{"id":"https://openalex.org/W4404035319","doi":"https://doi.org/10.1109/lra.2024.3491428","title":"DLO Perceiver: Grounding Large Language Model for Deformable Linear Objects Perception","display_name":"DLO Perceiver: Grounding Large Language Model for Deformable Linear Objects Perception","publication_year":2024,"publication_date":"2024-11-04","ids":{"openalex":"https://openalex.org/W4404035319","doi":"https://doi.org/10.1109/lra.2024.3491428"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3491428","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3491428","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://doi.org/10.1109/lra.2024.3491428","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047324536","display_name":"Alessio Caporali","orcid":"https://orcid.org/0000-0001-9522-4231"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Alessio Caporali","raw_affiliation_strings":["DEI - Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"DEI - Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052879715","display_name":"Kevin Galassi","orcid":"https://orcid.org/0000-0001-7351-035X"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Kevin Galassi","raw_affiliation_strings":["DEI - Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"DEI - Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038240894","display_name":"Gianluca Palli","orcid":"https://orcid.org/0000-0001-9457-4643"},"institutions":[{"id":"https://openalex.org/I9360294","display_name":"University of Bologna","ror":"https://ror.org/01111rn36","country_code":"IT","type":"education","lineage":["https://openalex.org/I9360294"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Palli","raw_affiliation_strings":["DEI - Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy"],"affiliations":[{"raw_affiliation_string":"DEI - Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy","institution_ids":["https://openalex.org/I9360294"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5047324536"],"corresponding_institution_ids":["https://openalex.org/I9360294"],"apc_list":null,"apc_paid":null,"fwci":0.7339,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.72927475,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"9","issue":"12","first_page":"11385","last_page":"11392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.6834999918937683,"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"}},"topics":[{"id":"https://openalex.org/T14339","display_name":"Image Processing and 3D Reconstruction","score":0.6834999918937683,"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/T13382","display_name":"Robotics and Automated Systems","score":0.6823999881744385,"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/T10320","display_name":"Neural Networks and Applications","score":0.6786999702453613,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.7220784425735474},{"id":"https://openalex.org/keywords/ground","display_name":"Ground","score":0.5125672817230225},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.4705812335014343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4173542857170105},{"id":"https://openalex.org/keywords/communication","display_name":"Communication","score":0.41392892599105835},{"id":"https://openalex.org/keywords/cognitive-science","display_name":"Cognitive science","score":0.3795001208782196},{"id":"https://openalex.org/keywords/cognitive-psychology","display_name":"Cognitive psychology","score":0.3423672914505005},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3316029906272888},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33149075508117676},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13551875948905945},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.09879034757614136},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07235661149024963}],"concepts":[{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.7220784425735474},{"id":"https://openalex.org/C168993435","wikidata":"https://www.wikidata.org/wiki/Q6501125","display_name":"Ground","level":2,"score":0.5125672817230225},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.4705812335014343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4173542857170105},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.41392892599105835},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.3795001208782196},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.3423672914505005},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3316029906272888},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33149075508117676},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13551875948905945},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.09879034757614136},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07235661149024963}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3491428","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3491428","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:cris.unibo.it:11585/1000282","is_oa":true,"landing_page_url":"https://hdl.handle.net/11585/1000282","pdf_url":"https://cris.unibo.it/bitstream/11585/1000282/1/editoriale.pdf","source":{"id":"https://openalex.org/S4306402579","display_name":"Archivio