{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,29]],"date-time":"2025-08-29T00:07:14Z","timestamp":1756426034253,"version":"3.44.0"},"reference-count":41,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"10","license":[{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T00:00:00Z","timestamp":1759276800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"National Key R&amp;D Program of China","award":["2022YFB4701400\/2022YFB4701404"],"award-info":[{"award-number":["2022YFB4701400\/2022YFB4701404"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62273137","62473139","U21A20518","U23A20341"],"award-info":[{"award-number":["62273137","62473139","U21A20518","U23A20341"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Hunan Provincial Research and Development Project","award":["2025QK3019"],"award-info":[{"award-number":["2025QK3019"]}]},{"name":"Hunan Science Fund for Distinguished Young Scholars","award":["2024JJ2027"],"award-info":[{"award-number":["2024JJ2027"]}]},{"name":"Open Research Project of the State Key Laboratory of Industrial Control Technology, China","award":["ICT2025B20"],"award-info":[{"award-number":["ICT2025B20"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2025,10]]},"DOI":"10.1109\/lra.2025.3601041","type":"journal-article","created":{"date-parts":[[2025,8,20]],"date-time":"2025-08-20T18:44:10Z","timestamp":1755715450000},"page":"10306-10313","source":"Crossref","is-referenced-by-count":0,"title":["Multi-Keypoint Affordance Representation for Functional Dexterous Grasping"],"prefix":"10.1109","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3407-8183","authenticated-orcid":false,"given":"Fan","family":"Yang","sequence":"first","affiliation":[{"name":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-1187-5249","authenticated-orcid":false,"given":"Dongsheng","family":"Luo","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6366-7721","authenticated-orcid":false,"given":"Wenrui","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1393-5027","authenticated-orcid":false,"given":"Jiacheng","family":"Lin","sequence":"additional","affiliation":[{"name":"College of Computer Science and Electronic Engineering, Hunan University, Changsha, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-0844-5786","authenticated-orcid":false,"given":"Junjie","family":"Cai","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1090-667X","authenticated-orcid":false,"given":"Kailun","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9720-5915","authenticated-orcid":false,"given":"Zhiyong","family":"Li","sequence":"additional","affiliation":[{"name":"School of Artificial Intelligence and Robotics, Hunan University, Changsha, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0519-6458","authenticated-orcid":false,"given":"Yaonan","family":"Wang","sequence":"additional","affiliation":[{"name":"National Engineering Research Center of Robot Visual Perception and Control Technology, Hunan University, Changsha, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"issue":"2","key":"ref1","first-page":"67","article-title":"The theory of affordances","volume":"1","author":"Gibson","year":"1977"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139369"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3062560"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.00229"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v38i6.28451"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610008"},{"article-title":"Learning precise affordances from egocentric videos for robotic manipulation","year":"2024","author":"Li","key":"ref7"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913478446"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-95459-8_9"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196971"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3157438"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01324"},{"key":"ref13","first-page":"4573","article-title":"ReKep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation","volume-title":"Proc. Conf. Robot Learn.","author":"Huang","year":"2025"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00144"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/tnnls.2025.3591538"},{"key":"ref16","first-page":"1","article-title":"Isaac Gym: High performance GPU -based physics simulation for robot learning","volume-title":"Proc. NeurIPS","author":"Makoviychuk","year":"2021"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906922"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981838"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52733.2024.01692"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225238"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.11.016"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2974391"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2975706"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00891"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2023.3272571"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TCYB.2024.3487845"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/AVSS.2009.11"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s00371-011-0611-x"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/FG.2017.64"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2017.2675438"},{"key":"ref31","first-page":"1","article-title":"DINOv2: Learning robust visual features without supervision","volume":"2024","author":"Oquab","year":"2024","journal-title":"Trans. Mach. Learn. Res."},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00371"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v38i9.28897"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206484"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.01001"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.552"},{"key":"ref37","first-page":"1383","article-title":"Adaptive binarization for weakly supervised affordance segmentation","volume-title":"Proc. Int. Conf. Comput. Vis. Workshops","author":"Sawatzky","year":"2017"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52729.2023.01051"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00878"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-72940-9_13"},{"article-title":"Deep ViT features as dense visual descriptors","year":"2021","author":"Amir","key":"ref41"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/11125679\/11130892.pdf?arnumber=11130892","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,28]],"date-time":"2025-08-28T18:11:05Z","timestamp":1756404665000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11130892\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10]]},"references-count":41,"journal-issue":{"issue":"10"},"URL":"https:\/\/doi.org\/10.1109\/lra.2025.3601041","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"type":"electronic","value":"2377-3766"},{"type":"electronic","value":"2377-3774"}],"subject":[],"published":{"date-parts":[[2025,10]]}}}