{"id":"https://openalex.org/W4416342835","doi":"https://doi.org/10.1109/lra.2025.3632101","title":"Robust Bayesian Scene Reconstruction With Retrieval-Augmented Priors for Precise Grasping and Planning","display_name":"Robust Bayesian Scene Reconstruction With Retrieval-Augmented Priors for Precise Grasping and Planning","publication_year":2025,"publication_date":"2025-11-12","ids":{"openalex":"https://openalex.org/W4416342835","doi":"https://doi.org/10.1109/lra.2025.3632101"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3632101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632101","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5110034629","display_name":"Herbert Wright","orcid":"https://orcid.org/0009-0002-2795-7518"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Herbert Wright","raw_affiliation_strings":["Robotics Center and Kahlert School of Computing, University of Utah, Salt Lake City, UT, USA"],"raw_orcid":"https://orcid.org/0009-0002-2795-7518","affiliations":[{"raw_affiliation_string":"Robotics Center and Kahlert School of Computing, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077799676","display_name":"Weiming Zhi","orcid":"https://orcid.org/0000-0002-0958-6656"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weiming Zhi","raw_affiliation_strings":["College of Connected Computing, Vanderbilt, TN 37212, USA"],"raw_orcid":"https://orcid.org/0000-0002-0958-6656","affiliations":[{"raw_affiliation_string":"College of Connected Computing, Vanderbilt, TN 37212, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011875822","display_name":"Martin Matak","orcid":"https://orcid.org/0000-0001-8740-9199"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martin Matak","raw_affiliation_strings":["Robotics Center and Kahlert School of Computing, University of Utah, Salt Lake City, UT, USA"],"raw_orcid":"https://orcid.org/0000-0001-8740-9199","affiliations":[{"raw_affiliation_string":"Robotics Center and Kahlert School of Computing, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089990642","display_name":"Matthew Johnson\u2010Roberson","orcid":"https://orcid.org/0000-0002-0506-907X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Johnson-Roberson","raw_affiliation_strings":["College of Connected Computing, Vanderbilt, TN 37212, USA"],"raw_orcid":"https://orcid.org/0000-0002-0506-907X","affiliations":[{"raw_affiliation_string":"College of Connected Computing, Vanderbilt, TN 37212, USA","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000432183","display_name":"Tucker Hermans","orcid":"https://orcid.org/0000-0003-2496-2768"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tucker Hermans","raw_affiliation_strings":["Robotics Center and Kahlert School of Computing, University of Utah, Salt Lake City, UT, USA"],"raw_orcid":"https://orcid.org/0000-0003-2496-2768","affiliations":[{"raw_affiliation_string":"Robotics Center and Kahlert School of Computing, University of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.40406444,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"1","first_page":"49","last_page":"56"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.39730000495910645,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.39730000495910645,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.2281000018119812,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.09319999814033508,"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/robustness","display_name":"Robustness (evolution)","score":0.7226999998092651},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.6384999752044678},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.613099992275238},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5024999976158142},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.48159998655319214},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.47290000319480896},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4424999952316284},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.42829999327659607}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.8270999789237976},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7226999998092651},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6816999912261963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6790000200271606},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.6384999752044678},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.613099992275238},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5024999976158142},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.48159998655319214},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47290000319480896},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4424999952316284},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.42829999327659607},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.38760000467300415},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.3671000003814697},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.34880000352859497},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.3447999954223633},{"id":"https://openalex.org/C141379421","wikidata":"https://www.wikidata.org/wiki/Q6094427","display_name":"Iterative