{"id":"https://openalex.org/W4405786915","doi":"https://doi.org/10.1109/iros58592.2024.10802007","title":"Lightweight Language-driven Grasp Detection using Conditional Consistency Model","display_name":"Lightweight Language-driven Grasp Detection using Conditional Consistency Model","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786915","doi":"https://doi.org/10.1109/iros58592.2024.10802007"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802007","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/A5101858087","display_name":"Nghia Nguyen","orcid":"https://orcid.org/0000-0001-9017-5522"},"institutions":[{"id":"https://openalex.org/I109689652","display_name":"FPT University","ror":"https://ror.org/03esj4g97","country_code":"VN","type":"education","lineage":["https://openalex.org/I109689652"]}],"countries":["VN"],"is_corresponding":true,"raw_author_name":"Nghia Nguyen","raw_affiliation_strings":["FPT Software AI Center,Vietnam"],"affiliations":[{"raw_affiliation_string":"FPT Software AI Center,Vietnam","institution_ids":["https://openalex.org/I109689652"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056525701","display_name":"Minh Nhat Vu","orcid":"https://orcid.org/0000-0003-0692-8830"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Minh Nhat Vu","raw_affiliation_strings":["TU Wien,Automation &#x0026; Control Institute,Vienna,Austria"],"affiliations":[{"raw_affiliation_string":"TU Wien,Automation &#x0026; Control Institute,Vienna,Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045614046","display_name":"Baoru Huang","orcid":"https://orcid.org/0000-0002-4421-652X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Baoru Huang","raw_affiliation_strings":["Imperial College,London,UK"],"affiliations":[{"raw_affiliation_string":"Imperial College,London,UK","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012599412","display_name":"An Vuong","orcid":"https://orcid.org/0009-0003-8533-9897"},"institutions":[{"id":"https://openalex.org/I109689652","display_name":"FPT University","ror":"https://ror.org/03esj4g97","country_code":"VN","type":"education","lineage":["https://openalex.org/I109689652"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"An Vuong","raw_affiliation_strings":["FPT Software AI Center,Vietnam"],"affiliations":[{"raw_affiliation_string":"FPT Software AI Center,Vietnam","institution_ids":["https://openalex.org/I109689652"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023725893","display_name":"Ngan Le","orcid":"https://orcid.org/0000-0003-2571-0511"},"institutions":[{"id":"https://openalex.org/I78715868","display_name":"University of Arkansas at Fayetteville","ror":"https://ror.org/05jbt9m15","country_code":"US","type":"education","lineage":["https://openalex.org/I78715868"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ngan Le","raw_affiliation_strings":["University of Arkansas,USA"],"affiliations":[{"raw_affiliation_string":"University of Arkansas,USA","institution_ids":["https://openalex.org/I78715868"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043429366","display_name":"Thieu Vo","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":"Thieu Vo","raw_affiliation_strings":["National University of Singapore,Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101706488","display_name":"Anh Gia-Tuan Nguyen","orcid":"https://orcid.org/0000-0003-3606-4199"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Anh Nguyen","raw_affiliation_strings":["University of Liverpool,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"University of Liverpool,Department of Computer Science,UK","institution_ids":["https://openalex.org/I146655781"]}]}],"institutions":[],"countries_distinct_count":5,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101858087"],"corresponding_institution_ids":["https://openalex.org/I109689652"],"apc_list":null,"apc_paid":null,"fwci":3.4897,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.94442023,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"13719","last_page":"13725"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T10260","display_name":"Software Engineering