{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,23]],"date-time":"2026-01-23T01:46:04Z","timestamp":1769132764657,"version":"3.49.0"},"reference-count":21,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,12,2]],"date-time":"2025-12-02T00:00:00Z","timestamp":1764633600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,12,2]],"date-time":"2025-12-02T00:00:00Z","timestamp":1764633600000},"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":[[2025,12,2]]},"DOI":"10.1109\/icar65334.2025.11338672","type":"proceedings-article","created":{"date-parts":[[2026,1,21]],"date-time":"2026-01-21T21:06:47Z","timestamp":1769029607000},"page":"104-109","source":"Crossref","is-referenced-by-count":0,"title":["AffordGen: Affordance-Based Dataset Generator for Robot Manipulation Learning*"],"prefix":"10.1109","author":[{"given":"Gabriel A.","family":"Dorneles","sequence":"first","affiliation":[{"name":"Universidade Federal do Rio Grande - FURG,NAUTEC, Centro de Ciências Computacionais,Brazil"}]},{"given":"Jo\u00e3o","family":"Francisco S. S. Lemos","sequence":"additional","affiliation":[{"name":"Universidade Federal do Rio Grande - FURG,NAUTEC, Centro de Ciências Computacionais,Brazil"}]},{"given":"Kristofer S.","family":"Kappel","sequence":"additional","affiliation":[{"name":"Universidade Federal do Rio Grande - FURG,NAUTEC, Centro de Ciências Computacionais,Brazil"}]},{"given":"Rodrigo S.","family":"Guerra","sequence":"additional","affiliation":[{"name":"Universidade Federal do Rio Grande - FURG,NAUTEC, Centro de Ciências Computacionais,Brazil"}]},{"given":"Paulo L. J.","family":"Drews","sequence":"additional","affiliation":[{"name":"Universidade Federal do Rio Grande - FURG,NAUTEC, Centro de Ciências Computacionais,Brazil"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aat8414"},{"key":"ref2","article-title":"The theory of affordances","author":"Gibson","year":"1977"},{"key":"ref3","article-title":"Universal manipulation interface: Inthe-wild robot teaching without in-the-wild robots","volume":"abs\/2402.10329","author":"Chi","year":"2024","journal-title":"ArXiv"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161178"},{"key":"ref5","article-title":"Roboturk: A crowdsourcing platform for robotic skill learning through imitation","volume-title":"Conference on Robot Learning","author":"Mandlekar"},{"key":"ref6","article-title":"Robot utility models: General policies for zero-shot deployment in new environments","volume":"abs\/2409.05865","author":"Etukuru","year":"2024","journal-title":"ArXiv"},{"key":"ref7","article-title":"What matters in learning from offline human demonstrations for robot manipulation","volume":"abs\/2108.03298","author":"Mandlekar","year":"2021","journal-title":"ArXiv"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196935"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/MSP.2017.2743240"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.002"},{"key":"ref11","article-title":"Bc-z: Zero-shot task generalization with robotic imitation learning","volume":"abs\/2202.02005","author":"Jang","year":"2022","journal-title":"ArXiv"},{"key":"ref12","article-title":"The magical benchmark for robust imitation","volume":"abs\/2011.00401","author":"Toyer","year":"2020","journal-title":"ArXiv"},{"key":"ref13","article-title":"Transporter networks: Rearranging the visual world for robotic manipulation","volume-title":"Conference on Robot Learning","author":"Zeng"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.026"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460528"},{"key":"ref16","article-title":"robosuite: A modular simulation framework and benchmark for robot learning","volume":"abs\/2009.12293","author":"Zhu","year":"2020","journal-title":"ArXiv"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01263"},{"key":"ref18","article-title":"Shapenet: An information-rich 3d model repository","volume":"abs\/1512.03012","author":"Chang","year":"2015","journal-title":"ArXiv"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2933815"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"ref21","article-title":"Mimicgen: A data generation system for scalable robot learning using human demonstrations","volume-title":"Conference on Robot Learning","author":"Mandlekar"}],"event":{"name":"2025 IEEE International Conference on Advanced Robotics (ICAR)","location":"San Juan, Argentina","start":{"date-parts":[[2025,12,2]]},"end":{"date-parts":[[2025,12,5]]}},"container-title":["2025 IEEE International Conference on Advanced Robotics (ICAR)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11338521\/11338600\/11338672.pdf?arnumber=11338672","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T08:42:58Z","timestamp":1769071378000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11338672\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,2]]},"references-count":21,"URL":"https:\/\/doi.org\/10.1109\/icar65334.2025.11338672","relation":{},"subject":[],"published":{"date-parts":[[2025,12,2]]}}}