{"id":"https://openalex.org/W4391695396","doi":"https://doi.org/10.1109/sii58957.2024.10417178","title":"Reinforcement Learning-Based Grasping via One-Shot Affordance Localization and Zero-Shot Contrastive Language-Image Learning","display_name":"Reinforcement Learning-Based Grasping via One-Shot Affordance Localization and Zero-Shot Contrastive Language-Image Learning","publication_year":2024,"publication_date":"2024-01-08","ids":{"openalex":"https://openalex.org/W4391695396","doi":"https://doi.org/10.1109/sii58957.2024.10417178"},"language":"en","primary_location":{"id":"doi:10.1109/sii58957.2024.10417178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii58957.2024.10417178","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://discovery.ucl.ac.uk/10178561/1/sii_2024_xiang.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100732530","display_name":"Xiang Long","orcid":"https://orcid.org/0000-0003-4306-9916"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Xiang Long","raw_affiliation_strings":["University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT"],"affiliations":[{"raw_affiliation_string":"University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045237694","display_name":"Luke Beddow","orcid":"https://orcid.org/0000-0002-9058-4024"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Luke Beddow","raw_affiliation_strings":["University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT"],"affiliations":[{"raw_affiliation_string":"University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085134635","display_name":"Denis Hadjivelichkov","orcid":"https://orcid.org/0000-0002-8239-1492"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Denis Hadjivelichkov","raw_affiliation_strings":["University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT"],"affiliations":[{"raw_affiliation_string":"University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093900200","display_name":"Andromachi Maria Delfaki","orcid":null},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andromachi Maria Delfaki","raw_affiliation_strings":["University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT"],"affiliations":[{"raw_affiliation_string":"University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062557484","display_name":"Helge W\u00fcrdemann","orcid":"https://orcid.org/0000-0003-3082-146X"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Helge Wurdemann","raw_affiliation_strings":["University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT"],"affiliations":[{"raw_affiliation_string":"University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048122691","display_name":"Dimitrios Kanoulas","orcid":"https://orcid.org/0000-0002-3684-1472"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dimitrios Kanoulas","raw_affiliation_strings":["University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT"],"affiliations":[{"raw_affiliation_string":"University College London,Department of Computer Science, Department of Mechanical Engineering,London,UK,WC1E 6BT","institution_ids":["https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100732530"],"corresponding_institution_ids":["https://openalex.org/I45129253"],"apc_list":null,"apc_paid":null,"fwci":0.9757,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.73312153,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"207","last_page":"212"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.988099992275238,"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/affordance","display_name":"Affordance","score":0.8500470519065857},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.760532021522522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7514617443084717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.732649564743042},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7220202684402466},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6541457772254944},{"id":"https://openalex.org/keywords/shot","display_name":"Shot (pellet)","score":0.6073682308197021},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.520791232585907},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5142566561698914},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.44587305188179016},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4379502534866333},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.26492947340011597}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.8500470519065857},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.760532021522522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7514617443084717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.732649564743042},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7220202684402466},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6541457772254944},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.6073682308197021},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.520791232585907},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5142566561698914},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.44587305188179016},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4379502534866333},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.26492947340011597},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/sii58957.2024.10417178","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii58957.2024.10417178","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10178561","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10178561/","pdf_url":"https://discovery.ucl.ac.uk/10178561/1/sii_2024_xiang.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"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":"     In:  Proceedings of the 2024 IEEE/SICE International Symposium on System Integration (SII).    IEEE: Ha Long, Vietnam. (2024)     ","raw_type":"Proceedings paper"}],"best_oa_location":{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10178561","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10178561/","pdf_url":"https://discovery.ucl.ac.uk/10178561/1/sii_2024_xiang.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"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":"     In:  Proceedings of the 2024 IEEE/SICE International Symposium on System Integration (SII).    IEEE: Ha Long, Vietnam. (2024)     ","raw_type":"Proceedings paper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2871501118","display_name":null,"funder_award_id":"EP/T517793/1,EP/S021566/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4463593787","display_name":null,"funder_award_id":"MR/V025333/1","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G6539820359","display_name":null,"funder_award_id":"2425110","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391695396.pdf","grobid_xml":"https://content.openalex.org/works/W4391695396.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W2560419594","https://openalex.org/W2561523096","https://openalex.org/W2773765248","https://openalex.org/W2788249996","https://openalex.org/W2907673564","https://openalex.org/W2968095426","https://openalex.org/W2968572862","https://openalex.org/W2970710335","https://openalex.org/W2981035923","https://openalex.org/W2990618452","https://openalex.org/W3098310617","https://openalex.org/W3099587965","https://openalex.org/W3159481202","https://openalex.org/W3207511527","https://openalex.org/W3215142034","https://openalex.org/W4225987121","https://openalex.org/W4285102162","https://openalex.org/W4321319299","https://openalex.org/W4362561002","https://openalex.org/W4380450805","https://openalex.org/W4383108836","https://openalex.org/W4389666604","https://openalex.org/W6791353385","https://openalex.org/W6802465667","https://openalex.org/W6811470611","https://openalex.org/W6843515625"],"related_works":["https://openalex.org/W1972718289","https://openalex.org/W1791514435","https://openalex.org/W2346831895","https://openalex.org/W2248634132","https://openalex.org/W2163296013","https://openalex.org/W3014080459","https://openalex.org/W4386875794","https://openalex.org/W2951631158","https://openalex.org/W4288313544","https://openalex.org/W2976611405"],"abstract_inverted_index":{"We":[0,20,75],"present":[1],"a":[2,8,38,100],"novel":[3,39],"robotic":[4],"grasping":[5,37,81,114],"system":[6,24,78],"using":[7,79],"caging-style":[9],"gripper,":[10],"that":[11],"combines":[12],"one-shot":[13],"affordance":[14,58,105],"localization":[15,106],"and":[16,48,64,113],"zero-shot":[17],"object":[18,33,57,109],"identification.":[19],"demonstrate":[21,76],"an":[22,53,56,65],"integrated":[23],"requiring":[25],"minimal":[26],"prior":[27],"knowledge,":[28],"focusing":[29],"on":[30,119],"flexible":[31],"few-shot":[32],"agnostic":[34],"approaches.":[35],"For":[36],"target":[40,62,73],"object,":[41,63],"we":[42],"use":[43],"as":[44],"input":[45],"the":[46,51,61,72,77,85,94,104,120],"color":[47],"depth":[49],"of":[50,55,82,103,107,111,115],"scene,":[52],"image":[54],"similar":[59],"to":[60,67],"up":[66],"three-word":[68],"text":[69],"prompt":[70],"describing":[71],"object.":[74],"real-world":[80],"objects":[83,92],"from":[84],"YCB":[86],"benchmark":[87],"set,":[88],"with":[89],"four":[90],"distractor":[91],"cluttering":[93],"scene.":[95],"Overall,":[96],"our":[97],"pipeline":[98],"has":[99],"success":[101],"rate":[102],"96%,":[108],"identification":[110],"62.5%,":[112],"72%.":[116],"Videos":[117],"are":[118],"project":[121],"website:":[122],"https://sites.google.com/view/rl-affcorrs-grasp.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
