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Interactive Perception: Leveraging Action in Perception and Perception in Action

arXiv 1604.03670 ↗First posted 13 Apr 2016cs.ROcited by 78

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Abstract (arXiv)

Recent approaches in robotics follow the insight that perception is facilitated by interaction with the environment. These approaches are subsumed under the term of Interactive Perception (IP). It provides the following benefits: (i) interaction with the environment creates a rich sensory signal that would otherwise not be present and (ii) knowledge of the regularity in the combined space of sensory data and action parameters facilitate the prediction and interpretation of the signal. In this survey we postulate this as a principle and collect evidence in support by analyzing and categorizing existing work in this area. We also provide an overview of the most important applications of Interactive Perception. We close this survey by discussing remaining open questions. Thereby, we hope to define a field and inspire future work.

Key facts. Cited by 78 papers in the map (data through 14 Oct 2026). First posted on arXiv 13 Apr 2016.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 15; 2022: 13; 2023: 18; 2024: 10; 2025: 10; 2026: 12.

78 papers.

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  1. 2021Neural Fields in Visual Computing and Beyondcited by 540
  2. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 165
  3. 2022Ditto: Building Digital Twins of Articulated Objects from Interactioncited by 156
  4. 2024Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulationcited by 144
  5. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 103
  6. 2022Learning Affordance Grounding from Exocentric Imagescited by 82
  7. 2021VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objectscited by 80
  8. 2023Adaptive Rotated Convolution for Rotated Object Detectioncited by 51
  9. 2021Act the Part: Learning Interaction Strategies for Articulated Object Part Discoverycited by 45
  10. 2022Differentiable Physics Simulation of Dynamics-Augmented Neural Objectscited by 45
  11. 2023Ditto in the House: Building Articulation Models of Indoor Scenes through Interactive Perceptioncited by 41
  12. 2023NAP: Neural 3D Articulation Priorcited by 25
38 more
  1. 2022Grounded Affordance from Exocentric Viewcited by 22
  2. 2023Passive learning of active causal strategies in agents and language modelscited by 21
  3. 2021Distributional Depth-Based Estimation of Object Articulation Modelscited by 18
  4. 2021Advances in Inference and Representation for Simultaneous Localization and Mappingcited by 16
  5. 2021SAGCI-System: Towards Sample-Efficient, Generalizable, Compositional, and Incremental Robot Learningcited by 16
  6. 2024CAPT: Category-level Articulation Estimation from a Single Point Cloud Using Transformercited by 11
  7. 2023Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interactioncited by 10
  8. 2023Learning to See Physical Properties with Active Sensing Motor Policiescited by 10
  9. 2025From Screens to Scenes: A Survey of Embodied AI in Healthcarecited by 10
  10. 2021IFR-Explore: Learning Inter-object Functional Relationships in 3D Indoor Scenescited by 9
  11. 2023Toward Grounded Commonsense Reasoningcited by 9
  12. 2021Full-Body Visual Self-Modeling of Robot Morphologiescited by 8
  13. 2022Mobile Robot Manipulation using Pure Object Detectioncited by 8
  14. 2022Self-Supervised Interactive Object Segmentation Through a Singulation-and-Grasping Approachcited by 8
  15. 2023Embodied Active Learning of Relational State Abstractions for Bilevel Planningcited by 8
  16. 2021Building Affordance Relations for Robotic Agents - A Reviewcited by 7
  17. 2022Reinforcement Learning in Practice: Opportunities and Challengescited by 6
  18. 2024Scene Exploration by Vision-Language Modelscited by 6
  19. 2025Is Single-View Mesh Reconstruction Ready for Robotics?cited by 6
  20. 2021Object and Relation Centric Representations for Push Effect Predictioncited by 5
  21. 2021NudgeSeg: Zero-Shot Object Segmentation by Repeated Physical Interactioncited by 5
  22. 2022SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perceptioncited by 5
  23. 2023Perceiving Unseen 3D Objects by Poking the Objectscited by 5
  24. 2023Few-Shot Learning of Force-Based Motions From Demonstration Through Pre-training of Haptic Representationcited by 5
  25. 2024Grasp, See, and Place: Efficient Unknown Object Rearrangement with Policy Structure Priorcited by 5
  26. 2022Real-time Mapping of Physical Scene Properties with an Autonomous Robot Experimentercited by 4
  27. 2023Tactile-Filter: Interactive Tactile Perception for Part Matingcited by 4
  28. 2023ROSGPT_Vision: Commanding Robots Using Only Language Models' Promptscited by 4
  29. 2024RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Featurescited by 4
  30. 2024Articulated Object Manipulation using Online Axis Estimation with SAM2-Based Trackingcited by 4
  31. 2025LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrationscited by 4
  32. 2026SCALE: Self-uncertainty Conditioned Adaptive Looking and Execution for Vision-Language-Action Modelscited by 4
  33. 2022H-SAUR: Hypothesize, Simulate, Act, Update, and Repeat for Understanding Object Articulations from Interactionscited by 3
  34. 2024Learning to Look: Seeking Information for Decision Making via Policy Factorizationcited by 3
  35. 2026Online Estimation and Manipulation of Articulated Objectscited by 3
  36. 2024Embodied Uncertainty-Aware Object Segmentationcited by 2
  37. 2025Apple: Toward General Active Perception via Reinforcement Learningcited by 2
  38. 2025TopoCut: Learning Multi-Step Cutting with Spectral Rewards and Discrete Diffusion Policiescited by 2

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