{"id":"https://openalex.org/W4226109798","doi":"https://doi.org/10.1109/robio54168.2021.9739240","title":"Self-supervised Attention Learning for Robot Control","display_name":"Self-supervised Attention Learning for Robot Control","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226109798","doi":"https://doi.org/10.1109/robio54168.2021.9739240"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739240","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5051219535","display_name":"Cong Lin","orcid":"https://orcid.org/0000-0002-7760-3091"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lin Cong","raw_affiliation_strings":["Universit&#x00E4;t Hamburg,TAMS Group,Dept. of Informatics"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E4;t Hamburg,TAMS Group,Dept. of Informatics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007992008","display_name":"Yunlei Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yunlei Shi","raw_affiliation_strings":["Universit&#x00E4;t Hamburg,TAMS Group,Dept. of Informatics"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E4;t Hamburg,TAMS Group,Dept. of Informatics","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianwei Zhang","raw_affiliation_strings":["Universit&#x00E4;t Hamburg,TAMS Group,Dept. of Informatics"],"affiliations":[{"raw_affiliation_string":"Universit&#x00E4;t Hamburg,TAMS Group,Dept. of Informatics","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5051219535"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.24960725,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1153","last_page":"1158"},"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":0.9998999834060669,"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":0.9998999834060669,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9998999834060669,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9997000098228455,"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":0.7995158433914185},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7706938982009888},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.7236727476119995},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6533876657485962},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6410274505615234},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5825668573379517},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5748803019523621},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4424525201320648},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.4406660199165344},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07730355858802795}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7995158433914185},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7706938982009888},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.7236727476119995},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6533876657485962},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6410274505615234},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5825668573379517},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5748803019523621},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4424525201320648},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.4406660199165344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07730355858802795},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739240","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1514535095","https://openalex.org/W2133564696","https://openalex.org/W2776507577","https://openalex.org/W2798122215","https://openalex.org/W2955368974","https://openalex.org/W2962851944","https://openalex.org/W2963656855","https://openalex.org/W2981413347","https://openalex.org/W2983446232","https://openalex.org/W3004058922","https://openalex.org/W3011732969","https://openalex.org/W3015437096","https://openalex.org/W3096609285","https://openalex.org/W3115293622","https://openalex.org/W3186187670","https://openalex.org/W4288294128","https://openalex.org/W4295720520","https://openalex.org/W4297749157","https://openalex.org/W4385245566","https://openalex.org/W6630875275","https://openalex.org/W6679434410","https://openalex.org/W6685133223","https://openalex.org/W6739901393","https://openalex.org/W6748270630","https://openalex.org/W6748666111","https://openalex.org/W6750469568","https://openalex.org/W6763704883","https://openalex.org/W6765407481","https://openalex.org/W6765456200","https://openalex.org/W6775340413"],"related_works":["https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W2333771223","https://openalex.org/W2120056845","https://openalex.org/W1981531423","https://openalex.org/W4394861761","https://openalex.org/W1977371217","https://openalex.org/W2035264131","https://openalex.org/W1679012645","https://openalex.org/W1925461966"],"abstract_inverted_index":{"Inspired":[0],"by":[1,68],"how":[2],"humans":[3],"solve":[4],"a":[5,88,128],"task:":[6],"only":[7],"paying":[8],"attention":[9,25,82,99],"to":[10,29,61,86],"the":[11,15,19,32,37,41,49,78,81,95,102,110,117],"useful":[12,103],"part":[13,34,104],"in":[14,44,109,127,146],"vision":[16],"while":[17,47,105],"neglecting":[18,48],"irrelevant":[20],"information,":[21],"we":[22],"propose":[23],"an":[24,45],"mechanism,":[26],"which":[27,112,140],"learns":[28],"focus":[30],"on":[31],"motion":[33],"(such":[35],"as":[36,57,116],"robot":[38,147],"arm":[39],"and":[40,76],"manipulating":[42],"target)":[43],"image,":[46,111],"noisy":[50],"background.":[51],"The":[52,92],"model":[53,96],"takes":[54],"RGB":[55],"images":[56,75],"input,":[58],"using":[59],"CNN":[60],"extract":[62],"intermediate":[63],"spatial":[64],"features":[65,71],"first;":[66],"then":[67],"transporting":[69],"learned":[70],"between":[72],"two":[73],"different":[74],"minimizing":[77],"reconstruction":[79],"loss,":[80],"module":[83],"is":[84,97,125,136],"forced":[85],"learn":[87],"pattern":[89],"of":[90,94,144],"attention.":[91],"output":[93],"soft":[98],"map,":[100],"highlighting":[101],"suppressing":[106],"background":[107],"clutter":[108],"can":[113],"be":[114],"used":[115,137],"combined":[118],"weights":[119],"for":[120],"downstream":[121],"control.":[122],"Our":[123],"method":[124],"trained":[126],"fully":[129],"self-supervised":[130],"way,":[131],"no":[132],"manual":[133],"labeling":[134],"data":[135],"during":[138],"training,":[139],"increases":[141],"its":[142],"ease":[143],"use":[145],"tasks.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