Research","score":0.9772999882698059,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.968999981880188,"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/grasp","display_name":"GRASP","score":0.8442588448524475},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7890878915786743},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6714482307434082},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4496475160121918},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.44377225637435913},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.3601298928260803}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8442588448524475},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7890878915786743},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6714482307434082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4496475160121918},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.44377225637435913},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.3601298928260803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802007","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":53,"referenced_works":["https://openalex.org/W1892339738","https://openalex.org/W2013035813","https://openalex.org/W2040932698","https://openalex.org/W2824754393","https://openalex.org/W2962875890","https://openalex.org/W2963033241","https://openalex.org/W2963326767","https://openalex.org/W3091619233","https://openalex.org/W3130885760","https://openalex.org/W3186077919","https://openalex.org/W3201312429","https://openalex.org/W3205420310","https://openalex.org/W3207187156","https://openalex.org/W4206413191","https://openalex.org/W4224912544","https://openalex.org/W4285505176","https://openalex.org/W4312310776","https://openalex.org/W4312527115","https://openalex.org/W4327545837","https://openalex.org/W4383108836","https://openalex.org/W4383109008","https://openalex.org/W4383109488","https://openalex.org/W4384695527","https://openalex.org/W4385572275","https://openalex.org/W4387764390","https://openalex.org/W4389348937","https://openalex.org/W4389665991","https://openalex.org/W4389667112","https://openalex.org/W4390873752","https://openalex.org/W4391759936","https://openalex.org/W4401202103","https://openalex.org/W4402702930","https://openalex.org/W4402754288","https://openalex.org/W6755207826","https://openalex.org/W6779823529","https://openalex.org/W6784333009","https://openalex.org/W6786375611","https://openalex.org/W6791353385","https://openalex.org/W6798805250","https://openalex.org/W6801810553","https://openalex.org/W6809884996","https://openalex.org/W6839459284","https://openalex.org/W6847489270","https://openalex.org/W6849724526","https://openalex.org/W6850614898","https://openalex.org/W6850787431","https://openalex.org/W6852811595","https://openalex.org/W6852950521","https://openalex.org/W6855028510","https://openalex.org/W6856651595","https://openalex.org/W6857933683","https://openalex.org/W6858561505","https://openalex.org/W6874791187"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2963326767","https://openalex.org/W3204019825"],"abstract_inverted_index":{"Language-driven":[0],"grasp":[1,23,59,112],"detection":[2,24,113],"is":[3],"a":[4,18,120],"fundamental":[5],"yet":[6],"challenging":[7],"task":[8],"in":[9,42,75,88,128],"robotics":[10],"with":[11,39,64],"various":[12],"industrial":[13],"applications.":[14],"This":[15],"work":[16],"presents":[17],"new":[19],"approach":[20],"for":[21],"language-driven":[22],"that":[25,61,106],"leverages":[26],"lightweight":[27,116],"diffusion":[28,37,76,117],"models":[29,118],"to":[30,92,132],"achieve":[31],"fast":[32,135],"inference":[33,72,136],"time.":[34],"By":[35],"integrating":[36],"processes":[38],"grasping":[40],"prompts":[41],"natural":[43],"language,":[44],"our":[45,107,126],"method":[46,108,127],"can":[47],"effectively":[48],"encode":[49],"visual":[50],"and":[51,57,82,115],"textual":[52],"information,":[53],"enabling":[54],"more":[55],"accurate":[56],"versatile":[58],"positioning":[60],"aligns":[62],"well":[63],"the":[65,70,80,86,89,94],"text":[66,83],"query.":[67],"To":[68],"overcome":[69],"long":[71],"time":[73,137],"problem":[74],"models,":[77],"we":[78],"leverage":[79],"image":[81],"features":[84],"as":[85],"condition":[87],"consistency":[90],"model":[91],"reduce":[93],"number":[95],"of":[96],"denoising":[97],"timesteps":[98],"during":[99],"inference.":[100],"The":[101],"intensive":[102],"experimental":[103],"results":[104],"show":[105],"outperforms":[109],"other":[110],"recent":[111],"methods":[114],"by":[119],"clear":[121],"margin.":[122],"We":[123],"further":[124],"validate":[125],"real-world":[129],"robotic":[130],"experiments":[131],"demonstrate":[133],"its":[134],"capability.":[138]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}
