{"id":"https://openalex.org/W2951631158","doi":"https://doi.org/10.1109/lra.2019.2933815","title":"Learning Grasp Affordance Reasoning Through Semantic Relations","display_name":"Learning Grasp Affordance Reasoning Through Semantic Relations","publication_year":2019,"publication_date":"2019-08-08","ids":{"openalex":"https://openalex.org/W2951631158","doi":"https://doi.org/10.1109/lra.2019.2933815","mag":"2951631158"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2933815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2933815","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1906.09836","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007510845","display_name":"Paola Ard\u00f3n","orcid":"https://orcid.org/0000-0002-3026-0706"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Paola Ardon","raw_affiliation_strings":["University of Edinburgh and Heriot-Watt University, Edinburgh, UK","Heriot Watt University"],"raw_orcid":"https://orcid.org/0000-0002-3026-0706","affiliations":[{"raw_affiliation_string":"University of Edinburgh and Heriot-Watt University, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511","https://openalex.org/I98677209"]},{"raw_affiliation_string":"Heriot Watt University","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019041076","display_name":"\u00c8ric Pairet","orcid":"https://orcid.org/0000-0002-3363-0426"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Eric Pairet","raw_affiliation_strings":["University of Edinburgh and Heriot-Watt University, Edinburgh, UK","Heriot Watt University"],"raw_orcid":"https://orcid.org/0000-0002-3363-0426","affiliations":[{"raw_affiliation_string":"University of Edinburgh and Heriot-Watt University, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511","https://openalex.org/I98677209"]},{"raw_affiliation_string":"Heriot Watt University","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085737296","display_name":"Ronald P. A. Petrick","orcid":"https://orcid.org/0000-0002-3386-9568"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ronald P. A. Petrick","raw_affiliation_strings":["University of Edinburgh and Heriot-Watt University, Edinburgh, UK","University of Edinburgh,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Edinburgh and Heriot-Watt University, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511","https://openalex.org/I98677209"]},{"raw_affiliation_string":"University of Edinburgh,","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071122608","display_name":"Subramanian Ramamoorthy","orcid":"https://orcid.org/0000-0002-6300-5103"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Subramanian Ramamoorthy","raw_affiliation_strings":["University of Edinburgh and Heriot-Watt University, Edinburgh, UK","University of Edinburgh,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Edinburgh and Heriot-Watt University, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511","https://openalex.org/I98677209"]},{"raw_affiliation_string":"University of Edinburgh,","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015324410","display_name":"Katrin S. Lohan","orcid":"https://orcid.org/0000-0001-9843-316X"},"institutions":[{"id":"https://openalex.org/I32062511","display_name":"Heriot-Watt University","ror":"https://ror.org/04mghma93","country_code":"GB","type":"education","lineage":["https://openalex.org/I32062511"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Katrin S. Lohan","raw_affiliation_strings":["University of Edinburgh and Heriot-Watt University, Edinburgh, UK","University of Edinburgh,"],"raw_orcid":"https://orcid.org/0000-0001-9843-316X","affiliations":[{"raw_affiliation_string":"University of Edinburgh and Heriot-Watt University, Edinburgh, UK","institution_ids":["https://openalex.org/I32062511","https://openalex.org/I98677209"]},{"raw_affiliation_string":"University of Edinburgh,","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2579,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.53654089,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":"4","first_page":"4571","last_page":"4578"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.984499990940094,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9736999869346619,"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":0.9714164733886719},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.9636664390563965},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7290837168693542},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.680802583694458},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6557098627090454},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5563190579414368},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5308510065078735},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.4913562834262848},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.48168691992759705},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3685424029827118},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11520147323608398},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10720247030258179}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9714164733886719},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.9636664390563965},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