{"id":"https://openalex.org/W4405811880","doi":"https://doi.org/10.1109/lra.2024.3522841","title":"Open-Vocabulary Mobile Manipulation Based on Double Relaxed Contrastive Learning With Dense Labeling","display_name":"Open-Vocabulary Mobile Manipulation Based on Double Relaxed Contrastive Learning With Dense Labeling","publication_year":2024,"publication_date":"2024-12-26","ids":{"openalex":"https://openalex.org/W4405811880","doi":"https://doi.org/10.1109/lra.2024.3522841"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3522841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3522841","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/A5115637817","display_name":"Daichi Yashima","orcid":null},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Daichi Yashima","raw_affiliation_strings":["Keio University, Yokohama, Kanagawa, Japan"],"raw_orcid":"https://orcid.org/0009-0005-2087-2038","affiliations":[{"raw_affiliation_string":"Keio University, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092489705","display_name":"Ryosuke Korekata","orcid":"https://orcid.org/0009-0008-0354-9070"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryosuke Korekata","raw_affiliation_strings":["Keio University, Yokohama, Kanagawa, Japan"],"raw_orcid":"https://orcid.org/0009-0008-0354-9070","affiliations":[{"raw_affiliation_string":"Keio University, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033744547","display_name":"Komei Sugiura","orcid":"https://orcid.org/0000-0002-0261-0510"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Komei Sugiura","raw_affiliation_strings":["Keio University, Yokohama, Kanagawa, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0261-0510","affiliations":[{"raw_affiliation_string":"Keio University, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5115637817"],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":0.2381,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.56206055,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"2","first_page":"1728","last_page":"1735"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9973000288009644,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9973000288009644,"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/T12031","display_name":"Speech and dialogue systems","score":0.989300012588501,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9830999970436096,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.625454843044281},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.4530361592769623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3754631280899048},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3592381477355957},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.33285999298095703},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.07215934991836548}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.625454843044281},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.4530361592769623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3754631280899048},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3592381477355957},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.33285999298095703},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.07215934991836548}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3522841","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3522841","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":[{"display_name":"Quality Education","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321680","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2193945050","https://openalex.org/W2963800628","https://openalex.org/W2964339842","https://openalex.org/W2972544311","https://openalex.org/W3034578524","https://openalex.org/W3094502228","https://openalex.org/W3096655658","https://openalex.org/W3099587965","https://openalex.org/W3216235189","https://openalex.org/W4214481550","https://openalex.org/W4224912544","https://openalex.org/W4225166070","https://openalex.org/W4297808394","https://openalex.org/W4310813115","https://openalex.org/W4319299868","https://openalex.org/W4383108895","https://openalex.org/W4386075729","https://openalex.org/W4387800098","https://openalex.org/W4389666568","https://openalex.org/W4389667373","https://openalex.org/W4390691239","https://openalex.org/W4390874575","https://openalex.org/W4393158799","https://openalex.org/W4406022795","https://openalex.org/W6791353385","https://openalex.org/W6800673378","https://openalex.org/W6810715974","https://openalex.org/W6811102192","https://openalex.org/W6844194202","https://openalex.org/W6850503672","https://openalex.org/W6851348485","https://openalex.org/W6851592950","https://openalex.org/W6851607685","https://openalex.org/W6853534422","https://openalex.org/W6857660107","https://openalex.org/W6876199980"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W3204019825"],"abstract_inverted_index":{"Growing":[0],"labor":[1],"shortages":[2],"are":[3],"increasing":[4],"the":[5,61,67,75,80,82,88,92,97,104,188,201],"demand":[6],"for":[7],"domestic":[8],"service":[9],"robots":[10],"(DSRs)":[11],"to":[12,28,86,91,186,203,206],"assist":[13],"in":[14,74,193],"various":[15],"settings.":[16],"In":[17],"this":[18],"study,":[19],"we":[20,128,179],"develop":[21],"a":[22,149,184,194],"DSR":[23,83,185,202],"that":[24,167],"transports":[25],"everyday":[26],"objects":[27,45,205],"specified":[29],"pieces":[30],"of":[31,43,51,112,120,190,218],"furniture":[32],"based":[33,95,209],"on":[34,40,66,79,96,148,210],"open-vocabulary":[35,211],"instructions.":[36],"Our":[37],"approach":[38,192],"focuses":[39],"retrieving":[41],"images":[42,50,106,119,154],"target":[44],"and":[46,71,123,134,142,155],"receptacles":[47,208],"from":[48,110,137],"pre-collected":[49],"indoor":[52,153],"environments.":[53],"For":[54],"example,":[55],"given":[56],"an":[57,214],"instruction":[58],"\u201cPlease":[59],"get":[60],"right":[62],"red":[63,89],"towel":[64,69,90],"hanging":[65],"metal":[68],"rack":[70],"put":[72],"it":[73],"white":[76],"washing":[77,93],"machine":[78,94],"left,\u201d":[81],"is":[84,101],"expected":[85],"carry":[87,204],"retrieved":[98,109],"images.":[99],"This":[100],"challenging":[102],"because":[103],"correct":[105],"should":[107],"be":[108],"thousands":[111],"collected":[113],"images,":[114],"which":[115,131],"may":[116],"include":[117],"many":[118],"similar":[121],"towels":[122],"appliances.":[124],"To":[125],"address":[126],"this,":[127],"propose":[129],"RelaX-Former,":[130],"learns":[132],"diverse":[133],"robust":[135],"representations":[136],"among":[138],"positive,":[139,141],"unlabeled":[140],"negative":[143],"samples.":[144],"We":[145],"evaluated":[146],"RelaX-Former":[147,168],"dataset":[150],"containing":[151],"real-world":[152],"human":[156],"annotated":[157],"instructions":[158],"including":[159],"complex":[160],"referring":[161],"expressions.":[162],"The":[163,198],"experimental":[164],"results":[165],"demonstrate":[166],"outperformed":[169],"existing":[170],"baseline":[171],"models":[172],"across":[173],"standard":[174],"image":[175],"retrieval":[176],"metrics.":[177],"Moreover,":[178],"performed":[180],"physical":[181],"experiments":[182,199],"using":[183],"evaluate":[187],"performance":[189],"our":[191],"zero-shot":[195],"transfer":[196],"setting.":[197],"involved":[200],"specific":[207],"instructions,":[212],"achieving":[213],"overall":[215],"success":[216],"rate":[217],"75%.":[219]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
