{"id":"https://openalex.org/W4389666218","doi":"https://doi.org/10.1109/iros55552.2023.10341527","title":"Language Guided Temporally Adaptive Perception for Efficient Natural Language Grounding in Cluttered Dynamic Worlds","display_name":"Language Guided Temporally Adaptive Perception for Efficient Natural Language Grounding in Cluttered Dynamic Worlds","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666218","doi":"https://doi.org/10.1109/iros55552.2023.10341527"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341527","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/A5019746206","display_name":"Siddharth Patki","orcid":"https://orcid.org/0000-0002-1323-6034"},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Siddharth Patki","raw_affiliation_strings":["University of Rochester,Electrical and Computer Engineering Department,USA","Electrical and Computer Engineering Department, University of Rochester, USA"],"affiliations":[{"raw_affiliation_string":"University of Rochester,Electrical and Computer Engineering Department,USA","institution_ids":["https://openalex.org/I5388228"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Rochester, USA","institution_ids":["https://openalex.org/I5388228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016548903","display_name":"Jacob Arkin","orcid":"https://orcid.org/0000-0002-1074-9248"},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jacob Arkin","raw_affiliation_strings":["University of Rochester,Electrical and Computer Engineering Department,USA","Electrical and Computer Engineering Department, University of Rochester, USA"],"affiliations":[{"raw_affiliation_string":"University of Rochester,Electrical and Computer Engineering Department,USA","institution_ids":["https://openalex.org/I5388228"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Rochester, USA","institution_ids":["https://openalex.org/I5388228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010041984","display_name":"Nikola Raicevic","orcid":null},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikola Raicevic","raw_affiliation_strings":["University of Rochester,Electrical and Computer Engineering Department,USA","Electrical and Computer Engineering Department, University of Rochester, USA"],"affiliations":[{"raw_affiliation_string":"University of Rochester,Electrical and Computer Engineering Department,USA","institution_ids":["https://openalex.org/I5388228"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Rochester, USA","institution_ids":["https://openalex.org/I5388228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101411184","display_name":"Thomas M. Howard","orcid":"https://orcid.org/0000-0002-8270-0806"},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas M. Howard","raw_affiliation_strings":["University of Rochester,Electrical and Computer Engineering Department,USA","Electrical and Computer Engineering Department, University of Rochester, USA"],"affiliations":[{"raw_affiliation_string":"University of Rochester,Electrical and Computer Engineering Department,USA","institution_ids":["https://openalex.org/I5388228"]},{"raw_affiliation_string":"Electrical and Computer Engineering Department, University of Rochester, USA","institution_ids":["https://openalex.org/I5388228"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019746206"],"corresponding_institution_ids":["https://openalex.org/I5388228"],"apc_list":null,"apc_paid":null,"fwci":0.4939,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.6679834,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"7854","last_page":"7861"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9998999834060669,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9998999834060669,"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/T10028","display_name":"Topic Modeling","score":0.9973999857902527,"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":0.9973000288009644,"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/computer-science","display_name":"Computer science","score":0.7603473663330078},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7108327746391296},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5941263437271118},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5898194909095764},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5656783580780029},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5571597218513489},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5548787117004395},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.5437936782836914},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.4837236702442169},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4632922410964966},{"id":"https://openalex.org/keywords/natural-language-understanding","display_name":"Natural language