<> <http://www.w3.org/2000/01/rdf-schema#comment> "The repository administrator has not yet configured an RDF license."^^<http://www.w3.org/2001/XMLSchema#string> . <> <http://xmlns.com/foaf/0.1/primaryTopic> <https://discovery.ucl.ac.uk/id/eprint/10178561> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://purl.org/ontology/bibo/Article> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/dc/terms/title> "Reinforcement Learning-based Grasping via One-Shot Affordance Localization and Zero-Shot Contrastive Language–Image Learning"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/ontology/bibo/abstract> "We present a novel robotic grasping system using\r\na caging-style gripper, that combines one-shot affordance localization and zero-shot object identification. We demonstrate an\r\nintegrated system requiring minimal prior knowledge, focusing\r\non flexible few-shot object agnostic approaches. For grasping\r\na novel target object, we use as input the color and depth\r\nof the scene, an image of an object affordance similar to the\r\ntarget object, and an up to three-word text prompt describing\r\nthe target object. We demonstrate the system using real-world\r\ngrasping of objects from the YCB benchmark set, with four\r\ndistractor objects cluttering the scene. Overall, our pipeline\r\nhas a success rate of the affordance localization of 96%, object\r\nidentification of 62.5%, and grasping of 72%. Videos are on\r\nthe project website: https://sites.google.com/view/\r\nrl-affcorrs-grasp."^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/dc/terms/date> "2024-01-08" . <https://discovery.ucl.ac.uk/id/document/1657900> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://purl.org/ontology/bibo/Document> . <https://discovery.ucl.ac.uk/id/org/ext-af0a9a5baed87c407844a3f5db44597c> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://xmlns.com/foaf/0.1/Organization> . <https://discovery.ucl.ac.uk/id/org/ext-af0a9a5baed87c407844a3f5db44597c> <http://xmlns.com/foaf/0.1/name> "IEEE"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/dc/terms/publisher> <https://discovery.ucl.ac.uk/id/org/ext-af0a9a5baed87c407844a3f5db44597c> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/ontology/bibo/status> <http://purl.org/ontology/bibo/status/published> 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<https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/dc/terms/creator> <https://discovery.ucl.ac.uk/id/person/ext-7bcd9d3de3289f33aa7a711639aa031d> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/ontology/bibo/authorList> <https://discovery.ucl.ac.uk/id/eprint/10178561#authors> . <https://discovery.ucl.ac.uk/id/eprint/10178561#authors> <http://www.w3.org/1999/02/22-rdf-syntax-ns#_3> <https://discovery.ucl.ac.uk/id/person/ext-7bcd9d3de3289f33aa7a711639aa031d> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/dc/terms/creator> <https://discovery.ucl.ac.uk/id/person/ext-ef5ebd81ccd9a9575ece8469366d14a1> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/ontology/bibo/authorList> <https://discovery.ucl.ac.uk/id/eprint/10178561#authors> . <https://discovery.ucl.ac.uk/id/eprint/10178561#authors> <http://www.w3.org/1999/02/22-rdf-syntax-ns#_4> <https://discovery.ucl.ac.uk/id/person/ext-ef5ebd81ccd9a9575ece8469366d14a1> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/dc/terms/creator> <https://discovery.ucl.ac.uk/id/person/ext-5d49adcf02b8756c347219b1eb72c842> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/ontology/bibo/authorList> <https://discovery.ucl.ac.uk/id/eprint/10178561#authors> . <https://discovery.ucl.ac.uk/id/eprint/10178561#authors> <http://www.w3.org/1999/02/22-rdf-syntax-ns#_5> <https://discovery.ucl.ac.uk/id/person/ext-5d49adcf02b8756c347219b1eb72c842> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/dc/terms/creator> <https://discovery.ucl.ac.uk/id/person/ext-b10a3e8cd6165c9727bd58cbc4b19664> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/ontology/bibo/authorList> <https://discovery.ucl.ac.uk/id/eprint/10178561#authors> . <https://discovery.ucl.ac.uk/id/eprint/10178561#authors> <http://www.w3.org/1999/02/22-rdf-syntax-ns#_6> <https://discovery.ucl.ac.uk/id/person/ext-b10a3e8cd6165c9727bd58cbc4b19664> . <https://discovery.ucl.ac.uk/id/person/ext-ef5ebd81ccd9a9575ece8469366d14a1> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://xmlns.com/foaf/0.1/Person> . <https://discovery.ucl.ac.uk/id/person/ext-ef5ebd81ccd9a9575ece8469366d14a1> <http://xmlns.com/foaf/0.1/givenName> "Andromachi Maria"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-ef5ebd81ccd9a9575ece8469366d14a1> <http://xmlns.com/foaf/0.1/familyName> "Delfaki"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-ef5ebd81ccd9a9575ece8469366d14a1> <http://xmlns.com/foaf/0.1/name> "Andromachi Maria