{"id":"https://openalex.org/W4405784984","doi":"https://doi.org/10.1109/iros58592.2024.10801792","title":"3D Affordance Keypoint Detection for Robotic Manipulation","display_name":"3D Affordance Keypoint Detection for Robotic Manipulation","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405784984","doi":"https://doi.org/10.1109/iros58592.2024.10801792"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801792","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5115591162","display_name":"Zhiyang Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhiyang Liu","raw_affiliation_strings":["National University of Singapore,Advanced Robotics Centre,Singapore,117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Advanced Robotics Centre,Singapore,117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111258616","display_name":"Ruiteng Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Ruiteng Zhao","raw_affiliation_strings":["National University of Singapore,Advanced Robotics Centre,Singapore,117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Advanced Robotics Centre,Singapore,117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027474848","display_name":"Lei Zhou","orcid":"https://orcid.org/0000-0001-9789-8897"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lei Zhou","raw_affiliation_strings":["National University of Singapore,Advanced Robotics Centre,Singapore,117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Advanced Robotics Centre,Singapore,117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068340932","display_name":"Chengran Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chengran Yuan","raw_affiliation_strings":["National University of Singapore,Advanced Robotics Centre,Singapore,117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Advanced Robotics Centre,Singapore,117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100458048","display_name":"Yuwei Wu","orcid":"https://orcid.org/0000-0003-4926-2530"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yuwei Wu","raw_affiliation_strings":["National University of Singapore,Department of Mechanical Engineering,Singapore,117575"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Department of Mechanical Engineering,Singapore,117575","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100687095","display_name":"Sheng Guo","orcid":"https://orcid.org/0000-0001-6746-9274"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Sheng Guo","raw_affiliation_strings":["National University of Singapore,Advanced Robotics Centre,Singapore,117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Advanced Robotics Centre,Singapore,117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113291971","display_name":"Zhengshen Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Zhengshen Zhang","raw_affiliation_strings":["National University of Singapore,Advanced Robotics Centre,Singapore,117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Advanced Robotics Centre,Singapore,117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100767206","display_name":"Chenchen Liu","orcid":"https://orcid.org/0000-0002-5274-2378"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chenchen Liu","raw_affiliation_strings":["National University of Singapore,Advanced Robotics Centre,Singapore,117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Advanced Robotics Centre,Singapore,117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064469965","display_name":"Marcelo H. Ang","orcid":"https://orcid.org/0000-0001-8277-6408"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Marcelo H. Ang","raw_affiliation_strings":["National University of Singapore,Advanced Robotics Centre,Singapore,117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Advanced Robotics Centre,Singapore,117576","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111258662","display_name":"Francis EH Tay","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Francis EH Tay","raw_affiliation_strings":["National University of Singapore,Advanced Robotics Centre,Singapore,117576"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Advanced Robotics Centre,Singapore,117576","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":1.2387,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.88977868,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"7528","last_page":"7534"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9879000186920166,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9878000020980835,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.98580002784729,"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/affordance","display_name":"Affordance","score":0.9401471614837646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6614322662353516},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5975975394248962},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4919681251049042},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4150051176548004}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9401471614837646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6614322662353516},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5975975394248962},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4919681251049042},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4150051176548004}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801792","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801792","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":24,"referenced_works":["https://openalex.org/W1524405667","https://openalex.org/W2108598243","https://openalex.org/W2962984928","https://openalex.org/W2963351448","https://openalex.org/W3135359526","https://openalex.org/W6631072945","https://openalex.org/W6634616096","https://openalex.org/W6649172765","https://openalex.org/W6667400809","https://openalex.org/W6685126250","https://openalex.org/W6687483927","https://openalex.org/W6715287400","https://openalex.org/W6730342312","https://openalex.org/W6730366057","https://openalex.org/W6739778489","https://openalex.org/W6741993653","https://openalex.org/W6746228636","https://openalex.org/W6758319458","https://openalex.org/W6758855318","https://openalex.org/W6760546089","https://openalex.org/W6765715761","https://openalex.org/W6766135889","https://openalex.org/W6767276508","https://openalex.org/W6843515625"],"related_works":["https://openalex.org/W2417026147","https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,44,55,72],"novel":[4],"approach":[5,24],"for":[6],"affordance-informed":[7],"robotic":[8],"manipulation":[9,132],"by":[10,78,110],"introducing":[11,79],"3D":[12,80],"keypoints":[13],"to":[14,93],"enhance":[15],"the":[16,30,63,85,125],"understanding":[17],"of":[18,33,88,127],"object":[19],"parts\u2019":[20],"functionality.":[21],"The":[22],"proposed":[23],"provides":[25],"direct":[26],"information":[27,95],"about":[28],"what":[29,64],"potential":[31,87],"use":[32],"objects":[34],"is,":[35],"as":[36,38,54],"well":[37],"guidance":[39],"on":[40,61,96],"where":[41],"and":[42,90,100,117,141],"how":[43],"manipulator":[45],"should":[46],"engage,":[47],"whereas":[48],"conventional":[49],"methods":[50],"treat":[51],"affordance":[52,114],"detection":[53,119],"semantic":[56],"segmentation":[57,115],"task,":[58],"focusing":[59],"solely":[60],"answering":[62],"question.":[65],"To":[66],"address":[67],"this":[68],"gap,":[69],"we":[70],"propose":[71],"Fusion-based":[73],"Affordance":[74],"Keypoint":[75],"Network":[76],"(FAKP-Net)":[77],"keypoint":[81,118],"quadruplet":[82],"that":[83,105],"harnesses":[84],"synergistic":[86],"RGB":[89],"Depth":[91],"image":[92],"provide":[94],"execution":[97],"position,":[98],"direction,":[99],"extent.":[101],"Benchmark":[102],"testing":[103],"demonstrates":[104],"FAKP-Net":[106],"outperforms":[107],"existing":[108],"models":[109],"significant":[111],"margins":[112],"in":[113,130],"task":[116],"task.":[120],"Real-world":[121],"experiments":[122],"also":[123],"showcase":[124],"reliability":[126],"our":[128],"method":[129],"accomplishing":[131],"tasks":[133],"with":[134],"previously":[135],"unseen":[136],"objects.":[137],"Our":[138],"source":[139],"code":[140],"video":[142],"demo":[143],"will":[144],"be":[145],"public.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}