{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T05:24:23Z","timestamp":1772083463566,"version":"3.50.1"},"reference-count":32,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"9","license":[{"start":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T00:00:00Z","timestamp":1756684800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T00:00:00Z","timestamp":1756684800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T00:00:00Z","timestamp":1756684800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"euROBIN","award":["101070596"],"award-info":[{"award-number":["101070596"]}]},{"name":"Inverse","award":["101136067"],"award-info":[{"award-number":["101136067"]}]},{"name":"MOTIE AiSac","award":["RS-2024-00441872"],"award-info":[{"award-number":["RS-2024-00441872"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2025,9]]},"DOI":"10.1109\/lra.2025.3588387","type":"journal-article","created":{"date-parts":[[2025,7,11]],"date-time":"2025-07-11T17:45:41Z","timestamp":1752255941000},"page":"8906-8913","source":"Crossref","is-referenced-by-count":1,"title":["CLEVER: Stream-Based Active Learning for Robust Semantic Perception From Human Instructions"],"prefix":"10.1109","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0960-0809","authenticated-orcid":false,"given":"Jongseok","family":"Lee","sequence":"first","affiliation":[{"name":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Weßling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-3971-4115","authenticated-orcid":false,"given":"Timo","family":"Birr","sequence":"additional","affiliation":[{"name":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7975-036X","authenticated-orcid":false,"given":"Rudolph","family":"Triebel","sequence":"additional","affiliation":[{"name":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Weßling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4879-7680","authenticated-orcid":false,"given":"Tamim","family":"Asfour","sequence":"additional","affiliation":[{"name":"Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00371"},{"key":"ref2","first-page":"1","article-title":"DINOv2: Learning robust visual features without supervision","author":"Oquab","year":"2024","journal-title":"Trans. Mach. Learn. Res. J."},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611342"},{"key":"ref4","article-title":"Topology-matching normalizing flows for out-of-distribution detection in robot learning","volume-title":"Proc. Conf. Robot Learn.","author":"Feng","year":"2023"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3256926"},{"key":"ref6","article-title":"Trust your robots! predictive uncertainty estimation of neural networks with sparse Gaussian processes","volume-title":"Proc. Conf. Robot Learn.","author":"Lee","year":"2021"},{"key":"ref7","article-title":"Robots that ask for help: Uncertainty alignment for large language model planners","volume-title":"Proc. Conf. Robot Learn.","author":"Ren","year":"2023"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.5555\/3295222.3295387"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.5555\/3045390.3045502"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s10994-023-06454-2"},{"key":"ref11","article-title":"Self-improving semantic perception for indoor localisation","volume-title":"Proc. Conf. Robot Learn.","author":"Blum","year":"2022"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3203812"},{"key":"ref13","first-page":"30005","article-title":"Streaming active learning with deep neural networks","volume-title":"Proc. 40th Int. Conf. Mach. Learn.","author":"Saran","year":"2023"},{"key":"ref14","article-title":"Stream-based active learning by exploiting temporal properties in perception with temporal predicted loss","volume-title":"Proc. Brit. Mach. Vis. Conf.","author":"Schmidt","year":"2023"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487138"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2020.2980246"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206106"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids.2011.6100843"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2024.3367329"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2019.2941246"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.043"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9982175"},{"key":"ref23","first-page":"1378","article-title":"Fleet active learning: A submodular maximization approach","volume-title":"Proc. CoRL","volume":"229","author":"Akcin","year":"2023"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-28872-7_26"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139368"},{"key":"ref26","first-page":"1","article-title":"Learning expressive priors for generalization and uncertainty estimation in neural networks","volume-title":"Proc. 40th Int. Conf. Mach. Learn.","author":"Schnaus","year":"2023"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-100819-063206"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2024.XX.025"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2006.321380"},{"key":"ref30","first-page":"5702","article-title":"Estimating model uncertainty of neural networks in sparse information form","volume-title":"Proc. 37th Int. Conf. Mach. Learn.","author":"Lee","year":"2020"},{"key":"ref31","first-page":"896","article-title":"Estimating the absolute position of a mobile robot using position probability grids","volume-title":"Proc. AAAI Conf. Artif. Intell.","author":"Burgard","year":"1996"},{"key":"ref32","article-title":"Batchbald: Efficient and diverse batch acquisition for deep Bayesian active learning","volume-title":"Proc. Adv. Neural Process. Syst.","volume":"32","author":"Kirsch","year":"2019"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/11082640\/11078143.pdf?arnumber=11078143","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,7]],"date-time":"2025-08-07T04:56:18Z","timestamp":1754542578000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11078143\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9]]},"references-count":32,"journal-issue":{"issue":"9"},"URL":"https:\/\/doi.org\/10.1109\/lra.2025.3588387","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9]]}}}