Delfaki"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-7bcd9d3de3289f33aa7a711639aa031d> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://xmlns.com/foaf/0.1/Person> . <https://discovery.ucl.ac.uk/id/person/ext-7bcd9d3de3289f33aa7a711639aa031d> <http://xmlns.com/foaf/0.1/givenName> "Denis"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-7bcd9d3de3289f33aa7a711639aa031d> <http://xmlns.com/foaf/0.1/familyName> "Hadjivelichkov"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-7bcd9d3de3289f33aa7a711639aa031d> <http://xmlns.com/foaf/0.1/name> "Denis Hadjivelichkov"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-313de265fd995815c744c79dd0a962b1> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://xmlns.com/foaf/0.1/Person> . <https://discovery.ucl.ac.uk/id/person/ext-313de265fd995815c744c79dd0a962b1> <http://xmlns.com/foaf/0.1/givenName> "Xiang"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-313de265fd995815c744c79dd0a962b1> <http://xmlns.com/foaf/0.1/familyName> "Long"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-313de265fd995815c744c79dd0a962b1> <http://xmlns.com/foaf/0.1/name> "Xiang Long"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-b10a3e8cd6165c9727bd58cbc4b19664> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://xmlns.com/foaf/0.1/Person> . <https://discovery.ucl.ac.uk/id/person/ext-b10a3e8cd6165c9727bd58cbc4b19664> <http://xmlns.com/foaf/0.1/givenName> "Dimitrios"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-b10a3e8cd6165c9727bd58cbc4b19664> <http://xmlns.com/foaf/0.1/familyName> "Kanoulas"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-b10a3e8cd6165c9727bd58cbc4b19664> <http://xmlns.com/foaf/0.1/name> "Dimitrios Kanoulas"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-87a968e9ee1decf286dc2b4cb78537d5> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://xmlns.com/foaf/0.1/Person> . <https://discovery.ucl.ac.uk/id/person/ext-87a968e9ee1decf286dc2b4cb78537d5> <http://xmlns.com/foaf/0.1/givenName> "Luke"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-87a968e9ee1decf286dc2b4cb78537d5> <http://xmlns.com/foaf/0.1/familyName> "Beddow"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-87a968e9ee1decf286dc2b4cb78537d5> <http://xmlns.com/foaf/0.1/name> "Luke Beddow"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-5d49adcf02b8756c347219b1eb72c842> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://xmlns.com/foaf/0.1/Person> . <https://discovery.ucl.ac.uk/id/person/ext-5d49adcf02b8756c347219b1eb72c842> <http://xmlns.com/foaf/0.1/givenName> "Helge"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-5d49adcf02b8756c347219b1eb72c842> <http://xmlns.com/foaf/0.1/familyName> "Wurdemann"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/person/ext-5d49adcf02b8756c347219b1eb72c842> <http://xmlns.com/foaf/0.1/name> "Helge Wurdemann"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://purl.org/ontology/bibo/Article> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/ontology/bibo/presentedAt> <https://discovery.ucl.ac.uk/id/event/ext-87dbde16771aca847eb25777210bd973> . <https://discovery.ucl.ac.uk/id/event/ext-87dbde16771aca847eb25777210bd973> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://purl.org/ontology/bibo/Conference> . <https://discovery.ucl.ac.uk/id/event/ext-87dbde16771aca847eb25777210bd973> <http://purl.org/dc/terms/title> "The 2024 16th IEEE/SICE International Symposium on System Integration"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/event/ext-87dbde16771aca847eb25777210bd973> <http://purl.org/NET/c4dm/event.owl#place> <https://discovery.ucl.ac.uk/id/location/ext-eb2e529391063d3d2669b27505258ee2> . <https://discovery.ucl.ac.uk/id/event/ext-87dbde16771aca847eb25777210bd973> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://purl.org/NET/c4dm/event.owl#Event> . <https://discovery.ucl.ac.uk/id/event/ext-87dbde16771aca847eb25777210bd973> <http://purl.org/NET/c4dm/event.owl#place> <https://discovery.ucl.ac.uk/id/location/ext-eb2e529391063d3d2669b27505258ee2> . <https://discovery.ucl.ac.uk/id/location/ext-eb2e529391063d3d2669b27505258ee2> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2003/01/geo/wgs84_pos#SpatialThing> . <https://discovery.ucl.ac.uk/id/location/ext-eb2e529391063d3d2669b27505258ee2> <http://www.w3.org/2000/01/rdf-schema#label> "Ha Long, Vietnam"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://eprints.org/ontology/EPrint> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://eprints.org/ontology/ProceedingsSectionEPrint> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://purl.org/dc/terms/isPartOf> <https://discovery.ucl.ac.uk/id/repository> . <https://discovery.ucl.ac.uk/id/eprint/10178561> <http://eprints.org/ontology/hasDocument> <https://discovery.ucl.ac.uk/id/document/1657900> . <https://discovery.ucl.ac.uk/id/document/1657900> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://eprints.org/ontology/Document> . <https://discovery.ucl.ac.uk/id/document/1657900> <http://www.w3.org/2000/01/rdf-schema#label> "Reinforcement Learning-based Grasping via One-Shot Affordance Localization and Zero-Shot Contrastive Language–Image Learning (Text)"^^<http://www.w3.org/2001/XMLSchema#string> . <https://discovery.ucl.ac.uk/id/eprint/10178561> 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