{"id":"https://openalex.org/W2091862867","doi":"https://doi.org/10.1177/0278364912438781","title":"Learning to place new objects in a scene","display_name":"Learning to place new objects in a scene","publication_year":2012,"publication_date":"2012-05-14","ids":{"openalex":"https://openalex.org/W2091862867","doi":"https://doi.org/10.1177/0278364912438781","mag":"2091862867"},"language":"en","primary_location":{"id":"doi:10.1177/0278364912438781","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912438781","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5101434522","display_name":"Yun Jiang","orcid":"https://orcid.org/0000-0001-6897-9962"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yun Jiang","raw_affiliation_strings":["Computer Science Department, Cornell University, USA","Computer Science Dept., Cornell University, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Cornell University, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Computer Science Dept., Cornell University, USA#TAB#","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102886041","display_name":"Marcus Lim","orcid":"https://orcid.org/0009-0000-9027-8935"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcus Lim","raw_affiliation_strings":["Computer Science Department, Cornell University, USA","Computer Science Dept., Cornell University, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Cornell University, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Computer Science Dept., Cornell University, USA#TAB#","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025499043","display_name":"Changxi Zheng","orcid":"https://orcid.org/0000-0002-7463-0289"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changxi Zheng","raw_affiliation_strings":["Computer Science Department, Cornell University, USA","Computer Science Dept., Cornell University, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Cornell University, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Computer Science Dept., Cornell University, USA#TAB#","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081220276","display_name":"Ashutosh Saxena","orcid":"https://orcid.org/0000-0002-6657-2285"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashutosh Saxena","raw_affiliation_strings":["Computer Science Department, Cornell University, USA","Computer Science Dept., Cornell University, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Cornell University, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Computer Science Dept., Cornell University, USA#TAB#","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":32.6536,"has_fulltext":false,"cited_by_count":147,"citation_normalized_percentile":{"value":0.99729493,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"31","issue":"9","first_page":"1021","last_page":"1043"},"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/T10586","display_name":"Robotic Path Planning Algorithms","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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7327319383621216},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6735400557518005},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6473389863967896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6376063823699951},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5539584755897522},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.5514359474182129},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.458320289850235},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4518364369869232},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4364745020866394},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.42251232266426086},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.365034818649292},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11582401394844055}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7327319383621216},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6735400557518005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6473389863967896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6376063823699951},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5539584755897522},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.5514359474182129},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.458320289850235},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4518364369869232},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4364745020866394},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.42251232266426086},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.365034818649292},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11582401394844055},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364912438781","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364912438781","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.225.3046","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.225.3046","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://pr.cs.cornell.edu/papers/jiang2012placing_in_a_scene.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.750.3525","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.750.3525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arxiv.org/pdf/1202.1694.