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5773243308067322},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.5698508024215698},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4895983338356018},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4811100363731384},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.4493730664253235},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.44143104553222656},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4311813712120056},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.420331209897995},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09132888913154602}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9109885692596436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7385543584823608},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7149826288223267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6458195447921753},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6360741257667542},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5773243308067322},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.5698508024215698},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4895983338356018},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4811100363731384},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.4493730664253235},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.44143104553222656},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4311813712120056},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.420331209897995},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09132888913154602},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/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/iros55552.2023.10341421","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341421","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/10","score":0.5,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1198461769","https://openalex.org/W1901129140","https://openalex.org/W1964043226","https://openalex.org/W1967736013","https://openalex.org/W1977655452","https://openalex.org/W2772449134","https://openalex.org/W2775357942","https://openalex.org/W2786036844","https://openalex.org/W2938421504","https://openalex.org/W2962793652","https://openalex.org/W2963327026","https://openalex.org/W2963411833","https://openalex.org/W2963669336","https://openalex.org/W2968722025","https://openalex.org/W2975504670","https://openalex.org/W2980216391","https://openalex.org/W2981030070","https://openalex.org/W2983465317","https://openalex.org/W3016735007","https://openalex.org/W3036954260","https://openalex.org/W3093461562","https://openalex.org/W3126321819","https://openalex.org/W3197265836","https://openalex.org/W3199614037","https://openalex.org/W3207359859","https://openalex.org/W3207908209","https://openalex.org/W4221167977","https://openalex.org/W4283785166","https://openalex.org/W4297940840","https://openalex.org/W4312297897","https://openalex.org/W4312903454","https://openalex.org/W6634616096","https://openalex.org/W6747827861","https://openalex.org/W6779442434","https://openalex.org/W6800942323","https://openalex.org/W6802366246","https://openalex.org/W6843228035"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W2163296013","https://openalex.org/W3014080459","https://openalex.org/W4386875794","https://openalex.org/W2951631158","https://openalex.org/W4288313544","https://openalex.org/W2976611405"],"abstract_inverted_index":{"We":[0,111],"present":[1],"One-Shot":[2],"Affordance":[3],"Learning":[4],"(OSAL):":[5],"a":[6,40,50,116,136,156],"unified":[7],"pipeline":[8],"that":[9,145],"learns":[10],"manipulation":[11,53,146],"for":[12,107,163],"articulated":[13,32],"objects":[14,33,120],"by":[15,86],"observing":[16],"human":[17,74],"demonstration":[18],"only":[19,132],"once.":[20],"The":[21],"key":[22],"idea":[23],"of":[24,31,43,118],"our":[25,113,129],"method":[26,114],"is":[27],"to":[28,67,134,143,148,154],"embody":[29],"affordance":[30,85,99],"with":[34,69,140],"an":[35],"open-loop":[36],"trajectory":[37],"conditioned":[38],"on":[39,88,92,115],"certain":[41],"area":[42],"the":[44,70,83,93,149],"object's":[45],"surface.":[46],"It":[47],"serves":[48],"as":[49],"simplified":[51],"object-centric":[52],"representation,":[54],"which":[55,151],"can":[56],"be":[57,155],"easily":[58],"transferred":[59],"into":[60,100],"robot":[61,77],"motion,":[62],"while":[63],"traditional":[64],"methods":[65],"fail":[66],"deal":[68],"configuration":[71],"difference":[72],"between":[73],"hands":[75],"and":[76,95,121,123,159],"end":[78],"effectors.":[79],"Our":[80],"system":[81],"extracts":[82],"embodied":[84],"focusing":[87],"hand":[89],"action's":[90],"effect":[91],"object,":[94],"further":[96],"grounds":[97],"such":[98],"object":[101,109,138],"visual":[102],"features":[103],"through":[104],"self-supervised":[105],"learning":[106],"novel":[108,137],"configurations.":[110],"evaluated":[112],"collection":[117],"real-life":[119,165],"furniture":[122],"demonstrated":[124],"high":[125],"success":[126],"rates.":[127],"With":[128],"system,":[130],"humans":[131],"need":[133],"manipulate":[135],"once":[139],"any":[141],"gesture":[142],"transfer":[144],"skill":[147],"robot,":[150],"we":[152],"believe":[153],"highly":[157],"efficient":[158],"user-friendly":[160],"paradigm":[161],"oriented":[162],"future":[164],"robots.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}