{"id":"https://openalex.org/W4388624121","doi":"https://doi.org/10.1109/ro-man57019.2023.10309325","title":"CLIPGraphs: Multimodal Graph Networks to Infer Object-Room Affinities","display_name":"CLIPGraphs: Multimodal Graph Networks to Infer Object-Room Affinities","publication_year":2023,"publication_date":"2023-08-28","ids":{"openalex":"https://openalex.org/W4388624121","doi":"https://doi.org/10.1109/ro-man57019.2023.10309325"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man57019.2023.10309325","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man57019.2023.10309325","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5018258627","display_name":"Ayush Agrawal","orcid":"https://orcid.org/0000-0002-2531-7819"},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ayush Agrawal","raw_affiliation_strings":["IIIT,Robotics Research Center,Hyderabad,India","Robotics Research Center, IIIT, Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT,Robotics Research Center,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111284122","display_name":"Raghav Arora","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Raghav Arora","raw_affiliation_strings":["IIIT,Robotics Research Center,Hyderabad,India","Robotics Research Center, IIIT, Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT,Robotics Research Center,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101266508","display_name":"Ahana Datta","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Ahana Datta","raw_affiliation_strings":["IIIT,Robotics Research Center,Hyderabad,India","Robotics Research Center, IIIT, Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT,Robotics Research Center,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030713679","display_name":"Snehasis Banerjee","orcid":"https://orcid.org/0000-0003-0888-5870"},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]},{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Snehasis Banerjee","raw_affiliation_strings":["IIIT,Robotics Research Center,Hyderabad,India","TCS Research, Tata Consultancy Services, India","Robotics Research Center, IIIT, Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT,Robotics Research Center,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"TCS Research, Tata Consultancy Services, India","institution_ids":["https://openalex.org/I55215948"]},{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080835883","display_name":"Brojeshwar Bhowmick","orcid":"https://orcid.org/0000-0001-9291-5889"},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Brojeshwar Bhowmick","raw_affiliation_strings":["Tata Consultancy Services,TCS Research,India","TCS Research, Tata Consultancy Services, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tata Consultancy Services,TCS Research,India","institution_ids":["https://openalex.org/I55215948"]},{"raw_affiliation_string":"TCS Research, Tata Consultancy Services, India","institution_ids":["https://openalex.org/I55215948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047370393","display_name":"Krishna Murthy Jatavallabhula","orcid":"https://orcid.org/0000-0003-4927-3387"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Krishna Murthy Jatavallabhula","raw_affiliation_strings":["Massachusetts Institute of Technology,CSAIL,USA","CSAIL, Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,CSAIL,USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"CSAIL, Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019725446","display_name":"Mohan Sridharan","orcid":"https://orcid.org/0000-0001-9922-8969"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mohan Sridharan","raw_affiliation_strings":["University of Birmingham,Intelligent Robotics Lab,UK","Intelligent Robotics Lab, University of Birmingham, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Birmingham,Intelligent Robotics Lab,UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I79619799"]},{"raw_affiliation_string":"Intelligent Robotics Lab, University of Birmingham, UK","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113194940","display_name":"Madhava Krishna","orcid":null},"institutions":[{"id":"https://openalex.org/I65181880","display_name":"Indian Institute of Technology Hyderabad","ror":"https://ror.org/01j4v3x97","country_code":"IN","type":"education","lineage":["https://openalex.org/I65181880"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Madhava Krishna","raw_affiliation_strings":["IIIT,Robotics Research Center,Hyderabad,India","Robotics Research Center, IIIT, Hyderabad, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIT,Robotics Research Center,Hyderabad,India","institution_ids":["https://openalex.org/I65181880"]},{"raw_affiliation_string":"Robotics Research Center, IIIT, Hyderabad, India","institution_ids":["https://openalex.org/I65181880"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2604","last_page":"2609"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":1.0,"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":1.0,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9997000098228455,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9973999857902527,"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/computer-science","display_name":"Computer science","score":0.7304695844650269},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5524043440818787},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.541425883769989},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5220137238502502},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4711034893989563},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.44912293553352356},{"id":"https://openalex.org/keywords/affinities","display_name":"Affinities","score":0.4482182264328003},{"id":"https://openalex.org/keywords/commonsense-knowledge","display_name":"Commonsense knowledge","score":0.4308677315711975},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.4094592332839966},{"id":"https://openalex.org/keywords/domain-knowledge","display_name":"Domain