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":82,"referenced_works":["https://openalex.org/W143499627","https://openalex.org/W1505137317","https://openalex.org/W1511986666","https://openalex.org/W1563138540","https://openalex.org/W1576520375","https://openalex.org/W1820657498","https://openalex.org/W1941722086","https://openalex.org/W1972004776","https://openalex.org/W1978962787","https://openalex.org/W1990313671","https://openalex.org/W1991289824","https://openalex.org/W1999378860","https://openalex.org/W2016876803","https://openalex.org/W2020870038","https://openalex.org/W2025062188","https://openalex.org/W2033223309","https://openalex.org/W2036096913","https://openalex.org/W2040279394","https://openalex.org/W2041376653","https://openalex.org/W2051819074","https://openalex.org/W2065745355","https://openalex.org/W2070398378","https://openalex.org/W2078683742","https://openalex.org/W2082069298","https://openalex.org/W2089630413","https://openalex.org/W2094262711","https://openalex.org/W2099322651","https://openalex.org/W2099606917","https://openalex.org/W2102831150","https://openalex.org/W2105644991","https://openalex.org/W2106122512","https://openalex.org/W2106766627","https://openalex.org/W2106943820","https://openalex.org/W2111187045","https://openalex.org/W2116445618","https://openalex.org/W2118262422","https://openalex.org/W2119344328","https://openalex.org/W2119821739","https://openalex.org/W2119851068","https://openalex.org/W2123435073","https://openalex.org/W2123456673","https://openalex.org/W2123967128","https://openalex.org/W2127514693","https://openalex.org/W2127833308","https://openalex.org/W2127911825","https://openalex.org/W2131225894","https://openalex.org/W2131337842","https://openalex.org/W2132142950","https://openalex.org/W2132947399","https://openalex.org/W2139905387","https://openalex.org/W2140631835","https://openalex.org/W2141303268","https://openalex.org/W2141364309","https://openalex.org/W2141732516","https://openalex.org/W2143524933","https://openalex.org/W2149474573","https://openalex.org/W2150690761","https://openalex.org/W2152864241","https://openalex.org/W2154422044","https://openalex.org/W2157439141","https://openalex.org/W2157825442","https://openalex.org/W2160821342","https://openalex.org/W2162160008","https://openalex.org/W2163462573","https://openalex.org/W2164877691","https://openalex.org/W2166721725","https://openalex.org/W2168002178","https://openalex.org/W2169241897","https://openalex.org/W2170341160","https://openalex.org/W2170969000","https://openalex.org/W2171592532","https://openalex.org/W2184441712","https://openalex.org/W2296018510","https://openalex.org/W2534523274","https://openalex.org/W2542011642","https://openalex.org/W2543474865","https://openalex.org/W3138164102","https://openalex.org/W3138558418","https://openalex.org/W3149673177","https://openalex.org/W4236384091","https://openalex.org/W4239510810","https://openalex.org/W4242073862"],"related_works":["https://openalex.org/W2468279273","https://openalex.org/W2354198838","https://openalex.org/W1989130879","https://openalex.org/W2103419012","https://openalex.org/W2988126442","https://openalex.org/W1974414866","https://openalex.org/W2063982682","https://openalex.org/W2338543196","https://openalex.org/W1544691147","https://openalex.org/W2039176012"],"abstract_inverted_index":{"Placing":[0],"is":[1,44,127],"a":[2,6,21,51,74,86,102,161,192,195],"necessary":[3],"skill":[4],"for":[5,77,184],"personal":[7],"robot":[8,67],"to":[9,13,105],"have":[10,50,62],"in":[11,20,35,81,85,124,166,172],"order":[12],"perform":[14],"tasks":[15,186],"such":[16,109,187],"as":[17,110,188],"arranging":[18],"objects":[19,55,80,92,148,169,175],"disorganized":[22],"room.":[23],"The":[24,122],"object":[25],"placements":[26],"should":[27],"not":[28,61],"only":[29],"be":[30,34],"stable":[31],"but":[32],"also":[33],"their":[36],"semantically":[37],"preferred":[38],"placing":[39,57,78,83,120,167,173],"areas":[40,58,84],"and":[41,56,93,100,118,170,194],"orientations.":[42],"This":[43],"challenging":[45],"because":[46],"an":[47,128,137],"environment":[48],"can":[49],"large":[52],"variety":[53],"of":[54,90,113,164],"that":[59],"may":[60],"been":[63],"seen":[64],"by":[65],"the":[66,91,94,111],"before.":[68],"In":[69],"this":[70],"paper,":[71],"we":[72,96,133],"propose":[73],"learning":[75],"approach":[76,145],"multiple":[79,198],"different":[82],"scene.":[87],"Given":[88],"point-clouds":[89],"scene,":[95],"design":[97],"appropriate":[98],"features":[99],"use":[101,178],"graphical":[103],"model":[104,126],"encode":[106],"various":[107],"properties,":[108],"stacking":[112],"objects,":[114],"stability,":[115],"object\u2013area":[116],"relationship":[117],"common":[119],"constraints.":[121],"inference":[123],"our":[125,144,179,182],"integer":[129],"linear":[130,138],"program,":[131],"which":[132],"solve":[134],"efficiently":[135],"via":[136],"programming":[139],"relaxation.":[140],"We":[141,177],"extensively":[142],"evaluate":[143],"on":[146,181],"98":[147],"from":[149],"16":[150],"categories":[151],"being":[152],"placed":[153],"into":[154],"40":[155],"areas.":[156],"Our":[157],"robotic":[158],"experiments":[159],"show":[160],"success":[162],"rate":[163],"98%":[165],"known":[168],"82%":[171],"new":[174],"stably.":[176],"method":[180],"robots":[183],"performing":[185],"loading":[189],"several":[190],"dish-racks,":[191],"bookshelf":[193],"fridge":[196],"with":[197],"items.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":15},{"year":2013,"cited_by_count":21},{"year":2012,"cited_by_count":7}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
