{"id":"https://openalex.org/W3213695441","doi":"https://doi.org/10.1109/lra.2022.3196164","title":"Learning Perceptual Concepts by Bootstrapping From Human Queries","display_name":"Learning Perceptual Concepts by Bootstrapping From Human Queries","publication_year":2022,"publication_date":"2022-08-11","ids":{"openalex":"https://openalex.org/W3213695441","doi":"https://doi.org/10.1109/lra.2022.3196164","mag":"3213695441"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3196164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3196164","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":["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/A5034978137","display_name":"Andreea Bobu","orcid":"https://orcid.org/0000-0002-9507-7427"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andreea Bobu","raw_affiliation_strings":["Electrical Engineering and Computer Science, University of California, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9507-7427","affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044926286","display_name":"Chris Paxton","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chris Paxton","raw_affiliation_strings":["NVIDIA Robotics, Redmond, WA, USA","Meta AI, New York, NY, USA"],"raw_orcid":"https://orcid.org/0000-0003-1009-5982","affiliations":[{"raw_affiliation_string":"NVIDIA Robotics, Redmond, WA, USA","institution_ids":["https://openalex.org/I4210127875"]},{"raw_affiliation_string":"Meta AI, New York, NY, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100709270","display_name":"Wei Yang","orcid":"https://orcid.org/0000-0003-3975-2472"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei Yang","raw_affiliation_strings":["NVIDIA Robotics, Redmond, WA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3975-2472","affiliations":[{"raw_affiliation_string":"NVIDIA Robotics, Redmond, WA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053446613","display_name":"Balakumar Sundaralingam","orcid":"https://orcid.org/0000-0003-3106-4755"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Balakumar Sundaralingam","raw_affiliation_strings":["NVIDIA Robotics, Redmond, WA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3106-4755","affiliations":[{"raw_affiliation_string":"NVIDIA Robotics, Redmond, WA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067607006","display_name":"Yu-Wei Chao","orcid":"https://orcid.org/0000-0002-5476-4343"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu-Wei Chao","raw_affiliation_strings":["NVIDIA Robotics, Redmond, WA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5476-4343","affiliations":[{"raw_affiliation_string":"NVIDIA Robotics, Redmond, WA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063086622","display_name":"Maya \u00c7akmak","orcid":"https://orcid.org/0000-0001-8457-6610"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maya Cakmak","raw_affiliation_strings":["NVIDIA Robotics, Redmond, WA, USA","Computer Science and Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA Robotics, Redmond, WA, USA","institution_ids":["https://openalex.org/I4210127875"]},{"raw_affiliation_string":"Computer Science and Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108257764","display_name":"Dieter Fox","orcid":"https://orcid.org/0009-0009-4694-9127"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dieter Fox","raw_affiliation_strings":["NVIDIA Robotics, Redmond, WA, USA","Computer Science and Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA Robotics, Redmond, WA, USA","institution_ids":["https://openalex.org/I4210127875"]},{"raw_affiliation_string":"Computer Science and Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5888,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.59792259,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"7","issue":"4","first_page":"11260","last_page":"11267"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9961000084877014,"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/bootstrapping","display_name":"Bootstrapping (finance)","score":0.6970741152763367},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6744300127029419},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5560973286628723},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5488095283508301},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5119810700416565},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5025303363800049},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.49716952443122864},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.44532883167266846},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.321487694978714},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.1633749008178711},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15138885378837585},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.14077678322792053},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08905518054962158}],"concepts":[{"id":"https://openalex.org/C207609745","wikidata":"https://www.wikidata.org/wiki/Q4944086","display_name":"Bootstrapping (finance)","level":2,"score":0.6970741152763367},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6744300127029419},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5560973286628723},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5488095283508301},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5119810700416565},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5025303363800049},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.49716952443122864},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.44532883167266846},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.321487694978714},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.1633749008178711},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15138885378837585},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.14077678322792053},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08905518054962158},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3196164","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3196164","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W642078922","https://openalex.org/W1658011328","https://openalex.org/W1837766154","https://openalex.org/W1999874108","https://openalex.org/W2098774185","https://openalex.org/W2126105931","https://openalex.org/W2132083787","https://openalex.org/W2141664020","https://openalex.org/W2158582431","https://openalex.org/W2161313852","https://openalex.org/W2162009473","https://openalex.org/W2177382477","https://openalex.org/W2190691619","https://openalex.org/W2290104316","https://openalex.org/W2547222361","https://openalex.org/W2565370028","https://openalex.org/W2594043679","https://openalex.org/W2806130867","https://openalex.org/W2808201635","https://openalex.org/W2895439318","https://openalex.org/W2917084500","https://openalex.org/W2950370840","https://openalex.org/W2962951365","https://openalex.org/W2963121255","https://openalex.org/W2963188159","https://openalex.org/W2963508354","https://openalex.org/W2963590100","https://openalex.org/W2963646405","https://openalex.org/W2986303149","https://openalex.org/W2994972935","https://openalex.org/W3035644784","https://openalex.org/W3035912249","https://openalex.org/W3038245394","https://openalex.org/W3046136908","https://openalex.org/W3091340437","https://openalex.org/W3091357794","https://openalex.org/W3133557228","https://openalex.org/W3179146632","https://openalex.org/W3198056660","https://openalex.org/W3201368126","https://openalex.org/W3205994030","https://openalex.org/W3213974477","https://openalex.org/W4225737910","https://openalex.org/W4288076204","https://openalex.org/W4288276273","https://openalex.org/W4288320511","https://openalex.org/W4288347236","https://openalex.org/W4312891162","https://openalex.org/W4394671432","https://openalex.org/W6637214438","https://openalex.org/W6674884181","https://openalex.org/W6684097133","https://openalex.org/W6685353786","https://openalex.org/W6687484953","https://openalex.org/W6696380822","https://openalex.org/W6739778489","https://openalex.org/W6763982409","https://openalex.org/W6766196693","https://openalex.org/W6768425981","https://openalex.org/W6771598146","https://openalex.org/W6781542114","https://openalex.org/W6800004206","https://openalex.org/W6800497432","https://openalex.org/W6800564222","https://openalex.org/W6810073025"],"related_works":["https://openalex.org/W2068931720","https://openalex.org/W2756241593","https://openalex.org/W4307244142","https://openalex.org/W2002995732","https://openalex.org/W3011810433","https://openalex.org/W4362697683","https://openalex.org/W4312050762","https://openalex.org/W2801801420","https://openalex.org/W4311828510","https://openalex.org/W3090948685"],"abstract_inverted_index":{"When":[0],"robots":[1],"operate":[2],"in":[3,189],"human":[4,59,107,136],"environments,":[5],"it's":[6],"critical":[7],"that":[8,23,144,163],"humans":[9],"can":[10],"quickly":[11],"teach":[12],"them":[13],"new":[14,41],"<italic":[15,29,33,79],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[16,30,34,80],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">concepts:</i>":[17],"object-centric":[18],"properties":[19],"of":[20,58,185],"the":[21,76,127,183,186],"environment":[22],"they":[24],"care":[25],"about":[26],"(e.g.,":[27,49],"objects":[28],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">near</i>":[31],",":[32,36,83],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">upright</i>":[35],"etc).":[37],"However,":[38],"teaching":[39],"a":[40,66,92,101,121,194],"perceptual":[42,142],"concept":[43,104,114],"from":[44,91,105],"high-dimensional":[45,123],"robot":[46],"sensor":[47,148],"data":[48,124],"point":[50],"clouds)":[51],"is":[52,154],"demanding,":[53],"requiring":[54],"an":[55,116],"unrealistic":[56],"amount":[57],"labels.":[60],"To":[61],"address":[62],"this,":[63],"we":[64,74,110],"propose":[65],"framework":[67],"called":[68],"Perceptual":[69],"Concept":[70],"Bootstrapping":[71],"(PCB).":[72],"First,":[73],"leverage":[75],"inherently":[77],"lower-dimensional":[78],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">privileged":[81],"information</i>":[82],"e.g.,":[84],"object":[85,165],"poses":[86],"and":[87,170],"bounding":[88],"boxes,":[89],"available":[90],"simulator":[93],"only":[94],"at":[95],"training":[96],"time":[97],"to":[98,119,177],"rapidly":[99],"learn":[100],"low-dimensional,":[102],"geometric":[103],"minimal":[106],"input.":[108],"Second,":[109],"treat":[111],"this":[112],"low-dimensional":[113],"as":[115],"automatic":[117],"labeler":[118],"synthesize":[120],"large-scale":[122],"set":[125],"with":[126,146],"simulator.":[128],"With":[129],"these":[130],"two":[131],"key":[132],"ideas,":[133],"PCB":[134,158],"alleviates":[135],"label":[137],"burden":[138],"while":[139],"still":[140],"learning":[141,160],"concepts":[143,162,188],"work":[145],"real":[147],"input":[149],"where":[150],"no":[151],"privileged":[152],"information":[153],"available.":[155],"We":[156,180],"evaluate":[157],"for":[159],"spatial":[161],"describe":[164],"state":[166],"or":[167],"multi-object":[168],"relationships,":[169],"show":[171],"it":[172],"achieves":[173],"superior":[174],"performance":[175],"compared":[176],"baseline":[178],"methods.":[179],"also":[181],"demonstrate":[182],"utility":[184],"learned":[187],"motion":[190],"planning":[191],"tasks":[192],"on":[193],"7-DoF":[195],"Franka":[196],"Panda":[197],"robot.":[198]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}