{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,29]],"date-time":"2026-06-29T19:01:09Z","timestamp":1782759669528,"version":"3.54.5"},"reference-count":26,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"11","license":[{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T00:00:00Z","timestamp":1761955200000},"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":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2025,11]]},"DOI":"10.1109\/lra.2025.3604750","type":"journal-article","created":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T19:32:15Z","timestamp":1756755135000},"page":"11094-11101","source":"Crossref","is-referenced-by-count":3,"title":["Active-Perceptive Language-Oriented Grasp Policy for Heavily Cluttered Scenes"],"prefix":"10.1109","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0009-0000-7501-5504","authenticated-orcid":false,"given":"Yixiang","family":"Dai","sequence":"first","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9235-6439","authenticated-orcid":false,"given":"Siang","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0232-2698","authenticated-orcid":false,"given":"Kaiqin","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2284-4824","authenticated-orcid":false,"given":"Dingchang","family":"Hu","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1005-9252","authenticated-orcid":false,"given":"Pengwei","family":"Xie","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guosheng","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9396-1964","authenticated-orcid":false,"given":"Yuan","family":"Shen","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2131-3044","authenticated-orcid":false,"given":"Guijin","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3290513"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3281153"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV48922.2021.01566"},{"key":"ref4","first-page":"1834","article-title":"Region-aware grasp framework with normalized grasp space for efficient 6-DOF grasping","volume-title":"Proc. Conf. Robot Learn.","author":"Chen","year":"2025"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197318"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981499"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981472"},{"key":"ref8","first-page":"2849","article-title":"Affordance-driven next-best-view planning for robotic grasping","volume-title":"Proc. Conf. Robot Learn.","author":"Zhang","year":"2023"},{"key":"ref9","first-page":"38122","article-title":"Active perception for grasp detection via neural graspness field","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","volume":"37","author":"Ma"},{"key":"ref10","article-title":"ManiSkill3: GPU parallelized robotics simulation and rendering for generalizable embodied AI","volume-title":"Proc. 7th Robot Learn. Workshop: Towards Robots Human-Level Abilities","author":"Tao","year":"2024"},{"key":"ref11","first-page":"3568","article-title":"ThinkGrasp: A vision-language system for strategic part grasping in clutter","volume-title":"Proc. Conf. Robot Learn.","author":"Qian","year":"2025"},{"key":"ref12","article-title":"GPT-4o","year":"2024"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-92591-7_19"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593986"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610080"},{"key":"ref16","first-page":"70","article-title":"Goal-auxiliary actor-critic for 6D robotic grasping with point clouds","volume-title":"Proc. Conf. Robot Learn.","author":"Wang","year":"2022"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/CASE48305.2020.9216986"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161041"},{"key":"ref19","first-page":"8748","article-title":"Learning transferable visual models from natural language supervision","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Radford","year":"2021"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR52688.2022.01225"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3495333"},{"key":"ref22","first-page":"652","article-title":"PointNet: Deep learning on point sets for 3D classification and segmentation","volume-title":"Proc. IEEE\/CVF Conf. Comput. Vis. Pattern Recognit.","author":"Qi","year":"2017"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1145\/3326362"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10802654"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2025.112088"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.00371"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/11169302\/11146494.pdf?arnumber=11146494","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,18]],"date-time":"2025-09-18T17:47:44Z","timestamp":1758217664000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11146494\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,11]]},"references-count":26,"journal-issue":{"issue":"11"},"URL":"https:\/\/doi.org\/10.1109\/lra.2025.3604750","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,11]]}}}