{"id":"https://openalex.org/W3206584650","doi":"https://doi.org/10.1109/icra46639.2022.9811968","title":"Learning to Infer Kinematic Hierarchies for Novel Object Instances","display_name":"Learning to Infer Kinematic Hierarchies for Novel Object Instances","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3206584650","doi":"https://doi.org/10.1109/icra46639.2022.9811968","mag":"3206584650"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811968","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"2022 International Conference on Robotics and Automation (ICRA)","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/A5032383281","display_name":"Hameed Abdul-Rashid","orcid":"https://orcid.org/0000-0003-2346-5989"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hameed Abdul-Rashid","raw_affiliation_strings":["University of Illinois at Urbana-Champaign"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108816360","display_name":"Miles Freeman","orcid":null},"institutions":[{"id":"https://openalex.org/I175594653","display_name":"John Brown University","ror":"https://ror.org/02ct41q97","country_code":"US","type":"education","lineage":["https://openalex.org/I175594653"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Miles Freeman","raw_affiliation_strings":["Brown University"],"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I175594653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003639695","display_name":"Ben Abbatematteo","orcid":null},"institutions":[{"id":"https://openalex.org/I175594653","display_name":"John Brown University","ror":"https://ror.org/02ct41q97","country_code":"US","type":"education","lineage":["https://openalex.org/I175594653"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ben Abbatematteo","raw_affiliation_strings":["Brown University"],"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I175594653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078124517","display_name":"George Konidaris","orcid":"https://orcid.org/0000-0002-4460-2519"},"institutions":[{"id":"https://openalex.org/I175594653","display_name":"John Brown University","ror":"https://ror.org/02ct41q97","country_code":"US","type":"education","lineage":["https://openalex.org/I175594653"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Konidaris","raw_affiliation_strings":["Brown University"],"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I175594653"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005034184","display_name":"Daniel Ritchie","orcid":"https://orcid.org/0000-0002-8253-0069"},"institutions":[{"id":"https://openalex.org/I175594653","display_name":"John Brown University","ror":"https://ror.org/02ct41q97","country_code":"US","type":"education","lineage":["https://openalex.org/I175594653"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Ritchie","raw_affiliation_strings":["Brown University"],"affiliations":[{"raw_affiliation_string":"Brown University","institution_ids":["https://openalex.org/I175594653"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5032383281"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":0.5397,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.74019678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8461","last_page":"8467"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T12290","display_name":"Human Motion and Animation","score":0.9955000281333923,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8497452139854431},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7503954172134399},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6678438186645508},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5720432996749878},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.5374840497970581},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5342041254043579},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5017387866973877},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.48737579584121704},{"id":"https://openalex.org/keywords/schema","display_name":"Schema (genetic algorithms)","score":0.45673537254333496},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4461643099784851},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4254623353481293},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30703145265579224},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.24941423535346985},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.22373327612876892}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8497452139854431},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7503954172134399},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6678438186645508},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5720432996749878},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.5374840497970581},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5342041254043579},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5017387866973877},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.48737579584121704},{"id":"https://openalex.org/C52146309","wikidata":"https://www.wikidata.org/wiki/Q7431116","display_name":"Schema (genetic algorithms)","level":2,"score":0.45673537254333496},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4461643099784851},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4254623353481293},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30703145265579224},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.24941423535346985},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.22373327612876892},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811968","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811968","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1517508454","https://openalex.org/W1518336263","https://openalex.org/W1522301498","https://openalex.org/W1529739011","https://openalex.org/W1535718615","https://openalex.org/W1548410568","https://openalex.org/W1570540164","https://openalex.org/W2017927472","https://openalex.org/W2026373015","https://openalex.org/W2043785364","https://openalex.org/W2168224686","https://openalex.org/W2222800472","https://openalex.org/W2560609797","https://openalex.org/W2624431344","https://openalex.org/W2624503621","https://openalex.org/W2783425358","https://openalex.org/W2890988173","https://openalex.org/W2898231767","https://openalex.org/W2946148408","https://openalex.org/W2946693349","https://openalex.org/W2961368225","https://openalex.org/W2962767366","https://openalex.org/W2963121255","https://openalex.org/W2964121744","https://openalex.org/W2980109758","https://openalex.org/W2983951224","https://openalex.org/W2989673842","https://openalex.org/W3012486023","https://openalex.org/W3016909562","https://openalex.org/W3031940935","https://openalex.org/W3034577798","https://openalex.org/W3035131925","https://openalex.org/W3035624836","https://openalex.org/W3047795175","https://openalex.org/W3048496284","https://openalex.org/W3081486916","https://openalex.org/W3103783157","https://openalex.org/W3104073816","https://openalex.org/W3108092915","https://openalex.org/W3122509788","https://openalex.org/W3127352841","https://openalex.org/W3127366609","https://openalex.org/W3132249572","https://openalex.org/W3133297141","https://openalex.org/W3207081724","https://openalex.org/W4206386832","https://openalex.org/W4294558607","https://openalex.org/W6631190155","https://openalex.org/W6684698518","https://openalex.org/W6738964360","https://openalex.org/W6762735450","https://openalex.org/W6764969207","https://openalex.org/W6766092279","https://openalex.org/W6778913165","https://openalex.org/W6782377497","https://openalex.org/W6784145285"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387"],"abstract_inverted_index":{"Manipulating":[0],"an":[1,63],"articulated":[2],"object":[3,37,64],"requires":[4],"perceiving":[5],"its":[6,9],"kinematic":[7,33,67,87],"hierarchy:":[8],"parts,":[10,74],"how":[11,16],"each":[12],"can":[13],"move,":[14],"and":[15,65,84,100,132],"those":[17],"motions":[18],"are":[19],"coupled.":[20],"Previous":[21],"work":[22],"has":[23],"explored":[24],"perception":[25,50],"for":[26],"kinematics,":[27],"but":[28],"none":[29],"infers":[30,58],"a":[31,42,48,77,91,135],"complete":[32],"hierarchy":[34],"on":[35,41,126],"never-before-seen":[36],"instances,":[38],"without":[39],"relying":[40],"schema":[43],"or":[44],"template.":[45],"We":[46,111,122],"present":[47],"novel":[49],"system":[51,57,125,140],"that":[52,69,106],"achieves":[53],"this":[54],"goal.":[55],"Our":[56],"the":[59,66,97,108],"moving":[60],"parts":[61],"of":[62,102,118,129,138],"couplings":[68],"relate":[70,107],"them.":[71],"To":[72],"infer":[73,86],"it":[75,89],"uses":[76,90],"point":[78],"cloud":[79],"instance":[80],"segmentation":[81],"neural":[82,93],"network":[83,94],"to":[85,95,141],"hierarchies,":[88],"graph":[92],"predict":[96],"existence,":[98],"direction,":[99],"type":[101],"edges":[103],"(i.e.":[104],"joints)":[105],"inferred":[109],"parts.":[110],"train":[112],"these":[113],"networks":[114],"using":[115],"simulated":[116,127],"scans":[117,128],"synthetic":[119],"3D":[120,130],"models.":[121],"evaluate":[123],"our":[124,139],"objects,":[131],"we":[133],"demonstrate":[134],"proof-of-concept":[136],"use":[137],"drive":[142],"real-world":[143],"robotic":[144],"manipulation.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
