{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,4]],"date-time":"2025-04-04T04:50:09Z","timestamp":1743742209499,"version":"3.28.0"},"reference-count":37,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"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":[[2022,5,23]]},"DOI":"10.1109\/icra46639.2022.9812274","type":"proceedings-article","created":{"date-parts":[[2022,7,12]],"date-time":"2022-07-12T19:36:40Z","timestamp":1657654600000},"page":"1562-1568","source":"Crossref","is-referenced-by-count":5,"title":["Efficient and Robust Training of Dense Object Nets for Multi-Object Robot Manipulation"],"prefix":"10.1109","author":[{"given":"David B.","family":"Adrian","sequence":"first","affiliation":[{"name":"Bosch Center for Artificial Intelligence,Renningen,Germany"}]},{"given":"Andras Gabor","family":"Kupcsik","sequence":"additional","affiliation":[{"name":"Bosch Center for Artificial Intelligence,Renningen,Germany"}]},{"given":"Markus","family":"Spies","sequence":"additional","affiliation":[{"name":"Bosch Center for Artificial Intelligence,Renningen,Germany"}]},{"given":"Heiko","family":"Neumann","sequence":"additional","affiliation":[{"name":"Institute of Neural Information Processing, Ulm University,Ulm,Germany"}]}],"member":"263","reference":[{"key":"ref33","first-page":"651","article-title":"Scalable deep reinforcement learning for vision-based robotic manipulation","volume":"87","author":"kalashnikov","year":"2018","journal-title":"Proceedings of The 2nd Conference on Robot Learning ser Proceedings of Machine Learning Research"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487517"},{"journal-title":"TossingBot Learning to throw arbitrary objects with residual physics","year":"2019","author":"zeng","key":"ref31"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.058"},{"key":"ref37","article-title":"Adam: A method for stochastic optimization","author":"kingma","year":"2015","journal-title":"3rd International Conference on Learning Representations ICLR 2015"},{"journal-title":"Multiple View Geometry in Computer Vision","year":"0","author":"hartley","key":"ref36"},{"key":"ref35","first-page":"8024","article-title":"Pytorch: An imperative style, high-performance deep learning library","author":"paszke","year":"2019","journal-title":"Advances in Neural Information Processing Systems 32 Annual Conference on Neural Information Processing Systems 2019 NeurIPS 2019"},{"journal-title":"S3K Self-Supervised Semantic Keypoints for Robotic Manipulation via Multi-View Consistency","year":"2020","author":"vecerik","key":"ref34"},{"journal-title":"Keypoints into the future Self-supervised correspondence in model-based reinforcement learning","year":"0","author":"manuelli","key":"ref10"},{"key":"ref11","first-page":"6093","article-title":"Supervised training of dense object nets using optimal descriptors for industrial robotic applications","author":"kupcsik","year":"2021","journal-title":"Thirty-Fifth AAAI Conference on Artificial Intelligence AAAI 2021 Thirty-Third Conference on Innovative Applications of Artificial Intelligence IAAI 2021 The Eleventh Symposium on Educational Advances in Artificial Intelligence EAAI 2021 Virtual Event"},{"key":"ref12","first-page":"1597","article-title":"A simple framework for contrastive learning of visual representations","volume":"119","author":"chen","year":"2020","journal-title":"Proceedings of the 37th International Conference on Machine Learning ICML 2020"},{"key":"ref13","article-title":"Bootstrap your own latent - A new approach to self-supervised learning","author":"grill","year":"2020","journal-title":"Advances in Neural Information Processing Systems 33 Annual Conference on Neural Information Processing Systems 2020 NeurIPS 2020"},{"key":"ref14","first-page":"12310","article-title":"Barlow twins: Self-supervised learning via redundancy reduction","volume":"139","author":"zbontar","year":"2021","journal-title":"Proceedings of the 38th International Conference on Machine Learning ICML 2021"},{"key":"ref15","article-title":"Unsupervised learning of visual features by contrasting cluster as-signments","author":"caron","year":"2020","journal-title":"Advances in Neural Information Processing Systems 33 Annual Conference on Neural Information Processing Systems 2020 NeurIPS 2020"},{"journal-title":"Representation learning with contrastive predictive coding","year":"0","author":"oord","key":"ref16"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126544"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46466-4_28"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.649"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR46437.2021.00304"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.1999.790410"},{"key":"ref27","article-title":"Improved baselines with momentum contrastive learning","volume":"abs 2003 4297","author":"chen","year":"2020","journal-title":"CoRR"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000029664.99615.94"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487173"},{"key":"ref29","article-title":"Contrastive learning of global and local features for medical image segmentation with limited annotations","author":"chaitanya","year":"2020","journal-title":"Advances in Neural Information Processing Systems 33 Annual Conference on Neural Information Processing Systems 2020 NeurIPS 2020"},{"journal-title":"End-to-end training of deep visuomotor policies","year":"0","author":"levine","key":"ref5"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197121"},{"key":"ref7","first-page":"99","article-title":"Grasp2vec: Learning object representations from self-supervised grasping","volume":"87","author":"jang","year":"2018","journal-title":"2nd Annual Conference on Robot Learning CoRL 2018"},{"key":"ref2","first-page":"577","article-title":"Bop challenge 2020 on 6d object localization","author":"hodan","year":"2020","journal-title":"European Conference on Computer Vision"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968294"},{"key":"ref1","first-page":"373","article-title":"Dense object nets: Learning dense visual object descriptors by and for robotic manipulation","volume":"87","author":"florence","year":"2018","journal-title":"2nd Annual Conference on Robot Learning CoRL 2018"},{"key":"ref20","first-page":"2406","article-title":"Universal correspondence network","author":"choy","year":"2016","journal-title":"Advances in Neural Information Processing Systems 29 Annual Conference on Neural Information Processing Systems 2016"},{"key":"ref22","article-title":"Self-Supervised 3D Keypoint Learning for Ego-Motion Estimation","author":"tang","year":"2020","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/CVPRW.2018.00060"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2634089"},{"key":"ref23","article-title":"3d object detection and pose estimation of unseen objects in color images with local surface embeddings","author":"pitteri","year":"2020","journal-title":"Proceedings of the Asian Conference on Computer Vision"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00975"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2956365"}],"event":{"name":"2022 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2022,5,23]]},"location":"Philadelphia, PA, USA","end":{"date-parts":[[2022,5,27]]}},"container-title":["2022 International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9811522\/9811357\/09812274.pdf?arnumber=9812274","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,3]],"date-time":"2022-11-03T23:07:10Z","timestamp":1667516830000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9812274\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,23]]},"references-count":37,"URL":"https:\/\/doi.org\/10.1109\/icra46639.2022.9812274","relation":{},"subject":[],"published":{"date-parts":[[2022,5,23]]}}}