{"id":"https://openalex.org/W4385975783","doi":"https://doi.org/10.1109/lra.2023.3306671","title":"Prepare the Chair for the Bear! Robot Imagination of Sitting Affordance to Reorient Previously Unseen Chairs","display_name":"Prepare the Chair for the Bear! Robot Imagination of Sitting Affordance to Reorient Previously Unseen Chairs","publication_year":2023,"publication_date":"2023-08-18","ids":{"openalex":"https://openalex.org/W4385975783","doi":"https://doi.org/10.1109/lra.2023.3306671"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3306671","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3306671","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10224312.pdf","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":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10224312.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050601774","display_name":"Xin Meng","orcid":"https://orcid.org/0009-0007-7211-9405"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Xin Meng","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0009-0007-7211-9405","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044013282","display_name":"Hongtao Wu","orcid":"https://orcid.org/0000-0002-6442-8159"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongtao Wu","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":"https://orcid.org/0000-0002-6442-8159","affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030011125","display_name":"Sipu Ruan","orcid":"https://orcid.org/0000-0001-5075-6728"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Sipu Ruan","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0001-5075-6728","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012775344","display_name":"Gregory S. Chirikjian","orcid":"https://orcid.org/0000-0003-0542-9028"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gregory S. Chirikjian","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":"https://orcid.org/0000-0003-0542-9028","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8178,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.72498558,"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":"6515","last_page":"6522"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.993399977684021,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9879000186920166,"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":0.9362379908561707},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6861361265182495},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6678237318992615},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6393647193908691},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5733744502067566},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5700382590293884},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.49559056758880615},{"id":"https://openalex.org/keywords/sitting","display_name":"Sitting","score":0.4884580671787262},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.4810095727443695},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4512726664543152},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14281553030014038},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06737455725669861}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9362379908561707},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6861361265182495},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6678237318992615},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6393647193908691},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5733744502067566},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5700382590293884},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.49559056758880615},{"id":"https://openalex.org/C2776370487","wikidata":"https://www.wikidata.org/wiki/Q1144593","display_name":"Sitting","level":2,"score":0.4884580671787262},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.4810095727443695},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4512726664543152},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14281553030014038},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06737455725669861},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3306671","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3306671","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10224312.pdf","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":{"id":"doi:10.1109/lra.2023.3306671","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3306671","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/7339444/10224312.pdf","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"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6549065091","display_name":null,"funder_award_id":"A-0009428-08-00","funder_id":"https://openalex.org/F4320320709","funder_display_name":"National Research Foundation Singapore"}],"funders":[{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"},{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320320709","display_name":"National Research Foundation Singapore","ror":"https://ror.org/03cpyc314"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385975783.pdf","grobid_xml":"https://content.openalex.org/works/W4385975783.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W15647147","https://openalex.org/W46565623","https://openalex.org/W1920293286","https://openalex.org/W1933657216","https://openalex.org/W2009422376","https://openalex.org/W2010625607","https://openalex.org/W2011876213","https://openalex.org/W2032165333","https://openalex.org/W2049981393","https://openalex.org/W2060851700","https://openalex.org/W2068127265","https://openalex.org/W2082648764","https://openalex.org/W2156770905","https://openalex.org/W2399346017","https://openalex.org/W2482127302","https://openalex.org/W2810014040","https://openalex.org/W2914996824","https://openalex.org/W2962984928","https://openalex.org/W2963188159","https://openalex.org/W2964873565","https://openalex.org/W3089655727","https://openalex.org/W3109832700","https://openalex.org/W3135359526","https://openalex.org/W3175955419","https://openalex.org/W3188649400","https://openalex.org/W3207908209","https://openalex.org/W3214000333","https://openalex.org/W4288329643","https://openalex.org/W4308233812","https://openalex.org/W6600647119","https://openalex.org/W6713110317","https://openalex.org/W6763455399","https://openalex.org/W6799230372","https://openalex.org/W6804361632","https://openalex.org/W6903373631"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W2295809616","https://openalex.org/W3049116993","https://openalex.org/W3014080459","https://openalex.org/W2951631158","https://openalex.org/W4288313544","https://openalex.org/W2976611405"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"a":[3,44,55,68,78,98,120,155,163],"paradigm":[4,165],"for":[5,57,145],"the":[6,18,25,72,86,89,95,125,139],"classification":[7],"and":[8,15,32,38,74,161],"manipulation":[9],"of":[10,20,28,71,129,141,158],"novel":[11],"objects":[12],"is":[13,47,54,97],"established":[14],"demonstrated":[16],"with":[17],"example":[19],"chairs.":[21,146],"Our":[22],"approach":[23],"leverages":[24],"robot's":[26,87],"understanding":[27],"object":[29,73,96],"stability,":[30],"perceptibility,":[31],"affordance":[33],"to":[34,48,106,110,154],"prepare":[35],"previously":[36],"unseen":[37],"randomly":[39],"oriented":[40],"chairs":[41],"on":[42,124,138],"which":[43],"teddy":[45,52],"bear":[46,53],"be":[49,111,151],"seated.":[50],"The":[51,147],"proxy":[56],"an":[58],"elderly":[59],"person,":[60],"hospital":[61],"patient,":[62],"or":[63,93],"child.":[64],"By":[65],"autonomously":[66],"reconstructing":[67],"complete":[69],"model":[70],"inserting":[75],"it":[76,102,108,133],"into":[77],"physical":[79],"simulator":[80],"(":[81],"<italic":[82],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[83],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">i.e.</i>":[84],",":[85],"\u201cimagination\u201d),":[88],"robot":[90,127],"assesses":[91],"whether":[92],"not":[94],"chair":[99,130],"and,":[100],"if":[101],"is,":[103],"determines":[104],"how":[105],"reorient":[107],"properly":[109],"used.":[112],"Experimental":[113],"results":[114],"show":[115],"that":[116],"our":[117],"method":[118],"achieves":[119],"high":[121],"success":[122],"rate":[123],"real":[126],"task":[128,140],"preparation.":[131],"Also,":[132],"outperforms":[134],"several":[135],"baseline":[136],"methods":[137],"upright":[142],"pose":[143],"prediction":[144],"same":[148],"methodology":[149],"can":[150],"easily":[152],"transferred":[153],"wide":[156],"variety":[157],"application":[159],"scenarios,":[160],"illustrates":[162],"broader":[164],"in":[166],"affordance-based":[167],"reasoning.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}