{"id":"https://openalex.org/W4386821556","doi":"https://doi.org/10.1109/lra.2023.3313917","title":"The Treachery of Images: Bayesian Scene Keypoints for Deep Policy Learning in Robotic Manipulation","display_name":"The Treachery of Images: Bayesian Scene Keypoints for Deep Policy Learning in Robotic Manipulation","publication_year":2023,"publication_date":"2023-09-18","ids":{"openalex":"https://openalex.org/W4386821556","doi":"https://doi.org/10.1109/lra.2023.3313917"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3313917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313917","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/A5038060538","display_name":"Jan Ole von Hartz","orcid":"https://orcid.org/0000-0001-6162-8596"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jan Ole von Hartz","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045451899","display_name":"Eugenio Chisari","orcid":"https://orcid.org/0000-0001-7928-9377"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eugenio Chisari","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084779517","display_name":"Tim Welschehold","orcid":"https://orcid.org/0000-0003-1163-4992"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim Welschehold","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I3130238102","display_name":"Lutheran University of Applied Sciences Nuremberg","ror":"https://ror.org/01tbgce33","country_code":"DE","type":"education","lineage":["https://openalex.org/I3130238102"]},{"id":"https://openalex.org/I4387153582","display_name":"University of Technology Nuremberg","ror":"https://ror.org/02sv65x64","country_code":null,"type":"education","lineage":["https://openalex.org/I4387153582"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Department of Engineering, University of Technology Nuremberg, Bavaria, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Engineering, University of Technology Nuremberg, Bavaria, Germany","institution_ids":["https://openalex.org/I3130238102","https://openalex.org/I4387153582"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038908529","display_name":"Joschka Boedecker","orcid":"https://orcid.org/0000-0002-3486-7345"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joschka Boedecker","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039639553","display_name":"Abhinav Valada","orcid":"https://orcid.org/0000-0003-4710-3114"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abhinav Valada","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5038060538"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":1.7483,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.87745353,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"8","issue":"11","first_page":"6931","last_page":"6938"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9980000257492065,"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"}},"topics":[{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9980000257492065,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9966999888420105,"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":0.9922999739646912,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.8212134838104248},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7655009031295776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7131741642951965},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.518692135810852},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5053158402442932},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.45914575457572937}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8212134838104248},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7655009031295776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7131741642951965},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.518692135810852},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5053158402442932},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.45914575457572937},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3313917","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3313917","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":[{"id":"https://metadata.un.org/sdg/16","score":0.6899999976158142,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320321421","display_name":"Albert-Ludwigs-Universit\u00e4t Freiburg","ror":"https://ror.org/0245cg223"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1567136651","https://openalex.org/W1673310716","https://openalex.org/W1955514522","https://openalex.org/W2064675550","https://openalex.org/W2077946443","https://openalex.org/W2098854771","https://openalex.org/W2108598243","https://openalex.org/W2115213191","https://openalex.org/W2160646681","https://openalex.org/W2753738274","https://openalex.org/W2811406147","https://openalex.org/W2955368974","https://openalex.org/W2963177347","https://openalex.org/W2964779621","https://openalex.org/W2990208804","https://openalex.org/W2991276239","https://openalex.org/W3007769740","https://openalex.org/W3034275286","https://openalex.org/W3091026106","https://openalex.org/W3091470805","https://openalex.org/W3155680016","https://openalex.org/W3164024107","https://openalex.org/W3169196627","https://openalex.org/W3187722890","https://openalex.org/W3202542428","https://openalex.org/W3205261317","https://openalex.org/W3217061668","https://openalex.org/W4221167441","https://openalex.org/W4224598146","https://openalex.org/W4281557677","https://openalex.org/W4285102313","https://openalex.org/W4285102336","https://openalex.org/W4286910393","https://openalex.org/W4295246696","https://openalex.org/W4295680379","https://openalex.org/W4298857966","https://openalex.org/W4308831279","https://openalex.org/W4323525773","https://openalex.org/W4382365724","https://openalex.org/W6633950401","https://openalex.org/W6637131181","https://openalex.org/W6637967152","https://openalex.org/W6744627333","https://openalex.org/W6752823625","https://openalex.org/W6756444276","https://openalex.org/W6758420182","https://openalex.org/W6765456200","https://openalex.org/W6784173345","https://openalex.org/W6795475546","https://openalex.org/W6796163856","https://openalex.org/W6799150178","https://openalex.org/W6802465667","https://openalex.org/W6810123038","https://openalex.org/W6842914652"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2166024367","https://openalex.org/W2772917594","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"In":[0,41],"policy":[1,134],"learning":[2,13,135,140],"for":[3,133],"robotic":[4,169],"manipulation,":[5],"sample":[6],"efficiency":[7],"is":[8,22],"of":[9,33,64,66],"paramount":[10],"importance.":[11],"Thus,":[12],"and":[14,36,44,109,111,129,153,167],"extracting":[15],"more":[16],"compact":[17],"representations":[18],"from":[19,125],"camera":[20,71,127],"observations":[21,128],"a":[23,86],"promising":[24],"avenue.":[25],"However,":[26],"current":[27],"methods":[28],"often":[29,57],"assume":[30],"full":[31],"observability":[32],"the":[34,54,62,67,70],"scene":[35,55],"struggle":[37],"with":[38,74],"scale":[39],"invariance.":[40],"many":[42],"tasks":[43,124],"settings,":[45],"this":[46,81],"assumption":[47],"does":[48],"not":[49],"hold":[50],"as":[51,150,157,159],"objects":[52,108,163],"in":[53,101,165],"are":[56],"occluded":[58,110],"or":[59],"lie":[60],"outside":[61],"field":[63],"view":[65],"camera,":[68],"rendering":[69],"observation":[72],"ambiguous":[73],"regard":[75],"to":[76,89,118,137,161],"their":[77],"location.":[78],"To":[79],"tackle":[80],"problem,":[82],"we":[83,143],"present":[84],"BASK,":[85],"Bayesian":[87],"approach":[88,96],"tracking":[90,105],"scale-invariant":[91],"keypoints":[92],"over":[93],"time.":[94],"Our":[95],"successfully":[97],"resolves":[98],"inherent":[99],"ambiguities":[100],"images,":[102],"enabling":[103],"keypoint":[104],"on":[106],"symmetrical":[107],"out-of-view":[112],"objects.":[113],"We":[114],"employ":[115],"our":[116],"method":[117],"learn":[119],"challenging":[120],"multi-object":[121],"robot":[122],"manipulation":[123],"wrist":[126],"demonstrate":[130],"superior":[131],"utility":[132],"compared":[136],"other":[138],"representation":[139],"techniques.":[141],"Furthermore,":[142],"show":[144],"outstanding":[145],"robustness":[146],"towards":[147],"disturbances":[148],"such":[149],"clutter,":[151],"occlusions,":[152],"noisy":[154],"depth":[155],"measurements,":[156],"well":[158],"generalization":[160],"unseen":[162],"both":[164],"simulation":[166],"real-world":[168],"experiments.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}