{"id":"https://openalex.org/W4416749732","doi":"https://doi.org/10.1109/iros60139.2025.11246431","title":"One-Shot Affordance Grounding of Deformable Objects in Egocentric Organizing Scenes","display_name":"One-Shot Affordance Grounding of Deformable Objects in Egocentric Organizing Scenes","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749732","doi":"https://doi.org/10.1109/iros60139.2025.11246431"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246431","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246431","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5100310840","display_name":"Wanjun Jia","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Wanjun Jia","raw_affiliation_strings":["Hunan University,School of Artificial Intelligence and Robotics,China"],"affiliations":[{"raw_affiliation_string":"Hunan University,School of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113303177","display_name":"Fan Yang","orcid":"https://orcid.org/0000-0002-5767-6461"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Fan Yang","raw_affiliation_strings":["Hunan University,School of Artificial Intelligence and Robotics,China"],"affiliations":[{"raw_affiliation_string":"Hunan University,School of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013373831","display_name":"Mengfei Duan","orcid":"https://orcid.org/0000-0003-3017-9753"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Mengfei Duan","raw_affiliation_strings":["Hunan University,School of Artificial Intelligence and Robotics,China"],"affiliations":[{"raw_affiliation_string":"Hunan University,School of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100373698","display_name":"Xiao Dong Chen","orcid":"https://orcid.org/0000-0002-0150-0491"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Xianchi Chen","raw_affiliation_strings":["Hunan University,School of Artificial Intelligence and Robotics,China"],"affiliations":[{"raw_affiliation_string":"Hunan University,School of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047152154","display_name":"Yinxi Wang","orcid":"https://orcid.org/0000-0002-1651-7763"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Yinxi Wang","raw_affiliation_strings":["Hunan University,School of Artificial Intelligence and Robotics,China"],"affiliations":[{"raw_affiliation_string":"Hunan University,School of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067547588","display_name":"Yiming Jiang","orcid":"https://orcid.org/0009-0002-8071-2894"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Yiming Jiang","raw_affiliation_strings":["Hunan University,School of Artificial Intelligence and Robotics,China"],"affiliations":[{"raw_affiliation_string":"Hunan University,School of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106498485","display_name":"Wenrui Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Wenrui Chen","raw_affiliation_strings":["Hunan University,School of Artificial Intelligence and Robotics,China"],"affiliations":[{"raw_affiliation_string":"Hunan University,School of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027010844","display_name":"Kailun Yang","orcid":"https://orcid.org/0000-0002-1090-667X"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Kailun Yang","raw_affiliation_strings":["Hunan University,School of Artificial Intelligence and Robotics,China"],"affiliations":[{"raw_affiliation_string":"Hunan University,School of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I4210121405"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100396719","display_name":"Zhiyong Li","orcid":"https://orcid.org/0000-0001-9307-8453"},"institutions":[{"id":"https://openalex.org/I4210121405","display_name":"Centre for Artificial Intelligence and Robotics","ror":"https://ror.org/01xnbq218","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1340206300","https://openalex.org/I4210121405","https://openalex.org/I4210150591"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Zhiyong Li","raw_affiliation_strings":["Hunan University,School of Artificial Intelligence and Robotics,China"],"affiliations":[{"raw_affiliation_string":"Hunan University,School of Artificial Intelligence and Robotics,China","institution_ids":["https://openalex.org/I4210121405"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5100310840"],"corresponding_institution_ids":["https://openalex.org/I4210121405"],"apc_list":null,"apc_paid":null,"fwci":1.3682,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.86507533,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"21243","last_page":"21250"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9193999767303467,"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":0.9193999767303467,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.014399999752640724,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.0071000000461936,"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":0.7139999866485596},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.6212000250816345},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.569100022315979},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5566999912261963},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.5410000085830688},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.531499981880188},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5033000111579895},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4537000060081482},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4499000012874603}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7760999798774719},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7670000195503235},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.7139999866485596},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.6212000250816345},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