{"id":"https://openalex.org/W4416748510","doi":"https://doi.org/10.1109/iros60139.2025.11247570","title":"Uni-Zipper: A Multi-modal Perception Framework of Deformable Objects with Unpaired Data","display_name":"Uni-Zipper: A Multi-modal Perception Framework of Deformable Objects with Unpaired Data","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748510","doi":"https://doi.org/10.1109/iros60139.2025.11247570"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247570","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247570","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/A5032173428","display_name":"Charles Xie","orcid":"https://orcid.org/0000-0002-1178-8361"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Qian Xie","raw_affiliation_strings":["Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032983330","display_name":"Yanmin Zhou","orcid":"https://orcid.org/0000-0001-7824-1179"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yanmin Zhou","raw_affiliation_strings":["Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100391896","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-1717-5785"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai Research Institute for Intelligent Autonomous Systems,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,Shanghai Research Institute for Intelligent Autonomous Systems,Shanghai,China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113335373","display_name":"Y. Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiyang Jin","raw_affiliation_strings":["Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424170","display_name":"Zhipeng Wang","orcid":"https://orcid.org/0000-0003-0780-0070"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhipeng Wang","raw_affiliation_strings":["Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102022958","display_name":"Rong Jiang","orcid":"https://orcid.org/0000-0001-9908-7617"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rong Jiang","raw_affiliation_strings":["Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100353701","display_name":"Xin Li","orcid":"https://orcid.org/0000-0001-6003-7719"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xin Li","raw_affiliation_strings":["Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000024164","display_name":"Hongrui Sang","orcid":"https://orcid.org/0000-0002-8026-1328"},"institutions":[{"id":"https://openalex.org/I96733725","display_name":"Shanghai Maritime University","ror":"https://ror.org/04z7qrj66","country_code":"CN","type":"education","lineage":["https://openalex.org/I96733725"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongrui Sang","raw_affiliation_strings":["Shanghai Maritime University,School of Logistics Engineering,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Maritime University,School of Logistics Engineering,Shanghai,China","institution_ids":["https://openalex.org/I96733725"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049557511","display_name":"Bin He","orcid":"https://orcid.org/0000-0003-3193-6269"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bin He","raw_affiliation_strings":["Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Tongji University, and State Key Laboratory of Intelligent Autonomous Systems, and Frontiers Science Center for Intelligent Autonomous Systems,School of Electronics and Information Engineering,Shanghai,China","institution_ids":["https://openalex.org/I4210105785"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5032173428"],"corresponding_institution_ids":["https://openalex.org/I4210105785"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44745873,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21251","last_page":"21258"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5938000082969666,"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":0.5938000082969666,"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/T10868","display_name":"Soft Robotics and Applications","score":0.12439999729394913,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.05820000171661377,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.804099977016449},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.6615999937057495},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.6061999797821045},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5687000155448914},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.4357999861240387},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4246000051498413},{"id":"https://openalex.org/keywords/semantic-gap","display_name":"Semantic gap","score":0.39430001378059387}],"concepts":[{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.804099977016449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7204999923706055},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.6615999937057495},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.6061999797821045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.586899995803833},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5687000155448914},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4627000093460083},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.4357999861240387},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4246000051498413},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4101000130176544},{"id":"https://openalex.org/C86034646","wikidata":"https://www.wikidata.org/wiki/Q474311","display_name":"Semantic gap","level":4,"score":0.39430001378059387},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.36399999260902405},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3386000096797943},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.32190001010894775},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.2944999933242798},{"id":"https://openalex.org/C19768560","wikidata":"https://www.wikidata.org/wiki/Q320727","display_name":"Dependency (UML)","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.28679999709129333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247570","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247570","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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2108598243","https://openalex.org/W2914665668","https://openalex.org/W3138516171","https://openalex.org/W3159812989","https://openalex.org/W3183165162","https://openalex.org/W3185503317","https://openalex.org/W3205420310","https://openalex.org/W3206996142","https://openalex.org/W4283016714","https://openalex.org/W4293597205","https://openalex.org/W4312347618","https://openalex.org/W4312367758","https://openalex.org/W4316013385","https://openalex.org/W4385430681","https://openalex.org/W4386071707","https://openalex.org/W4386076222","https://openalex.org/W4401414358","https://openalex.org/W4402081887","https://openalex.org/W4402185305","https://openalex.org/W4402726993","https://openalex.org/W4403842931","https://openalex.org/W4405785700","https://openalex.org/W4406092394"],"related_works":[],"abstract_inverted_index":{"Multi-modal":[0],"perception":[1,26],"plays":[2],"a":[3,29,49,73,80,84,90,93,143],"crucial":[4],"role":[5],"in":[6,139,146],"preventing":[7],"deformation":[8],"and":[9,97,106,136],"damage":[10],"during":[11],"the":[12,35,60,111,119],"robotic":[13,25],"manipulation":[14],"of":[15,40,62,72,108],"deformable":[16],"objects.":[17],"However,":[18],"integrating":[19],"new":[20,57,109],"heterogeneous":[21],"modalities":[22,58,78,135],"into":[23,79],"existing":[24],"frameworks":[27],"remains":[28],"significant":[30],"challenge,":[31],"primarily":[32],"due":[33],"to":[34,55],"need":[36],"for":[37],"massive":[38],"amounts":[39],"paired":[41,68],"data.":[42,69],"In":[43],"this":[44],"paper,":[45],"we":[46],"propose":[47],"Uni-Zipper,":[48],"scalable":[50],"multi-modal":[51],"fusion":[52],"framework":[53],"designed":[54],"expand":[56],"with":[59,89],"help":[61],"semantic":[63],"enhancement":[64],"without":[65],"relying":[66],"on":[67],"Uni-Zipper":[70,131,149],"consists":[71],"tokenizer":[74],"that":[75,130],"projects":[76],"various":[77],"shared":[81],"embedding":[82,87],"space,":[83,96],"summary":[85],"word":[86],"layer":[88],"feature":[91],"dictionary,":[92],"modality":[94,120],"alignment":[95,113],"dynamic":[98],"reconfigurable":[99],"task":[100],"heads.":[101],"To":[102],"facilitate":[103],"efficient":[104],"integration":[105],"extension":[107],"modalities,":[110],"Zipper":[112],"mechanism":[114],"is":[115],"employed,":[116],"effectively":[117],"bridging":[118],"gap":[121],"between":[122],"different":[123],"input":[124],"types.":[125],"Our":[126],"experimental":[127],"results":[128],"demonstrate":[129],"successfully":[132],"fuses":[133],"four":[134],"enhances":[137],"performance":[138],"downstream":[140],"tasks.":[141],"Despite":[142],"12%":[144],"decrease":[145],"parameter":[147],"count,":[148],"maintains":[150],"comparable":[151],"performance.":[152]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}