{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,14]],"date-time":"2026-04-14T05:13:13Z","timestamp":1776143593772,"version":"3.50.1"},"reference-count":33,"publisher":"IEEE","license":[{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2019,11,1]],"date-time":"2019-11-01T00:00:00Z","timestamp":1572566400000},"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":[[2019,11]]},"DOI":"10.1109\/iros40897.2019.8968596","type":"proceedings-article","created":{"date-parts":[[2020,1,30]],"date-time":"2020-01-30T23:53:51Z","timestamp":1580428431000},"page":"1781-1788","source":"Crossref","is-referenced-by-count":18,"title":["Affordance Learning for End-to-End Visuomotor Robot Control"],"prefix":"10.1109","author":[{"given":"Aleksi","family":"H\u00e4m\u00e4l\u00e4inen","sequence":"first","affiliation":[{"name":"Aalto University,Espoo,Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Karol","family":"Arndt","sequence":"additional","affiliation":[{"name":"Aalto University,Espoo,Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ali","family":"Ghadirzadeh","sequence":"additional","affiliation":[{"name":"Aalto University,Espoo,Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ville","family":"Kyrki","sequence":"additional","affiliation":[{"name":"Aalto University,Espoo,Finland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref33","article-title":"Benchmarking in manipulation research: The ycb object and model set and benchmarking protocols","author":"calli","year":"2015","journal-title":"arXiv preprint arXiv 1502 03500"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2014.39"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"ref30","article-title":"Understanding disentangling in -vae","volume":"abs 1804 3599","author":"burgess","year":"2018","journal-title":"CoRR"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.623"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487173"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2015.2396014"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759429"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206484"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460902"},{"key":"ref16","first-page":"2746","article-title":"Embed to control: A locally linear latent dynamics model for control from raw images","author":"watter","year":"2015","journal-title":"Advances in neural information processing systems"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759578"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9459-7"},{"key":"ref19","article-title":"Reinforcement learning with unsupervised auxiliary tasks","author":"jaderberg","year":"2016","journal-title":"arXiv preprint arXiv 1611 05397"},{"key":"ref28","article-title":"Weakly supervised learning of affordances","author":"srikantha","year":"2016","journal-title":"arXiv preprint arXiv 1605 02964"},{"key":"ref4","author":"gibson","year":"0","journal-title":"The Theory of Affordances"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139369"},{"key":"ref3","author":"levine","year":"2017","journal-title":"Learning hand-eye coordination for robotic grasping with deep learning and large-scale data collection"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202133"},{"key":"ref29","article-title":"Sim-to-real via sim-to-sim: Data-efficient robotic grasping via randomized-to-canonical adaptation networks","author":"james","year":"2018","journal-title":"arXiv preprint arXiv 1812 02588"},{"key":"ref5","author":"kingma","year":"2013","journal-title":"Auto-encoding variational bayes"},{"key":"ref8","article-title":"Early visual concept learning with unsupervised deep learning","volume":"abs 1606 5579","author":"higgins","year":"2016","journal-title":"CoRR"},{"key":"ref7","article-title":"Transferring end-to-end visuomotor control from simulation to real world for a multi-stage task","author":"james","year":"2017","journal-title":"arXiv preprint arXiv 1707 08040"},{"key":"ref2","first-page":"1334","article-title":"End-to-end training of deep visuomotor policies","volume":"17","author":"levine","year":"2016","journal-title":"The Journal of Machine Learning Research"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461196"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206046"},{"key":"ref20","article-title":"Learning to navigate in complex environments","author":"mirowski","year":"2016","journal-title":"arXiv preprint arXiv 1611 03673"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2018.07.006"},{"key":"ref21","author":"ghadirzadeh","year":"2018","journal-title":"Sensorimotor Robot Policy Training using Reinforcement Learning"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00108"},{"key":"ref23","article-title":"Visual affordance and function understanding: A survey","author":"hassanin","year":"2018","journal-title":"arXiv preprint arXiv 1807 06775"},{"key":"ref26","first-page":"186","article-title":"A multi-scale cnn for affordance segmentation in rgb images","author":"roy","year":"2016","journal-title":"European Conference on Computer Vision"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICCVW.2017.96"}],"event":{"name":"2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Macau, China","start":{"date-parts":[[2019,11,3]]},"end":{"date-parts":[[2019,11,8]]}},"container-title":["2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8957008\/8967518\/08968596.pdf?arnumber=8968596","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,21]],"date-time":"2025-08-21T18:23:47Z","timestamp":1755800627000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8968596\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11]]},"references-count":33,"URL":"https:\/\/doi.org\/10.1109\/iros40897.2019.8968596","relation":{},"subject":[],"published":{"date-parts":[[2019,11]]}}}