7290837168693542},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.680802583694458},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6557098627090454},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5563190579414368},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5308510065078735},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.4913562834262848},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48168691992759705},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3685424029827118},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11520147323608398},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10720247030258179},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2019.2933815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2933815","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1906.09836","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1906.09836","pdf_url":"https://arxiv.org/pdf/1906.09836","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2951631158","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1906.09836","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1906.09836","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1906.09836","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1906.09836","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1906.09836","pdf_url":"https://arxiv.org/pdf/1906.09836","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1522302154","https://openalex.org/W1580568969","https://openalex.org/W1891689858","https://openalex.org/W1977970897","https://openalex.org/W1999156278","https://openalex.org/W2021683594","https://openalex.org/W2022314986","https://openalex.org/W2028798328","https://openalex.org/W2047346158","https://openalex.org/W2071750684","https://openalex.org/W2098411764","https://openalex.org/W2105257398","https://openalex.org/W2123435073","https://openalex.org/W2132905014","https://openalex.org/W2152161678","https://openalex.org/W2157094900","https://openalex.org/W2160994953","https://openalex.org/W2165603175","https://openalex.org/W2166572934","https://openalex.org/W2194775991","https://openalex.org/W2237933813","https://openalex.org/W2773765248","https://openalex.org/W2776202271","https://openalex.org/W2923578350","https://openalex.org/W2962887844","https://openalex.org/W2962984928","https://openalex.org/W2999893964","https://openalex.org/W4238816640","https://openalex.org/W6634616096","https://openalex.org/W6678514604"],"related_works":["https://openalex.org/W171684774","https://openalex.org/W2742562340","https://openalex.org/W2001835246","https://openalex.org/W3210890798","https://openalex.org/W1891689858","https://openalex.org/W3168279596","https://openalex.org/W3150325556","https://openalex.org/W2562662699","https://openalex.org/W3132884204","https://openalex.org/W2610357341","https://openalex.org/W276494664","https://openalex.org/W2951731843","https://openalex.org/W3026024759","https://openalex.org/W2162876505","https://openalex.org/W3024175431","https://openalex.org/W3003201287","https://openalex.org/W2473068628","https://openalex.org/W3033837109","https://openalex.org/W3021149246","https://openalex.org/W2618235849"],"abstract_inverted_index":{"Reasoning":[0],"about":[1],"object":[2,14,46,122],"affordances":[3,43,89,119],"allows":[4],"an":[5,34,45,91],"autonomous":[6],"agent":[7],"to":[8,19,28,75,82],"perform":[9],"generalised":[10],"manipulation":[11],"tasks":[12],"among":[13],"instances.":[15],"While":[16],"current":[17],"approaches":[18],"grasp":[20,42,67,88,118,138,174],"affordance":[21,68,139,175],"estimation":[22],"are":[23,26],"effective,":[24],"they":[25],"limited":[27],"a":[29,54,77,84,103,154],"single":[30],"hypothesis.":[31],"We":[32,50,70,111,131],"present":[33],"approach":[35],"for":[36,66,90,141],"detection":[37],"and":[38,100,144,159],"extraction":[39],"of":[40,56,64,87,115,166],"multiple":[41,57],"on":[44,120,137,157,172],"via":[47],"visual":[48],"input.":[49],"define":[51],"semantics":[52],"as":[53],"combination":[55],"attributes,":[58],"which":[59],"yields":[60],"benefits":[61],"in":[62,149],"terms":[63],"generalisation":[65,135],"prediction.":[69,176],"use":[71],"Markov":[72],"Logic":[73],"Networks":[74],"build":[76],"knowledge":[78,96],"base":[79],"graph":[80],"representation":[81],"obtain":[83],"probability":[85],"distribution":[86],"object.":[92],"To":[93],"harvest":[94],"the":[95,116,121,150,164,167,173],"base,":[97],"we":[98,162],"collect":[99],"make":[101],"available":[102],"novel":[104,142],"dataset":[105],"that":[106],"relates":[107],"different":[108],"semantic":[109],"attributes.":[110],"achieve":[112],"reliable":[113],"mappings":[114],"predicted":[117],"by":[123],"learning":[124],"prototypical":[125],"grasping":[126,168],"patches":[127],"from":[128],"several":[129],"examples.":[130],"show":[132],"our":[133],"method's":[134],"capabilities":[136],"prediction":[140],"instances":[143],"compare":[145],"with":[146],"similar":[147],"methods":[148],"literature.":[151],"Moreover,":[152],"using":[153],"robotic":[155],"platform,":[156],"simulated":[158],"real":[160],"scenarios,":[161],"evaluate":[163],"success":[165],"task":[169],"when":[170],"conditioned":[171]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}