{"id":"https://openalex.org/W4402721940","doi":"https://doi.org/10.1145/3675094.3677581","title":"Contextual Recognition Network: Combining DDPG and Contextual Affordances for Robotic Safe Grasping","display_name":"Contextual Recognition Network: Combining DDPG and Contextual Affordances for Robotic Safe Grasping","publication_year":2024,"publication_date":"2024-09-22","ids":{"openalex":"https://openalex.org/W4402721940","doi":"https://doi.org/10.1145/3675094.3677581"},"language":"en","primary_location":{"id":"doi:10.1145/3675094.3677581","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3675094.3677581","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2024 on ACM International Joint Conference on Pervasive and Ubiquitous Computing","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/A5047071360","display_name":"Shengyuan Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Shengyuan Xie","raw_affiliation_strings":["University of New South Wales, Sydney, New South Wales, Australia"],"raw_orcid":"https://orcid.org/0009-0008-5890-2062","affiliations":[{"raw_affiliation_string":"University of New South Wales, Sydney, New South Wales, Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113395181","display_name":"Zhijin Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Zhijin Meng","raw_affiliation_strings":["University of New South Wales, Sydney, New South Wales, Australia"],"raw_orcid":"https://orcid.org/0009-0005-6632-4758","affiliations":[{"raw_affiliation_string":"University of New South Wales, Sydney, New South Wales, Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044883635","display_name":"Mahdi Bamdad","orcid":"https://orcid.org/0000-0002-5956-5298"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Mahdi Bamdad","raw_affiliation_strings":["University of New South Wales, Sydney, New South Wales, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5956-5298","affiliations":[{"raw_affiliation_string":"University of New South Wales, Sydney, New South Wales, Australia","institution_ids":["https://openalex.org/I31746571"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044098673","display_name":"Francisco Cruz","orcid":"https://orcid.org/0000-0002-1131-3382"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Francisco Cruz","raw_affiliation_strings":["University of New South Wales, Sydney, New South Wales, Australia"],"raw_orcid":"https://orcid.org/0000-0002-1131-3382","affiliations":[{"raw_affiliation_string":"University of New South Wales, Sydney, New South Wales, Australia","institution_ids":["https://openalex.org/I31746571"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5047071360"],"corresponding_institution_ids":["https://openalex.org/I31746571"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.17411961,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"41","last_page":"45"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9944000244140625,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9926000237464905,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.9158782958984375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6650620102882385},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6023110747337341},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4211037755012512},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40123867988586426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3964761197566986}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9158782958984375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6650620102882385},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6023110747337341},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4211037755012512},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40123867988586426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3964761197566986}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3675094.3677581","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3675094.3677581","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2024 on ACM International Joint Conference on Pervasive and Ubiquitous Computing","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2072462334","https://openalex.org/W2559960928","https://openalex.org/W2990138404","https://openalex.org/W3023081529","https://openalex.org/W3090299930","https://openalex.org/W3198290721","https://openalex.org/W4380450805","https://openalex.org/W4383112908","https://openalex.org/W4386224118","https://openalex.org/W4391144418"],"related_works":["https://openalex.org/W1559800691","https://openalex.org/W2417026147","https://openalex.org/W2978665606","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W189465620","https://openalex.org/W4366818884"],"abstract_inverted_index":{"With":[0],"the":[1,59,66,86,90,96,104,122,127],"advancement":[2],"of":[3,31,70,95],"deep":[4],"learning,":[5],"numerous":[6],"research":[7,27],"initiatives":[8],"have":[9],"emerged":[10],"focusing":[11],"on":[12,79,121],"enabling":[13],"robots":[14],"to":[15,45,64,125],"identify":[16],"and":[17,49,114],"retrieve":[18,126],"target":[19],"objects":[20],"within":[21],"complex":[22],"domestic":[23],"environments.":[24],"However,":[25],"current":[26],"lacks":[28],"effective":[29],"integration":[30],"contextual":[32],"affordances":[33],"information":[34],"in":[35],"robotic":[36],"systems.":[37],"This":[38],"paper":[39],"introduces":[40],"an":[41,117],"intelligent":[42],"grasping":[43,76,98,106],"system":[44,77,107],"facilitate":[46],"object":[47,123,128],"prediction":[48,124],"safe":[50],"policy":[51],"learning":[52],"for":[53],"home-use":[54],"robots.":[55],"Particularly,":[56],"we":[57],"introduce":[58],"Context":[60],"Recognition":[61],"Network":[62],"(CRN)":[63],"predict":[65],"potential":[67],"failure":[68,112],"likelihood":[69],"each":[71],"action.":[72],"We":[73,88],"develop":[74],"a":[75],"based":[78,120],"DDPG":[80,109],"(Deep":[81],"Deterministic":[82],"Policy":[83],"Gradient)":[84],"as":[85],"benchmark.":[87],"compare":[89],"benchmark's":[91],"performance":[92],"with":[93,129],"that":[94,103],"CRN-equipped":[97,105],"system.":[99],"Our":[100],"results":[101],"indicate":[102],"outperforms":[108],"by":[110],"blocking":[111],"action":[113],"instead":[115],"choosing":[116],"appropriate":[118],"pose":[119],"fewer":[130],"computational":[131],"resources.":[132]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}