{"id":"https://openalex.org/W7166030355","doi":"https://doi.org/10.48550/arxiv.2606.26829","title":"Identifying the Unknown: Prompt-Free Open Vocabulary Anomaly Recognition for Robot-Object Interaction","display_name":"Identifying the Unknown: Prompt-Free Open Vocabulary Anomaly Recognition for Robot-Object Interaction","publication_year":2026,"publication_date":"2026-06-25","ids":{"openalex":"https://openalex.org/W7166030355","doi":"https://doi.org/10.48550/arxiv.2606.26829"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.26829","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.26829","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.26829","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046907706","display_name":"Philipp Allgeuer","orcid":"https://orcid.org/0000-0002-2355-0764"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Allgeuer, Philipp","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091957416","display_name":"Jan-Gerrit Habekost","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Habekost, Jan-Gerrit","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139458725","display_name":"Stefan Wermter","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wermter, Stefan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.6000999808311462,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.6000999808311462,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.053199999034404755,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.04039999842643738,"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/vocabulary","display_name":"Vocabulary","score":0.8043000102043152},{"id":"https://openalex.org/keywords/salient","display_name":"Salient","score":0.603600025177002},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5659999847412109},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5072000026702881},{"id":"https://openalex.org/keywords/open-set","display_name":"Open set","score":0.48750001192092896},{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.45239999890327454},{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.400299996137619},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37860000133514404},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.37380000948905945}],"concepts":[{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.8043000102043152},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7114999890327454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6940000057220459},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.603600025177002},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5659999847412109},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5072000026702881},{"id":"https://openalex.org/C42357961","wikidata":"https://www.wikidata.org/wiki/Q213363","display_name":"Open set","level":2,"score":0.48750001192092896},{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.45239999890327454},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.4124000072479248},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.400299996137619},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37860000133514404},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.37380000948905945},{"id":"https://openalex.org/C169903167","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Test set","level":2,"score":0.36160001158714294},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.3564000129699707},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.33899998664855957},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.32910001277923584},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.32280001044273376},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3059999942779541},{"id":"https://openalex.org/C171078966","wikidata":"https://www.wikidata.org/wiki/Q111029","display_name":"Root (linguistics)","level":2,"score":0.30160000920295715},{"id":"https://openalex.org/C75294576","wikidata":"https://www.wikidata.org/wiki/Q5165192","display_name":"Contextual image classification","level":3,"score":0.3012999892234802},{"id":"https://openalex.org/C12997251","wikidata":"https://www.wikidata.org/wiki/Q567560","display_name":"Anomaly (physics)","level":2,"score":0.3012000024318695},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.3009999990463257},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27639999985694885},{"id":"https://openalex.org/C2778464652","wikidata":"https://www.wikidata.org/wiki/Q309849","display_name":"Open research","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.2712000012397766},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.26339998841285706},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.26170000433921814}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.26829","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.26829","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.26829","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.26829","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robots":[0],"operating":[1],"in":[2,6,100],"real-world":[3],"environments":[4],"must":[5],"general":[7],"be":[8],"able":[9],"to":[10,80,145],"recognize":[11],"previously":[12],"unseen":[13],"objects.":[14],"As":[15],"robotic":[16],"systems":[17],"move":[18],"toward":[19],"open-world":[20],"autonomy,":[21],"there":[22],"is":[23],"a":[24,47,53,63,87,101],"growing,":[25],"yet":[26],"largely":[27],"unmet,":[28],"need":[29],"for":[30,41,58,116],"open":[31,67,97,158],"vocabulary":[32,68,98,159],"object":[33],"detectors":[34],"that":[35,51],"are":[36,128],"prompt-free":[37,66,117,147],"and":[38,119,149,164],"efficient":[39],"enough":[40],"continuous":[42],"deployment.":[43],"We":[44,92],"present":[45],"AnomNOVIC,":[46],"two-stage":[48],"known-workspace":[49],"framework":[50],"combines":[52],"masked":[54],"autoencoder":[55],"(MAE)":[56],"trained":[57],"anomaly":[59],"detection,":[60],"with":[61,138],"NOVIC,":[62],"powerful":[64],"real-time":[65],"image":[69,83],"classifier.":[70],"The":[71],"MAE":[72],"produces":[73],"generic":[74],"object-agnostic":[75],"bounding":[76],"boxes,":[77],"allowing":[78],"NOVIC":[79],"classify":[81],"salient":[82],"regions":[84],"without":[85],"requiring":[86],"predefined":[88],"candidate":[89],"class":[90,126],"list.":[91],"evaluate":[93],"AnomNOVIC":[94,142],"against":[95],"strong":[96],"baselines":[99],"tabletop":[102],"robot-object":[103],"environment":[104],"featuring":[105],"the":[106],"NICOL":[107],"humanoid":[108],"robot,":[109],"reaching":[110],"47.1%":[111],"AP":[112,121],"/":[113,122],"57.5%":[114],"AP50":[115,124],"recognition,":[118],"59.0%":[120],"72.5%":[123],"if":[125],"candidates":[127],"provided.":[129],"Across":[130],"additional":[131],"datasets,":[132],"including":[133,161],"an":[134],"in-the-wild":[135],"test":[136],"set":[137],"48":[139],"unique":[140],"objects,":[141],"reaches":[143],"up":[144],"82.6%":[146],"detection":[148],"classification":[150],"accuracy.":[151],"These":[152],"results":[153],"significantly":[154],"surpass":[155],"all":[156],"tested":[157],"baselines,":[160],"YOLO-World-v2,":[162],"OWLv2,":[163],"YOLOE.":[165]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-27T00:00:00"}