reconstruction","level":2,"score":0.3400000035762787},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3391999900341034},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.31150001287460327},{"id":"https://openalex.org/C109950114","wikidata":"https://www.wikidata.org/wiki/Q4464732","display_name":"3D reconstruction","level":2,"score":0.3077999949455261},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.30329999327659607},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.29420000314712524},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29409998655319214},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.2687000036239624}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3632101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3632101","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":26,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W2085261163","https://openalex.org/W2107153006","https://openalex.org/W2160821342","https://openalex.org/W2551421619","https://openalex.org/W2569527682","https://openalex.org/W2963627347","https://openalex.org/W2963926543","https://openalex.org/W2968355674","https://openalex.org/W3004167188","https://openalex.org/W3089966216","https://openalex.org/W3175502768","https://openalex.org/W3216186826","https://openalex.org/W4200150166","https://openalex.org/W4313429295","https://openalex.org/W4385318467","https://openalex.org/W4386066503","https://openalex.org/W4386075660","https://openalex.org/W4386076002","https://openalex.org/W4387350597","https://openalex.org/W4401414012","https://openalex.org/W4401691755","https://openalex.org/W4402816534","https://openalex.org/W4403844609","https://openalex.org/W4404469289","https://openalex.org/W4405786763"],"related_works":[],"abstract_inverted_index":{"Constructing":[0],"3D":[1],"representations":[2,16],"of":[3,33,56,59,78,136,145,152,161,164,167,205,231],"object":[4,177],"geometry":[5,55,163],"is":[6],"critical":[7],"for":[8,183],"many":[9],"robotics":[10],"tasks,":[11],"particularly":[12,227],"manipulation":[13,237],"problems.":[14],"These":[15],"must":[17],"be":[18,92,181],"built":[19],"from":[20,38,149],"potentially":[21],"noisy":[22,95],"partial":[23],"observations.":[24,88],"In":[25],"this":[26,90],"work,":[27],"we":[28,141,226],"focus":[29],"on":[30,75],"the":[31,54,60,63,103,134,162,168,198,203,229],"problem":[32],"reconstructing":[34],"a":[35,39,44,76,115,137,150,174,217],"multi-object":[36],"scene":[37,48],"single":[40],"RGBD":[41],"image":[42],"using":[43],"fixed":[45],"camera.":[46],"Traditional":[47],"representation":[49],"methods":[50],"generally":[51],"cannot":[52],"infer":[53],"unobserved":[57],"regions":[58],"objects":[61,80,99,153],"in":[62,102,192,197,238],"image.":[64],"Attempts":[65],"have":[66],"been":[67],"made":[68],"to":[69,73,86,94,123,233],"leverage":[70],"deep":[71,209],"learning":[72],"train":[74],"dataset":[77],"known":[79],"and":[81,83,98,105,185,196],"representations,":[82],"then":[84],"generalize":[85],"new":[87],"However,":[89],"can":[91,180],"brittle":[93],"real-world":[96,224],"observations":[97],"not":[100,107],"contained":[101],"dataset,":[104],"do":[106],"provide":[108],"well-calibrated":[109],"reconstruction":[110,116,184],"confidences.":[111],"We":[112,132,188,201],"propose":[113],"BRRP,":[114],"method":[117,172,191,207,218],"that":[118,179],"leverages":[119],"preexisting":[120],"mesh":[121],"datasets":[122],"build":[124],"an":[125,220],"informative":[126,221],"prior":[127,147,158],"during":[128,154],"robust":[129],"probabilistic":[130],"reconstruction.":[131],"introduce":[133],"concept":[135],"retrieval-augmented":[138],"prior,":[139],"where":[140],"retrieve":[142],"relevant":[143],"components":[144],"our":[146,190,206],"distribution":[148,175],"database":[151],"inference.":[155],"The":[156],"resulting":[157],"enables":[159],"estimation":[160],"occluded":[165],"portions":[166],"in-scene":[169],"objects.":[170],"Our":[171],"produces":[173],"over":[176],"shape":[178],"used":[182],"measuring":[186],"uncertainty.":[187],"evaluate":[189],"both":[193],"simulated":[194],"scenes":[195],"real":[199],"world.":[200],"demonstrate":[202],"robustness":[204],"against":[208],"learning-only":[210],"approaches":[211],"while":[212],"being":[213],"more":[214],"accurate":[215],"than":[216],"without":[219],"prior.":[222],"Through":[223],"experiments,":[225],"highlight":[228],"capability":[230],"BRRP":[232],"enable":[234],"successful":[235],"dexterous":[236],"clutter.":[239]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-11-12T00:00:00"}