knowledge","score":0.3159645199775696},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2769293785095215},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08380204439163208}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7304695844650269},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5524043440818787},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.541425883769989},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5220137238502502},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4711034893989563},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.44912293553352356},{"id":"https://openalex.org/C2780283098","wikidata":"https://www.wikidata.org/wiki/Q4688960","display_name":"Affinities","level":2,"score":0.4482182264328003},{"id":"https://openalex.org/C30542707","wikidata":"https://www.wikidata.org/wiki/Q1603203","display_name":"Commonsense knowledge","level":3,"score":0.4308677315711975},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.4094592332839966},{"id":"https://openalex.org/C207685749","wikidata":"https://www.wikidata.org/wiki/Q2088941","display_name":"Domain knowledge","level":2,"score":0.3159645199775696},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2769293785095215},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08380204439163208},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C71240020","wikidata":"https://www.wikidata.org/wiki/Q186011","display_name":"Stereochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man57019.2023.10309325","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man57019.2023.10309325","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.7400000095367432,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":58,"referenced_works":["https://openalex.org/W2096733369","https://openalex.org/W2194775991","https://openalex.org/W2250539671","https://openalex.org/W2555897561","https://openalex.org/W2581887665","https://openalex.org/W2769112066","https://openalex.org/W2774005037","https://openalex.org/W2884565639","https://openalex.org/W2950697717","https://openalex.org/W2962684798","https://openalex.org/W2963486920","https://openalex.org/W2963800628","https://openalex.org/W2964015378","https://openalex.org/W2964094751","https://openalex.org/W2965373594","https://openalex.org/W2967502099","https://openalex.org/W3004691725","https://openalex.org/W3034758614","https://openalex.org/W3036497058","https://openalex.org/W3040041096","https://openalex.org/W3094502228","https://openalex.org/W3097484130","https://openalex.org/W3166396011","https://openalex.org/W3173760279","https://openalex.org/W3182243998","https://openalex.org/W3203663566","https://openalex.org/W3209532394","https://openalex.org/W4200233313","https://openalex.org/W4283640928","https://openalex.org/W4283706400","https://openalex.org/W4296550410","https://openalex.org/W4306820534","https://openalex.org/W4312360147","https://openalex.org/W4312443924","https://openalex.org/W4312492610","https://openalex.org/W4312594400","https://openalex.org/W4312807436","https://openalex.org/W4313478341","https://openalex.org/W4383109211","https://openalex.org/W4385430678","https://openalex.org/W4386065512","https://openalex.org/W6726873649","https://openalex.org/W6730323794","https://openalex.org/W6753516098","https://openalex.org/W6766673545","https://openalex.org/W6766706977","https://openalex.org/W6773029903","https://openalex.org/W6780167394","https://openalex.org/W6780443396","https://openalex.org/W6784333009","https://openalex.org/W6784840303","https://openalex.org/W6791353385","https://openalex.org/W6802987763","https://openalex.org/W6839162645","https://openalex.org/W6839650396","https://openalex.org/W6843457338","https://openalex.org/W6846007759","https://openalex.org/W6849687303"],"related_works":["https://openalex.org/W4241081643","https://openalex.org/W1974414168","https://openalex.org/W1971291106","https://openalex.org/W1996889227","https://openalex.org/W2924053807","https://openalex.org/W2769641421","https://openalex.org/W4386106251","https://openalex.org/W4285158689","https://openalex.org/W2405862915","https://openalex.org/W2126667783"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,57,90,124],"novel":[4],"method":[5],"for":[6,16,34],"determining":[7],"the":[8,65,101,105,117],"best":[9],"room":[10,66],"to":[11,78,93],"place":[12],"an":[13],"object":[14,128],"in,":[15],"embodied":[17],"scene":[18],"rearrangement.":[19],"While":[20],"state-of-the-art":[21,133],"approaches":[22],"rely":[23],"on":[24,83,98],"large":[25],"language":[26],"models":[27],"(LLMs)":[28],"or":[29,85],"reinforcement":[30],"learned":[31],"(RL)":[32],"policies":[33],"this":[35],"task,":[36],"our":[37,111],"approach,":[38],"CLIPGraphs,":[39],"efficiently":[40],"combines":[41],"commonsense":[42],"domain":[43],"knowledge,":[44],"data-driven":[45],"methods,":[46],"and":[47,87,104,143],"recent":[48],"advances":[49],"in":[50,71,130],"multimodal":[51,80],"learning.":[52],"Specifically,":[53],"it":[54],"(a)":[55],"encodes":[56],"knowledge":[58,103],"graph":[59,91],"of":[60,68,100,116,121,127],"prior":[61,102],"human":[62],"preferences":[63],"about":[64],"location":[67,120],"different":[69],"objects":[70,122],"home":[72],"environments,":[73],"(b)":[74],"incorporates":[75],"vision-language":[76,106],"features":[77],"support":[79],"queries":[81],"based":[82,97],"images":[84],"text,":[86],"(c)":[88],"uses":[89],"network":[92],"learn":[94],"object-room":[95],"affinities":[96],"embeddings":[99],"features.":[107],"We":[108],"demonstrate":[109],"that":[110],"approach":[112],"provides":[113],"better":[114],"estimates":[115],"most":[118],"appropriate":[119],"from":[123],"benchmark":[125],"set":[126],"categories":[129],"comparison":[131],"with":[132],"baselines.":[134],"<sup":[135,138],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[136,139],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sup>":[137,140],"Supplementary":[141],"material":[142],"code:":[144],"https://clipgraphs.github.io":[145]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-25T15:57:00.446498","created_date":"2025-10-10T00:00:00"}