{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,11]],"date-time":"2026-07-11T19:17:10Z","timestamp":1783797430006,"version":"3.55.0"},"reference-count":84,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"5","license":[{"start":{"date-parts":[[2021,10,1]],"date-time":"2021-10-01T00:00:00Z","timestamp":1633046400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,10,1]],"date-time":"2021-10-01T00:00:00Z","timestamp":1633046400000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,10,1]],"date-time":"2021-10-01T00:00:00Z","timestamp":1633046400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,10,1]],"date-time":"2021-10-01T00:00:00Z","timestamp":1633046400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100006435","name":"National Science Foundation","doi-asserted-by":"publisher","award":["NSF-NRI-1637479"],"award-info":[{"award-number":["NSF-NRI-1637479"]}],"id":[{"id":"10.13039\/100006435","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000006","name":"Office of Naval Research","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000006","name":"ONR","doi-asserted-by":"publisher","award":["63-6094"],"award-info":[{"award-number":["63-6094"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Honda Research Institute"},{"name":"Curious Minded Machine initiative"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2021,10]]},"DOI":"10.1109\/tro.2021.3060341","type":"journal-article","created":{"date-parts":[[2021,3,22]],"date-time":"2021-03-22T20:44:28Z","timestamp":1616445868000},"page":"1343-1359","source":"Crossref","is-referenced-by-count":102,"title":["Unseen Object Instance Segmentation for Robotic Environments"],"prefix":"10.1109","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1027-1010","authenticated-orcid":false,"given":"Christopher","family":"Xie","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yu","family":"Xiang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9356-9455","authenticated-orcid":false,"given":"Arsalan","family":"Mousavian","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dieter","family":"Fox","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref73","author":"serra","year":"1983","journal-title":"Image Analysis and Mathematical Morphology"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00940"},{"key":"ref71","article-title":"A review of mean-shift algorithms for clustering","author":"carreira-perpin\u00e1n","year":"2015"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01249-6_34"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461108"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2014.46"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01246-5_6"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.28"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00904"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1023\/B:VISI.0000022288.19776.77"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041368"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793917"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.556"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01252-6_9"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10584-0_23"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.013"},{"key":"ref37","article-title":"Semantic instance segmentation with a discriminative loss function","author":"brabandere","year":"2017"},{"key":"ref36","first-page":"9796","article-title":"Image segmentation as rendering","author":"kirillov","year":"0","journal-title":"Proc IEEE Conf Comput Vision Pattern Recognit"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00422"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.472"},{"key":"ref60","first-page":"306","article-title":"Deep object pose estimation for semantic robotic grasping of household objects","author":"tremblay","year":"0","journal-title":"Proc Conf Robot Learn"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.008"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-01231-1_42"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.034"},{"key":"ref28","first-page":"2759","article-title":"RGB-(D) scene labeling: Features and algorithms","author":"ren","year":"0","journal-title":"Proc IEEE Conf Comput Vis Pattern Recognit"},{"key":"ref64","article-title":"Deep transfer learning of pick points on fabric for robot bed-making","author":"seita","year":"0","journal-title":"Proc Int Symp Robot Res (ISRR)"},{"key":"ref27","first-page":"746","article-title":"Indoor segmentation and support inference from RGBD images","author":"silberman","year":"0","journal-title":"Proc Eur Conf Comput Vis"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"ref66","first-page":"234","article-title":"U-net: Convolutional networks for biomedical image segmentation","author":"ronneberger","year":"0","journal-title":"Proc Int Conf Med Image Comput Comput -Assisted Interv"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907298"},{"key":"ref67","first-page":"3","article-title":"Group normalization","author":"wu","year":"0","journal-title":"Proc Eur Conf Comput Vis"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2015.164"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197318"},{"key":"ref69","first-page":"240","article-title":"Multi-scale context aggregation by dilated convolutions","author":"yu","year":"0","journal-title":"Proc Int Conf Learn Representat"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00299"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2017.549"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10602-1_48"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.324"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00319"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00961"},{"key":"ref26","first-page":"5105","article-title":"Pointnet++: Deep hierarchical feature learning on point sets in a metric space","author":"qi","year":"0","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref25","first-page":"77","article-title":"Pointnet: Deep learning on point sets for 3D classification and segmentation","author":"qi","year":"0","journal-title":"Proc IEEE Conf Comput Vis Pattern Recognit"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2856525"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2017.7989023"},{"key":"ref59","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.019"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00905"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00446"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00937"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00935"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00301"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.00455"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461184"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.058"},{"key":"ref40","article-title":"ClusterNet: 3D instance segmentation in RGB-D images","author":"shao","year":"2018"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793744"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.322"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00492"},{"key":"ref14","article-title":"Pybullet, a Python Module for Physics Simulation for Games, Robotics and Machine Learning","author":"coumans","year":"2016"},{"key":"ref15","first-page":"1369","article-title":"The best of both modes: Separately leveraging RGB and depth for unseen object instance segmentation","author":"xie","year":"0","journal-title":"Proc Conf Robot Learn"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01197"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2016.2572683"},{"key":"ref81","article-title":"Adam: A method for stochastic optimization","author":"kingma","year":"0","journal-title":"Proc Int Conf Learn Representat"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2017.2699184"},{"key":"ref84","article-title":"Open3D: A modern library for 3D data processing","author":"zhou","year":"2018"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2016.2644615"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2016.85"},{"key":"ref19","first-page":"801","article-title":"Encoder&#x2013;decoder with atrous separable convolution for semantic image segmentation","author":"chen","year":"0","journal-title":"Proc Eur Conf Comput Vis"},{"key":"ref80","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385661"},{"key":"ref4","article-title":"ShapeNet: An information-rich 3D model repository","author":"chang","year":"0","journal-title":"Stanford Univ &#x2014;Princeton University &#x2014;Toyota Technol Inst at Chicago"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3006816"},{"key":"ref6","first-page":"66","article-title":"Photorealistic image synthesis for object instance detection","author":"hoda?","year":"2019","journal-title":"in Proc IEEE Int Conf Image Process"},{"key":"ref5","first-page":"1","article-title":"Towards vision-based deep reinforcement learning for robotic motion control","author":"zhang","year":"0","journal-title":"Proc Australas Conf Robot Automat"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460875"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00930"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-43089-4_44"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202133"},{"key":"ref46","article-title":"Towards segmenting everything that moves","author":"dave","year":"0","journal-title":"Proc IEEE\/CVF Int Conf Comput Vision (ICCV) Workshops"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2019.01023"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-46448-0_5"},{"key":"ref47","first-page":"1990","article-title":"Learning to segment object candidates","author":"pinheiro","year":"0","journal-title":"Proc Adv Neural Inf Process Syst"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00860"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00215"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2018.00071"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR42600.2020.00856"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/8860\/9556521\/9382336-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/9556521\/09382336.pdf?arnumber=9382336","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,4,8]],"date-time":"2022-04-08T18:51:36Z","timestamp":1649443896000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9382336\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,10]]},"references-count":84,"journal-issue":{"issue":"5"},"URL":"https:\/\/doi.org\/10.1109\/tro.2021.3060341","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,10]]}}}