{"id":"https://openalex.org/W4403021429","doi":"https://doi.org/10.1080/01691864.2024.2407136","title":"Real-world cooking robot system from recipes based on food state recognition using foundation models and PDDL","display_name":"Real-world cooking robot system from recipes based on food state recognition using foundation models and PDDL","publication_year":2024,"publication_date":"2024-09-16","ids":{"openalex":"https://openalex.org/W4403021429","doi":"https://doi.org/10.1080/01691864.2024.2407136"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2024.2407136","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2407136","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2410.02874","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050690629","display_name":"Naoaki Kanazawa","orcid":"https://orcid.org/0009-0002-3527-3087"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Naoaki Kanazawa","raw_affiliation_strings":["The Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0009-0002-3527-3087","affiliations":[{"raw_affiliation_string":"The Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087094940","display_name":"Kento Kawaharazuka","orcid":"https://orcid.org/0000-0002-7464-7187"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kento Kawaharazuka","raw_affiliation_strings":["The Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7464-7187","affiliations":[{"raw_affiliation_string":"The Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048932127","display_name":"Yoshiki Obinata","orcid":"https://orcid.org/0000-0003-1429-4401"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshiki Obinata","raw_affiliation_strings":["The Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1429-4401","affiliations":[{"raw_affiliation_string":"The Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112883439","display_name":"Kei Okada","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["The Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["The Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5050690629"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":3.1552,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.92155206,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"38","issue":"18","first_page":"1318","last_page":"1334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.97079998254776,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.97079998254776,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12222","display_name":"IoT-based Smart Home Systems","score":0.9575999975204468,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.902400016784668,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/foundation","display_name":"Foundation (evidence)","score":0.7077363729476929},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5820308327674866},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4948727488517761},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.490465372800827},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45143112540245056},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37346023321151733},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09744703769683838},{"id":"https://openalex.org/keywords/law","display_name":"Law","score":0.09250834584236145}],"concepts":[{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.7077363729476929},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5820308327674866},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4948727488517761},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.490465372800827},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45143112540245056},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37346023321151733},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09744703769683838},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.09250834584236145},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2024.2407136","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2407136","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2410.02874","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2410.02874","pdf_url":"https://arxiv.org/pdf/2410.02874","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2410.02874","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2410.02874","pdf_url":"https://arxiv.org/pdf/2410.02874","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403021429.pdf"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W158164316","https://openalex.org/W2156047221","https://openalex.org/W2252225847","https://openalex.org/W2281096776","https://openalex.org/W2773987432","https://openalex.org/W3169232766","https://openalex.org/W3206380267","https://openalex.org/W4225380080","https://openalex.org/W4252907012","https://openalex.org/W4253097156","https://openalex.org/W4312283726","https://openalex.org/W4323060027","https://openalex.org/W4383097603","https://openalex.org/W4385403811","https://openalex.org/W4390873707","https://openalex.org/W4392667247","https://openalex.org/W4395097844","https://openalex.org/W4401415710","https://openalex.org/W4402753682"],"related_works":["https://openalex.org/W2381393187","https://openalex.org/W2332779545","https://openalex.org/W2358060160","https://openalex.org/W2035483685","https://openalex.org/W1969764885","https://openalex.org/W596947562","https://openalex.org/W2793937822","https://openalex.org/W2790817834","https://openalex.org/W2220552745","https://openalex.org/W2777605427"],"abstract_inverted_index":{"Although":[0],"there":[1],"is":[2],"a":[3,17,43,73,90,101],"growing":[4],"demand":[5],"for":[6,15],"cooking":[7,20,51,95],"behaviours":[8,21],"as":[9],"one":[10],"of":[11,19,63,76,108],"the":[12,30,55,79,106,109],"expected":[13],"tasks":[14],"robots,":[16],"series":[18],"based":[22],"on":[23],"new":[24,98],"recipe":[25],"descriptions":[26],"by":[27],"robots":[28],"in":[29,85,87,100],"real":[31],"world":[32],"has":[33],"not":[34],"yet":[35],"been":[36],"realised.":[37],"In":[38],"this":[39],"study,":[40],"we":[41],"propose":[42],"robot":[44,50],"system":[45],"that":[46],"integrates":[47],"real-world":[48,102],"executable":[49],"behaviour":[52],"planning":[53,62],"using":[54,78],"Large":[56],"Language":[57],"Model":[58],"(LLM)":[59],"and":[60,66,104],"classical":[61],"PDDL":[64],"descriptions,":[65],"food":[67],"ingredient":[68],"state":[69],"recognition":[70],"learning":[71],"from":[72,96],"small":[74],"number":[75],"data":[77],"Vision-Language":[80],"model":[81],"(VLM).":[82],"We":[83],"succeeded":[84],"experiments":[86],"which":[88],"PR2,":[89],"dual-armed":[91],"wheeled":[92],"robot,":[93],"performed":[94],"arranged":[97],"recipes":[99],"environment,":[103],"confirmed":[105],"effectiveness":[107],"proposed":[110],"system.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2024-10-02T00:00:00"}
