{"id":"https://openalex.org/W4389666973","doi":"https://doi.org/10.1109/iros55552.2023.10342493","title":"Using Single Demonstrations to Define Autonomous Manipulation Contact Tasks in Unstructured Environments via Object Affordances","display_name":"Using Single Demonstrations to Define Autonomous Manipulation Contact Tasks in Unstructured Environments via Object Affordances","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666973","doi":"https://doi.org/10.1109/iros55552.2023.10342493"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342493","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/A5023426019","display_name":"Frank Regal","orcid":"https://orcid.org/0000-0003-3478-6614"},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Frank Regal","raw_affiliation_strings":["The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043221951","display_name":"Adam Pettinger","orcid":"https://orcid.org/0000-0003-0341-7680"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]},{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adam Pettinger","raw_affiliation_strings":["The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102782366","display_name":"John A. Duncan","orcid":"https://orcid.org/0000-0002-3199-3813"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]},{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John A. Duncan","raw_affiliation_strings":["The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008429510","display_name":"Fabian Parra","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]},{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fabian Parra","raw_affiliation_strings":["The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060765564","display_name":"Emmanuel Akita","orcid":"https://orcid.org/0000-0001-5579-888X"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]},{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emmanuel Akita","raw_affiliation_strings":["The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103897376","display_name":"Alex Navarro","orcid":null},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Navarro","raw_affiliation_strings":["The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076817140","display_name":"Mitch Pryor","orcid":"https://orcid.org/0000-0001-5089-9964"},"institutions":[{"id":"https://openalex.org/I4210164117","display_name":"Walker (United States)","ror":"https://ror.org/05hgh7849","country_code":"US","type":"company","lineage":["https://openalex.org/I4210164117"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mitch Pryor","raw_affiliation_strings":["The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin,Walker Department of Mechanical Engineering and Texas Robotics,Austin,TX,USA,78712","institution_ids":["https://openalex.org/I86519309","https://openalex.org/I4210164117"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5023426019"],"corresponding_institution_ids":["https://openalex.org/I4210164117","https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.5634,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.67890771,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3664","last_page":"3671"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9919000267982483,"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/computer-science","display_name":"Computer science","score":0.8098478317260742},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6019096374511719},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.5807435512542725},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5788030028343201},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5380415916442871},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4823986291885376},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4644026756286621},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.46224403381347656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44524237513542175},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4132290184497833},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3841801881790161},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08084946870803833}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8098478317260742},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6019096374511719},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.5807435512542725},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5788030028343201},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5380415916442871},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4823986291885376},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4644026756286621},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.46224403381347656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44524237513542175},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4132290184497833},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3841801881790161},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08084946870803833},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342493","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1522302154","https://openalex.org/W2085261163","https://openalex.org/W2089697811","https://openalex.org/W2116436545","https://openalex.org/W2565233142","https://openalex.org/W2571233111","https://openalex.org/W2600030077","https://openalex.org/W2891882864","https://openalex.org/W2904757378","https://openalex.org/W2904925966","https://openalex.org/W2910490344","https://openalex.org/W2962737955","https://openalex.org/W2963669336","https://openalex.org/W2964157221","https://openalex.org/W2999773863","https://openalex.org/W3012180352","https://openalex.org/W3023297849","https://openalex.org/W3089363184","https://openalex.org/W3101339469","https://openalex.org/W3111268104","https://openalex.org/W3207456112","https://openalex.org/W4200076608","https://openalex.org/W4220904070","https://openalex.org/W4235212802","https://openalex.org/W4285102650","https://openalex.org/W4285114672","https://openalex.org/W4285239786","https://openalex.org/W4298112233","https://openalex.org/W6746119731","https://openalex.org/W6756039355","https://openalex.org/W6782380515"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W3049116993","https://openalex.org/W1541884709","https://openalex.org/W2589081601","https://openalex.org/W2226037301","https://openalex.org/W4386875132","https://openalex.org/W2470899375"],"abstract_inverted_index":{"Performing":[0],"a":[1,13,44,50,78,121,166,204,212],"manipulation":[2,52,150,205,214],"contact":[3,27],"task":[4,53,75,90,95,102,117,125,134],"in":[5,39,83,115,194],"an":[6,21,56,64,86,217],"unknown":[7],"and":[8,72,92,107,123,130,183],"unstructured":[9],"environment":[10],"is":[11,104],"still":[12],"challenge.":[14],"Learning":[15],"from":[16,55,156,211],"Demonstration":[17],"(LfD)":[18],"techniques":[19],"provide":[20,120],"intuitive":[22],"means":[23],"to":[24,77,171,187],"define":[25],"difficult-to-model":[26],"tasks,":[28,151],"but":[29],"have":[30],"attributes":[31],"that":[32,48],"make":[33],"them":[34],"undesirable":[35],"for":[36,81,89,94,189],"novice":[37],"users":[38],"uncertain":[40],"environments.":[41],"We":[42],"present":[43],"novel":[45],"end-to-end":[46],"system":[47,145,202],"captures":[49],"single":[51,213],"demonstration":[54,103,215],"augmented":[57],"reality":[58],"(AR)":[59],"head-mounted":[60],"display":[61],"(HMD),":[62],"computes":[63],"affordance":[65],"primitive":[66],"(AP)":[67],"representation":[68,96],"of":[69,132,208],"the":[70,74,116,133,153,195,201],"task,":[71],"sends":[73],"parameters":[76,155],"mobile":[79,167],"manipulator":[80,168],"execution":[82],"realtime.":[84],"Using":[85],"AR":[87,101],"HMD":[88],"demon-stration":[91],"APs":[93,119],"has":[97,203],"several":[98],"distinct":[99],"advantages.":[100],"intuitive,":[105],"practical,":[106],"can":[108],"be":[109],"accomplished":[110],"without":[111,135],"requiring":[112],"sensor":[113],"installment":[114],"environment.":[118],"compact":[122],"legible":[124],"representation,":[126],"enabling":[127],"scalability,":[128],"generalization,":[129],"modification":[131],"significant":[136],"data":[137],"processing":[138],"overhead.":[139],"In":[140],"this":[141],"effort,":[142],"we":[143,164,181],"demonstrate":[144],"generalization":[146],"with":[147],"10":[148],"object":[149],"confirming":[152],"computed":[154],"all":[157],"tasks":[158,174],"fit":[159],"within":[160],"AP":[161,176],"tolerances.":[162],"Secondly,":[163],"evaluate":[165],"robot's":[169],"ability":[170],"perform":[172],"human-demonstrated":[173],"using":[175],"representation.":[177],"To":[178],"increase":[179],"robustness,":[180],"devised":[182],"tested":[184],"four":[185],"methods":[186],"correct":[188],"inherent,":[190],"irreducible":[191],"position":[192],"errors":[193],"system.":[196],"A":[197],"final":[198],"study":[199],"shows":[200],"success":[206],"rate":[207],"96":[209],"%":[210],"on":[216],"industrial":[218],"wheel":[219],"valve.":[220]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
