{"id":"https://openalex.org/W4385696075","doi":"https://doi.org/10.1109/lra.2023.3303829","title":"KINet: Unsupervised Forward Models for Robotic Pushing Manipulation","display_name":"KINet: Unsupervised Forward Models for Robotic Pushing Manipulation","publication_year":2023,"publication_date":"2023-08-09","ids":{"openalex":"https://openalex.org/W4385696075","doi":"https://doi.org/10.1109/lra.2023.3303829"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3303829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3303829","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":["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/A5088480186","display_name":"Alireza Rezazadeh","orcid":"https://orcid.org/0000-0002-2457-9470"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alireza Rezazadeh","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Minnesota, Minneapolis, MN, USA"],"raw_orcid":"https://orcid.org/0000-0002-2457-9470","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057994317","display_name":"Changhyun Choi","orcid":"https://orcid.org/0000-0003-4715-3576"},"institutions":[{"id":"https://openalex.org/I130238516","display_name":"University of Minnesota","ror":"https://ror.org/017zqws13","country_code":"US","type":"education","lineage":["https://openalex.org/I130238516"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changhyun Choi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Minnesota, Minneapolis, MN, USA"],"raw_orcid":"https://orcid.org/0000-0003-4715-3576","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Minnesota, Minneapolis, MN, USA","institution_ids":["https://openalex.org/I130238516"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130238516"],"apc_list":null,"apc_paid":null,"fwci":0.8493,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73350339,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"8","issue":"10","first_page":"6195","last_page":"6202"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9926999807357788,"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":0.9775000214576721,"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/computer-science","display_name":"Computer science","score":0.7477402687072754},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.7292227745056152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7134546041488647},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6655697822570801},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.6517885327339172},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5940968990325928},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5480079054832458},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.524619460105896},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.49794840812683105},{"id":"https://openalex.org/keywords/visual-reasoning","display_name":"Visual reasoning","score":0.49387651681900024},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.4835798144340515},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.4329240918159485},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4318525791168213},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4314594864845276},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3942175805568695},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.23724254965782166},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.15841171145439148}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7477402687072754},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7292227745056152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7134546041488647},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6655697822570801},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.6517885327339172},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5940968990325928},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5480079054832458},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.524619460105896},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.49794840812683105},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.49387651681900024},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.4835798144340515},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.4329240918159485},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4318525791168213},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4314594864845276},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3942175805568695},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.23724254965782166},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.15841171145439148},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3303829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3303829","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W582134693","https://openalex.org/W1505952289","https://openalex.org/W1686810756","https://openalex.org/W1959608418","https://openalex.org/W2073787051","https://openalex.org/W2081817157","https://openalex.org/W2158782408","https://openalex.org/W2770604561","https://openalex.org/W2787337315","https://openalex.org/W2804072623","https://openalex.org/W2809146571","https://openalex.org/W2910781732","https://openalex.org/W2949678110","https://openalex.org/W2952915411","https://openalex.org/W2955368974","https://openalex.org/W2963419579","https://openalex.org/W2963547393","https://openalex.org/W2964112890","https://openalex.org/W2967246123","https://openalex.org/W2977856604","https://openalex.org/W2981954551","https://openalex.org/W2991222810","https://openalex.org/W3012514211","https://openalex.org/W3021925415","https://openalex.org/W3040127685","https://openalex.org/W3086412568","https://openalex.org/W3131075173","https://openalex.org/W3150679290","https://openalex.org/W3169196627","https://openalex.org/W4288094291","https://openalex.org/W4288322145","https://openalex.org/W4297808394","https://openalex.org/W4322614752","https://openalex.org/W6617145748","https://openalex.org/W6637373629","https://openalex.org/W6640963894","https://openalex.org/W6720244596","https://openalex.org/W6720501231","https://openalex.org/W6729508183","https://openalex.org/W6746445604","https://openalex.org/W6748320467","https://openalex.org/W6752737978","https://openalex.org/W6754539604","https://openalex.org/W6758417531","https://openalex.org/W6764529735","https://openalex.org/W6765456200","https://openalex.org/W6768523115","https://openalex.org/W6769281838","https://openalex.org/W6770507128","https://openalex.org/W6774733536","https://openalex.org/W6777014542","https://openalex.org/W6779634865","https://openalex.org/W6781776314","https://openalex.org/W6783068448","https://openalex.org/W6792405717","https://openalex.org/W6796163856","https://openalex.org/W6844194202"],"related_works":["https://openalex.org/W4237171675","https://openalex.org/W3036286480","https://openalex.org/W3192357901","https://openalex.org/W2387360586","https://openalex.org/W4287027631","https://openalex.org/W2952736415","https://openalex.org/W3209723314","https://openalex.org/W3205398323","https://openalex.org/W2883297582","https://openalex.org/W4390524233"],"abstract_inverted_index":{"Object-centric":[0],"representation":[1,15,73],"is":[2,29],"an":[3,89],"essential":[4],"abstraction":[5],"for":[6,146],"forward":[7,11,91,139],"prediction.":[8],"Most":[9],"existing":[10],"models":[12],"learn":[13],"this":[14],"through":[16],"extensive":[17],"supervision":[18],"(e.g.,":[19],"object":[20,50,127],"class":[21],"and":[22,69,83,125,141],"bounding":[23],"box)":[24],"although":[25],"such":[26],"ground-truth":[27],"information":[28],"not":[30],"readily":[31],"accessible":[32],"in":[33,107,136],"reality.":[34],"To":[35],"address":[36],"this,":[37],"we":[38],"introduce":[39],"KINet":[40],"(Keypoint":[41],"Interaction":[42],"Network)\u2014an":[43],"end-to-end":[44],"unsupervised":[45],"framework":[46],"to":[47,63,96,103,115],"reason":[48],"about":[49],"interactions":[51],"based":[52],"on":[53],"a":[54,71,78,118],"keypoint":[55,67,81,99,109],"representation.":[56],"Using":[57],"visual":[58],"observations,":[59],"our":[60,111,134],"model":[61,92,112,135],"learns":[62,88],"associate":[64],"objects":[65],"with":[66,117],"coordinates":[68],"discovers":[70],"graph":[72],"of":[74,80,121,133],"the":[75,108,131],"system":[76],"as":[77],"set":[79],"embeddings":[82],"their":[84],"relations.":[85],"It":[86],"then":[87],"action-conditioned":[90],"using":[93],"contrastive":[94],"estimation":[95],"predict":[97],"future":[98],"states.":[100],"By":[101],"learning":[102,142],"perform":[104],"physical":[105],"reasoning":[106],"space,":[110],"automatically":[113],"generalizes":[114],"scenarios":[116],"different":[119],"number":[120],"objects,":[122],"novel":[123],"backgrounds,":[124],"unseen":[126],"geometries.":[128],"Experiments":[129],"demonstrate":[130],"effectiveness":[132],"accurately":[137],"performing":[138],"prediction":[140],"plannable":[143],"object-centric":[144],"representations":[145],"downstream":[147],"robotic":[148],"pushing":[149],"manipulation":[150],"tasks.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}