.569100022315979},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5633000135421753},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5566999912261963},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.5410000085830688},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.531499981880188},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5033000111579895},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4537000060081482},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4499000012874603},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.44269999861717224},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43880000710487366},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.43050000071525574},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40939998626708984},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3865000009536743},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3531000018119812},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3481000065803528},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.34439998865127563},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.33959999680519104},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.3246999979019165},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3206000030040741},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.30489999055862427},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.25589999556541443}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246431","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246431","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":34,"referenced_works":["https://openalex.org/W2024464707","https://openalex.org/W2117228865","https://openalex.org/W2178926370","https://openalex.org/W2471768434","https://openalex.org/W2798897443","https://openalex.org/W2967819436","https://openalex.org/W3035198432","https://openalex.org/W3042116567","https://openalex.org/W3091377662","https://openalex.org/W3091544428","https://openalex.org/W3207181464","https://openalex.org/W4223476016","https://openalex.org/W4281765718","https://openalex.org/W4290546024","https://openalex.org/W4312310776","https://openalex.org/W4312610897","https://openalex.org/W4313703173","https://openalex.org/W4323525793","https://openalex.org/W4383109001","https://openalex.org/W4385430480","https://openalex.org/W4386065393","https://openalex.org/W4386065772","https://openalex.org/W4389610020","https://openalex.org/W4389665942","https://openalex.org/W4389665946","https://openalex.org/W4389665967","https://openalex.org/W4390872655","https://openalex.org/W4392373572","https://openalex.org/W4401417088","https://openalex.org/W4402354127","https://openalex.org/W4402477373","https://openalex.org/W4402716224","https://openalex.org/W4402716317","https://openalex.org/W4412747935"],"related_works":[],"abstract_inverted_index":{"Deformable":[0,43,71],"object":[1],"manipulation":[2],"in":[3,11,46,195],"robotics":[4],"presents":[5],"significant":[6],"challenges":[7],"due":[8],"to":[9,52,89,124],"uncertainties":[10],"component":[12,99],"properties,":[13],"diverse":[14,161],"configurations,":[15],"visual":[16,127],"interference,":[17],"and":[18,26,61,85,121,126,139,173,193,198,209],"ambiguous":[19],"prompts.":[20],"These":[21],"factors":[22],"complicate":[23],"both":[24],"perception":[25],"control":[27],"tasks.":[28],"To":[29,154],"address":[30],"these":[31,156],"challenges,":[32],"we":[33,67,102,130,158],"propose":[34,103,131],"a":[35,160],"novel":[36],"method":[37],"for":[38],"One-Shot":[39],"Affordance":[40],"Grounding":[41],"of":[42,81,97,114,147,170,190],"Objects":[44],"(OS-AGDO)":[45],"egocentric":[47],"organizing":[48],"scenes,":[49],"enabling":[50],"robots":[51],"recognize":[53],"previously":[54],"unseen":[55],"deformable":[56,171],"objects":[57,172],"with":[58],"varying":[59],"colors":[60],"shapes":[62],"using":[63],"minimal":[64],"samples.":[65],"Specifically,":[66],"first":[68],"introduce":[69],"the":[70,82,87,104,145],"Object":[72],"Semantic":[73],"Enhancement":[74],"Module":[75,108],"(DefoSEM),":[76],"which":[77,110,142,165],"enhances":[78],"hierarchical":[79],"understanding":[80],"internal":[83],"structure":[84],"improves":[86,122],"ability":[88],"accurately":[90],"identify":[91],"local":[92],"features,":[93],"even":[94],"under":[95],"conditions":[96],"weak":[98],"information.":[100],"Next,":[101],"ORB-Enhanced":[105],"Keypoint":[106],"Fusion":[107],"(OEKFM),":[109],"optimizes":[111],"feature":[112],"extraction":[113],"key":[115],"components":[116],"by":[117,151],"leveraging":[118],"geometric":[119],"constraints":[120],"adaptability":[123],"diversity":[125],"interference.":[128],"Additionally,":[129],"an":[132],"instance-conditional":[133],"prompt":[134,152],"based":[135],"on":[136],"image":[137],"data":[138],"task":[140],"context,":[141],"effectively":[143],"mitigates":[144],"issue":[146],"region":[148],"ambiguity":[149],"caused":[150],"words.":[153],"validate":[155],"methods,":[157,187],"construct":[159],"real-world":[162],"dataset,":[163],"AGDDO15,":[164],"includes":[166],"15":[167],"common":[168],"types":[169],"their":[174],"associated":[175],"organizational":[176],"actions.":[177],"Experimental":[178],"results":[179],"demonstrate":[180],"that":[181],"our":[182],"approach":[183],"significantly":[184],"outperforms":[185],"state-of-the-art":[186],"achieving":[188],"improvements":[189],"6.2%,":[191],"3.2%,":[192],"2.9%":[194],"KLD,":[196],"SIM,":[197],"NSS":[199],"metrics,":[200],"respectively,":[201],"while":[202],"exhibiting":[203],"high":[204],"generalization":[205],"performance.":[206],"Source":[207],"code":[208],"benchmark":[210],"dataset":[211],"are":[212],"made":[213],"publicly":[214],"available":[215],"at":[216],"https://github.com/Dikay1/OS-AGDO.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}