{"id":"https://openalex.org/W4416748739","doi":"https://doi.org/10.1109/iros60139.2025.11246686","title":"Free-form language-based robotic reasoning and grasping","display_name":"Free-form language-based robotic reasoning and grasping","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748739","doi":"https://doi.org/10.1109/iros60139.2025.11246686"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246686","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/A5104302004","display_name":"Runyu Jiao","orcid":null},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Runyu Jiao","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114987777","display_name":"Alice Fasoli","orcid":null},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alice Fasoli","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080657058","display_name":"Francesco Giuliari","orcid":"https://orcid.org/0000-0003-2311-9517"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Giuliari","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050695668","display_name":"Matteo Bortolon","orcid":null},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Bortolon","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041063420","display_name":"Sergio Povoli","orcid":"https://orcid.org/0009-0006-2227-6931"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sergio Povoli","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014616639","display_name":"Guofeng Mei","orcid":"https://orcid.org/0000-0002-0494-5031"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Guofeng Mei","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100377944","display_name":"Yiming Wang","orcid":"https://orcid.org/0000-0002-9114-1540"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Yiming Wang","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067244774","display_name":"Fabio Poiesi","orcid":"https://orcid.org/0000-0002-9769-1279"},"institutions":[{"id":"https://openalex.org/I2277624104","display_name":"Fondazione Bruno Kessler","ror":"https://ror.org/01j33xk10","country_code":"IT","type":"facility","lineage":["https://openalex.org/I2277624104"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fabio Poiesi","raw_affiliation_strings":["Fondazione Bruno Kessler"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fondazione Bruno Kessler","institution_ids":["https://openalex.org/I2277624104"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2277624104"],"apc_list":null,"apc_paid":null,"fwci":0.8823,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.80421903,"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":"17672","last_page":"17679"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.642799973487854,"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":0.642799973487854,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.2973000109195709,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.009200000204145908,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.779699981212616},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7276999950408936},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6682000160217285},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5038999915122986},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.428600013256073},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.3831000030040741},{"id":"https://openalex.org/keywords/robotic-hand","display_name":"Robotic hand","score":0.3571999967098236},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.35179999470710754}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7858999967575073},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.779699981212616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7434999942779541},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7276999950408936},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6682000160217285},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5038999915122986},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4542999863624573},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.428600013256073},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4097000062465668},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.3831000030040741},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.3571999967098236},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.35179999470710754},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.3257000148296356},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.32179999351501465},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.3181999921798706},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.31150001287460327},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.30640000104904175},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3003000020980835},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.29100000858306885},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.2888999879360199},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.28119999170303345},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.25429999828338623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246686","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":[{"id":"https://openalex.org/F4320310077","display_name":"National Research Centre","ror":"https://ror.org/02n85j827"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2108325777","https://openalex.org/W2914433398","https://openalex.org/W2970641574","https://openalex.org/W3035198432","https://openalex.org/W4205403491","https://openalex.org/W4312853375","https://openalex.org/W4383108836","https://openalex.org/W4383108895","https://openalex.org/W4388294838","https://openalex.org/W4388407473","https://openalex.org/W4389665989","https://openalex.org/W4390874575","https://openalex.org/W4401210380","https://openalex.org/W4402508550","https://openalex.org/W4402716288","https://openalex.org/W4404612908","https://openalex.org/W4405784955","https://openalex.org/W4405974792","https://openalex.org/W4413145122","https://openalex.org/W4413558875","https://openalex.org/W4414051092"],"related_works":[],"abstract_inverted_index":{"Performing":[0],"robotic":[1,81,192],"grasping":[2,82,177],"from":[3],"a":[4,12,61,86,135,163,190],"cluttered":[5],"bin":[6],"based":[7],"on":[8,35,119],"human":[9,99],"instructions":[10,100,174],"is":[11,138,155],"challenging":[13],"task,":[14,160],"as":[15,39,110],"it":[16],"requires":[17],"understanding":[18],"both":[19,47,184],"the":[20,26,78,91,169],"nuances":[21],"of":[22],"free-form":[23,79],"language":[24],"and":[25,49,84,101,112,148,175,186,200],"spatial":[27,103,126],"relationships":[28],"between":[29],"objects.":[30],"Vision-Language":[31],"Models":[32],"(VLMs)":[33],"trained":[34],"web-scale":[36],"data,":[37],"such":[38],"GPT-4o,":[40],"have":[41],"demonstrated":[42],"remarkable":[43],"reasoning":[44,199],"capabilities":[45],"across":[46],"text":[48],"images.":[50],"But":[51],"can":[52],"they":[53],"truly":[54],"be":[55,146],"used":[56],"for":[57,158],"this":[58,70,159],"task":[59,83],"in":[60,197],"zero-shot":[62,125],"setting?":[63],"And":[64],"what":[65],"are":[66],"their":[67],"limitations?":[68],"In":[69],"paper,":[71],"we":[72,161],"explore":[73],"these":[74,114],"research":[75],"questions":[76],"via":[77],"language-based":[80],"propose":[85],"novel":[87],"method,":[88],"FreeGrasp,":[89],"leveraging":[90],"pre-trained":[92],"VLMs\u2019":[93],"world":[94],"knowledge":[95],"to":[96,116,122,132],"reason":[97],"about":[98],"object":[102,137],"arrangements.":[104],"Our":[105],"method":[106,131],"detects":[107],"all":[108],"objects":[109,144],"keypoints":[111,115],"uses":[113],"annotate":[117],"marks":[118],"images,":[120],"aiming":[121],"facilitate":[123],"GPT-4o\u2019s":[124],"reasoning.":[127],"This":[128],"allows":[129],"our":[130],"determine":[133],"whether":[134],"requested":[136],"directly":[139],"graspable":[140],"or":[141],"if":[142],"other":[143],"must":[145],"grasped":[147],"removed":[149],"first.":[150],"Since":[151],"no":[152],"existing":[153],"dataset":[154,165,171],"specifically":[156],"designed":[157],"introduce":[162],"synthetic":[164],"FreeGraspData":[166,185],"by":[167],"extending":[168],"MetaGraspNetV2":[170],"with":[172,183,189],"human-annotated":[173],"ground-truth":[176],"sequences.":[178],"We":[179],"conduct":[180],"extensive":[181],"analyses":[182],"real-world":[187],"validation":[188],"gripper-equipped":[191],"arm,":[193],"demonstrating":[194],"state-of-the-art":[195],"performance":[196],"grasp":[198],"execution.":[201],"Project":[202],"website:":[203],"https://tev-fbk.github.io/FreeGrasp/.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-11-28T00:00:00"}