understanding","score":0.45469537377357483},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4533885419368744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1478630006313324}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7603473663330078},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7108327746391296},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5941263437271118},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5898194909095764},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5656783580780029},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5571597218513489},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5548787117004395},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.5437936782836914},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.4837236702442169},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4632922410964966},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.45469537377357483},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4533885419368744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1478630006313324},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"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/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"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/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341527","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":[],"awards":[{"id":"https://openalex.org/G4261345119","display_name":null,"funder_award_id":"2144804","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1525482321","https://openalex.org/W2107019937","https://openalex.org/W2167340365","https://openalex.org/W2222512263","https://openalex.org/W2560609797","https://openalex.org/W2603737562","https://openalex.org/W2624503621","https://openalex.org/W2810720462","https://openalex.org/W2889347026","https://openalex.org/W2896457183","https://openalex.org/W2902699874","https://openalex.org/W2926977875","https://openalex.org/W2963121255","https://openalex.org/W2963800628","https://openalex.org/W2963846044","https://openalex.org/W2964935470","https://openalex.org/W2967345816","https://openalex.org/W3018757597","https://openalex.org/W4224912544","https://openalex.org/W4234552385","https://openalex.org/W4313056309","https://openalex.org/W6755207826","https://openalex.org/W6769375871","https://openalex.org/W6769492773","https://openalex.org/W6777046832","https://openalex.org/W6785803027","https://openalex.org/W6791353385","https://openalex.org/W6798219303","https://openalex.org/W6798634944","https://openalex.org/W6801810553","https://openalex.org/W6802366246"],"related_works":["https://openalex.org/W4288263119","https://openalex.org/W3015724364","https://openalex.org/W2967994095","https://openalex.org/W4285240985","https://openalex.org/W2900126711","https://openalex.org/W4286930972","https://openalex.org/W3202115945","https://openalex.org/W2542958340","https://openalex.org/W4389520438","https://openalex.org/W1991374750"],"abstract_inverted_index":{"As":[0],"robots":[1],"operate":[2],"alongside":[3],"humans":[4],"in":[5,47,66,94,111,172,182],"shared":[6],"spaces,":[7],"such":[8],"as":[9,184],"homes":[10],"and":[11,118,137,153,174],"offices,":[12],"it":[13],"is":[14,115],"essential":[15],"to":[16,41,76,120,186],"have":[17],"an":[18,28,51,187],"effective":[19,91],"mechanism":[20],"for":[21,31,60],"interacting":[22],"with":[23,33,122],"them.":[24],"Natural":[25],"language":[26,43,136],"offers":[27],"intuitive":[29],"interface":[30],"communicating":[32],"robots,":[34],"but":[35],"most":[36],"of":[37,50,54,64,70,83,86,101,108,135,143,147,161,169],"the":[38,48,55,67,71,81,87,102,106,112,141,159],"recent":[39],"approaches":[40],"grounded":[42],"understanding":[44],"reason":[45],"only":[46],"context":[49,69],"instantaneous":[52],"state":[53],"world.":[56],"Though":[57],"this":[58,128],"allows":[59],"interpreting":[61],"a":[62,98,132,179],"variety":[63],"utterances":[65,78],"current":[68],"world,":[72,88],"these":[73],"models":[74,146],"fail":[75],"interpret":[77],"which":[79],"require":[80],"knowledge":[82],"past":[84],"dynamics":[85,107],"thereby":[89],"hindering":[90],"human-robot":[92],"collaboration":[93],"dynamic":[95,148,175],"environments.":[96,125],"Constructing":[97],"comprehensive":[99],"model":[100,134],"world":[103],"that":[104,139],"tracks":[105],"all":[109],"objects":[110],"robot's":[113],"workspace":[114],"computationally":[116],"expensive":[117],"difficult":[119],"scale":[121],"increasingly":[123],"complex":[124],"To":[126],"address":[127],"challenge,":[129],"we":[130],"propose":[131],"learned":[133],"perception":[138],"facilitates":[140],"construction":[142],"temporally":[144],"compact":[145],"worlds":[149],"through":[150],"closed-loop":[151],"grounding":[152,162],"perception.":[154],"Our":[155],"experimental":[156],"results":[157],"on":[158],"task":[160],"referring":[163],"expressions":[164],"demonstrate":[165],"more":[166],"accurate":[167],"interpretation":[168],"robot":[170],"instructions":[171],"cluttered":[173],"table-top":[176],"environments":[177],"without":[178],"significant":[180],"increase":[181],"runtime":[183],"compared":[185],"open-loop":[188],"baseline.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}