istituzionale della ricerca (Alma Mater Studiorum Universit\u00e0 di Bologna)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210117483","host_organization_name":"Istituto di Ematologia di Bologna","host_organization_lineage":["https://openalex.org/I4210117483"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/lra.2024.3491428","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2024.3491428","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/G8938289497","display_name":null,"funder_award_id":"101070136","funder_id":"https://openalex.org/F4320334322","funder_display_name":"HORIZON EUROPE Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320334322","display_name":"HORIZON EUROPE Framework Programme","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2096733369","https://openalex.org/W2194775991","https://openalex.org/W2892289384","https://openalex.org/W2896457183","https://openalex.org/W2963953778","https://openalex.org/W3131169046","https://openalex.org/W3138516171","https://openalex.org/W3178912571","https://openalex.org/W3192021195","https://openalex.org/W3199140136","https://openalex.org/W4200166436","https://openalex.org/W4210521355","https://openalex.org/W4214611271","https://openalex.org/W4226465778","https://openalex.org/W4285506896","https://openalex.org/W4312420092","https://openalex.org/W4313598874","https://openalex.org/W4319993371","https://openalex.org/W4321021718","https://openalex.org/W4324092554","https://openalex.org/W4375928277","https://openalex.org/W4382365541","https://openalex.org/W4383097461","https://openalex.org/W4383108807","https://openalex.org/W4385489615","https://openalex.org/W4389164282","https://openalex.org/W4390874575","https://openalex.org/W4391128579","https://openalex.org/W4392172801","https://openalex.org/W4392908015","https://openalex.org/W6790830454","https://openalex.org/W6791353385","https://openalex.org/W6798369812","https://openalex.org/W6843759960","https://openalex.org/W6850787431","https://openalex.org/W6861627779"],"related_works":["https://openalex.org/W2021787609","https://openalex.org/W1537063595","https://openalex.org/W2097328689","https://openalex.org/W4234899305","https://openalex.org/W2379604501","https://openalex.org/W2373854414","https://openalex.org/W2574906695","https://openalex.org/W2522183581","https://openalex.org/W2954371137","https://openalex.org/W2087303720"],"abstract_inverted_index":{"The":[0,140],"perception":[1,68,90],"of":[2,19,36,62,75,91,106,148],"Deformable":[3],"Linear":[4],"Objects":[5],"(DLOs)":[6],"is":[7,38,97,120,142],"a":[8,31,85,100,117,136],"challenging":[9],"task":[10,69],"due":[11],"to":[12,40,122],"their":[13],"complex":[14,54],"and":[15,25,33,53,114,130,153,158],"ambiguous":[16],"appearance,":[17],"lack":[18],"discernible":[20],"features,":[21],"typically":[22],"small":[23],"sizes,":[24],"deformability.":[26],"Despite":[27],"these":[28],"challenges,":[29],"achieving":[30],"robust":[32],"effective":[34],"segmentation":[35,105],"DLOs":[37,149],"crucial":[39],"introduce":[41],"robots":[42,77],"into":[43,127],"environments":[44],"where":[45],"they":[46],"are":[47],"currently":[48],"underrepresented,":[49],"such":[50],"as":[51,78],"domestic":[52],"industrial":[55],"settings.":[56],"In":[57],"this":[58,82],"context,":[59],"the":[60,67,73,89,94,104,107,112,124,132],"integration":[61],"language-based":[63],"inputs":[64],"can":[65],"simplify":[66],"while":[70],"also":[71],"enabling":[72],"possibility":[74],"introducing":[76],"human":[79],"companions.":[80],"Therefore,":[81],"letter":[83],"proposes":[84],"novel":[86],"architecture":[87],"for":[88],"DLOs,":[92],"wherein":[93],"input":[95],"image":[96,113],"augmented":[98],"with":[99],"text-based":[101],"prompt":[102],"guiding":[103],"target":[108],"DLO.":[109],"After":[110],"encoding":[111],"text":[115],"separately,":[116],"Perceiver-inspired":[118],"structure":[119],"exploited":[121],"compress":[123],"concatenated":[125],"data":[126],"transformer":[128],"layers":[129],"generate":[131],"output":[133],"mask":[134],"from":[135],"latent":[137],"vector":[138],"representation.":[139],"method":[141],"experimentally":[143],"evaluated":[144],"on":[145],"real-world":[146],"images":[147],"like":[150],"electrical":[151],"cables":[152],"ropes,":[154],"validating":[155],"its":[156],"efficacy":[157],"efficiency":[159],"in":[160],"real":[161],"practical":[162],"scenarios.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
