{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,25]],"date-time":"2025-10-25T04:52:07Z","timestamp":1761367927637,"version":"build-2065373602"},"reference-count":29,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,9,30]],"date-time":"2025-09-30T00:00:00Z","timestamp":1759190400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,9,30]],"date-time":"2025-09-30T00:00:00Z","timestamp":1759190400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,9,30]]},"DOI":"10.1109\/humanoids65713.2025.11203081","type":"proceedings-article","created":{"date-parts":[[2025,10,24]],"date-time":"2025-10-24T17:15:50Z","timestamp":1761326150000},"page":"791-798","source":"Crossref","is-referenced-by-count":0,"title":["Grounded Task Axes: Zero-Shot Semantic Skill Generalization via Task-Axis Controllers and Visual Foundation Models"],"prefix":"10.1109","author":[{"given":"M. Yunus","family":"Seker","sequence":"first","affiliation":[{"name":"Carnegie Mellon University, The Robotics Institute,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shobhit","family":"Aggarwal","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, Manufacturing Futures Institute,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oliver","family":"Kroemer","sequence":"additional","affiliation":[{"name":"Carnegie Mellon University, The Robotics Institute,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"doi-asserted-by":"publisher","key":"ref1","DOI":"10.1109\/TSMC.1981.4308708"},{"key":"ref2","article-title":"Task frames in robot manipulation","author":"Ballard","year":"1984","journal-title":"AAAI"},{"doi-asserted-by":"publisher","key":"ref3","DOI":"10.1115\/1.3139652"},{"key":"ref4","article-title":"Learning to compose hierarchical object-centric controllers for robotic manipulation","author":"Sharma","year":"2020","journal-title":"arXiv preprint"},{"doi-asserted-by":"publisher","key":"ref5","DOI":"10.1109\/ICRA48506.2021.9561577"},{"key":"ref6","article-title":"A tale of two features: Stable diffusion complements dino for zero-shot semantic correspondence","volume":"36","author":"Zhang","year":"2023","journal-title":"Advances in Neural Information Processing Systems"},{"doi-asserted-by":"publisher","key":"ref7","DOI":"10.3390\/robotics9020045"},{"doi-asserted-by":"publisher","key":"ref8","DOI":"10.1109\/LRA.2020.2965875"},{"doi-asserted-by":"publisher","key":"ref9","DOI":"10.1109\/ICRA.2016.7487583"},{"doi-asserted-by":"publisher","key":"ref10","DOI":"10.1177\/0278364910396389"},{"key":"ref11","article-title":"Probabilistic movement primitives","author":"Paraschos","year":"2013","journal-title":"NeurIPS"},{"doi-asserted-by":"publisher","key":"ref12","DOI":"10.15607\/rss.2019.xv.071"},{"doi-asserted-by":"publisher","key":"ref13","DOI":"10.1162\/NECO_a_00393"},{"doi-asserted-by":"publisher","key":"ref14","DOI":"10.1177\/02783649241273668"},{"key":"ref15","first-page":"785","article-title":"Perceiver-actor: A multitask transformer for robotic manipulation","volume-title":"Conference on Robot Learning","author":"Shridhar","year":"2023"},{"volume-title":"Learning transferable visual models from natural language supervision","year":"2021","author":"Radford","key":"ref16"},{"key":"ref17","article-title":"Emergent correspondence from image diffusion","author":"Tang","year":"2023","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref18","article-title":"Deep vit features as dense visual descriptors","author":"Amir","year":"2021","journal-title":"arXiv preprint"},{"key":"ref19","article-title":"Densematcher: Learning 3d semantic correspondence for categorylevel manipulation from a single demo","volume-title":"International Conference on Learning Representations (ICLR) 2025","author":"Zhu","year":"2024"},{"doi-asserted-by":"publisher","key":"ref20","DOI":"10.1109\/ICRA57147.2024.10610923"},{"doi-asserted-by":"publisher","key":"ref21","DOI":"10.15607\/RSS.2025.XXI.161"},{"key":"ref22","article-title":"One-shot manipulation strategy learning by making contact analogies","author":"Liu","year":"2024","journal-title":"arXiv preprint"},{"volume-title":"Toolflownet: Robotic manipulation with tools via predicting tool flow from point clouds","year":"2022","author":"Seita","key":"ref23"},{"doi-asserted-by":"publisher","key":"ref24","DOI":"10.1109\/icra55743.2025.11128681"},{"doi-asserted-by":"publisher","key":"ref25","DOI":"10.1007\/978-3-031-72940-9_13"},{"key":"ref26","article-title":"A universal semantic-geometric representation for robotic manipulation","author":"Zhang","year":"2023","journal-title":"arXiv preprint"},{"key":"ref27","article-title":"Rekep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation","author":"Huang","year":"2024","journal-title":"arXiv preprint"},{"key":"ref28","article-title":"Dinov2: Learning robust visual features without supervision","author":"Oquab","year":"2023","journal-title":"arXiv preprint"},{"doi-asserted-by":"publisher","key":"ref29","DOI":"10.1109\/CVPR52688.2022.01042"}],"event":{"name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","start":{"date-parts":[[2025,9,30]]},"location":"Seoul, Korea, Republic of","end":{"date-parts":[[2025,10,2]]}},"container-title":["2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11202977\/11203009\/11203081.pdf?arnumber=11203081","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,25]],"date-time":"2025-10-25T04:46:31Z","timestamp":1761367591000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11203081\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9,30]]},"references-count":29,"URL":"https:\/\/doi.org\/10.1109\/humanoids65713.2025.11203081","relation":{},"subject":[],"published":{"date-parts":[[2025,9,30]]}}}