{"id":"https://openalex.org/W4415524275","doi":"https://doi.org/10.1109/humanoids65713.2025.11203021","title":"Dual-Arm Neural Motion Planning Using Action Chunking Transformers","display_name":"Dual-Arm Neural Motion Planning Using Action Chunking Transformers","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524275","doi":"https://doi.org/10.1109/humanoids65713.2025.11203021"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203021","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037653418","display_name":"Carl Gaebert","orcid":null},"institutions":[{"id":"https://openalex.org/I4210128676","display_name":"Human Computer Interaction (Switzerland)","ror":"https://ror.org/036dv6j71","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210128676"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Carl Gaebert","raw_affiliation_strings":["Chemnitz University of Technology,Robotics and Human-Machine Interaction Lab"],"affiliations":[{"raw_affiliation_string":"Chemnitz University of Technology,Robotics and Human-Machine Interaction Lab","institution_ids":["https://openalex.org/I4210128676"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102866538","display_name":"Ulrike Thomas","orcid":"https://orcid.org/0000-0003-3211-4208"},"institutions":[{"id":"https://openalex.org/I4210128676","display_name":"Human Computer Interaction (Switzerland)","ror":"https://ror.org/036dv6j71","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210128676"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ulrike Thomas","raw_affiliation_strings":["Chemnitz University of Technology,Robotics and Human-Machine Interaction Lab"],"affiliations":[{"raw_affiliation_string":"Chemnitz University of Technology,Robotics and Human-Machine Interaction Lab","institution_ids":["https://openalex.org/I4210128676"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5037653418"],"corresponding_institution_ids":["https://openalex.org/I4210128676"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41454601,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"776","last_page":"782"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9883000254631042,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9883000254631042,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9729999899864197,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10812","display_name":"Human Pose and Action Recognition","score":0.9704999923706055,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6553999781608582},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.49390000104904175},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.43529999256134033},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.4325000047683716},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4065000116825104},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4011000096797943},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.3903999924659729}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6699000000953674},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6657999753952026},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6553999781608582},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.49390000104904175},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.43529999256134033},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.4325000047683716},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42800000309944153},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4065000116825104},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4011000096797943},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3912000060081482},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.3903999924659729},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.376800000667572},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3441999852657318},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.3292999863624573},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3151000142097473},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.29809999465942383},{"id":"https://openalex.org/C88626702","wikidata":"https://www.wikidata.org/wiki/Q1128903","display_name":"Continuation","level":2,"score":0.27469998598098755},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2653000056743622},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25279998779296875}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203021","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2019965290","https://openalex.org/W2099893201","https://openalex.org/W2142224528","https://openalex.org/W2288650507","https://openalex.org/W2792984727","https://openalex.org/W2909460411","https://openalex.org/W2963125977","https://openalex.org/W2963439114","https://openalex.org/W2967969632","https://openalex.org/W3006249771","https://openalex.org/W3129611905","https://openalex.org/W3191541459","https://openalex.org/W4285102382","https://openalex.org/W4312999739","https://openalex.org/W4383172031","https://openalex.org/W4385430674","https://openalex.org/W4387886039","https://openalex.org/W4388273911","https://openalex.org/W4388868804","https://openalex.org/W4403337227","https://openalex.org/W4403535425","https://openalex.org/W4403677274","https://openalex.org/W4404520558","https://openalex.org/W4405785353"],"related_works":[],"abstract_inverted_index":{"Deploying":[0],"humanoid":[1],"robots":[2],"in":[3,19,89,112,133,148],"everyday":[4],"environments":[5],"requires":[6],"rapidly":[7],"generating":[8],"coordinated":[9],"and":[10,23,34,85,106,109,150,170,187],"collisionfree":[11],"motions":[12,88],"for":[13,136,153,171],"two":[14],"arms.":[15],"Despite":[16],"recent":[17,131],"advances":[18,132],"global":[20,69],"motion":[21,41,55,78,168,185],"planning":[22,38,42,49,56,79,186],"trajectory":[24,175],"optimization,":[25],"high-dimensional":[26],"configuration":[27],"spaces":[28],"still":[29],"pose":[30],"a":[31,54,59,82,90,103,157,173],"significant":[32],"challenge":[33],"can":[35,61],"cause":[36],"long":[37],"delays.":[39],"Neural":[40],"addresses":[43],"this":[44,72],"shortcoming":[45],"by":[46],"leveraging":[47],"large":[48],"problem":[50],"datasets":[51],"to":[52,67,81,118,126],"train":[53],"policy.":[57],"Such":[58],"model":[60,147,166],"then":[62],"be":[63],"used":[64],"online":[65],"or":[66],"seed":[68],"planners.":[70],"In":[71,124,160],"work,":[73],"we":[74,129,163],"extend":[75],"the":[76,113,143,165,180,192],"neural":[77,184],"approach":[80],"dual-arm":[83],"setting":[84],"thus":[86],"generate":[87],"<tex":[91],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[92],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\mathbf{1":[93],"4}$</tex>-dimensional":[94],"joint":[95],"space.":[96],"The":[97],"proposed":[98],"method":[99],"is":[100],"based":[101],"on":[102,156,191],"transformer":[104],"architecture":[105],"combines":[107],"proprioceptive":[108],"geometric":[110],"information":[111],"form":[114],"of":[115,121,145,182,195],"point":[116,138],"clouds":[117],"predict":[119],"chunks":[120],"joint-space":[122],"actions.":[123],"contrast":[125],"previous":[127],"approaches,":[128],"use":[130,164],"imitation":[134],"learning":[135],"fast":[137],"cloud":[139],"tokenization.":[140],"We":[141],"show":[142,179],"performance":[144],"our":[146,161],"simulation":[149],"provide":[151],"insights":[152],"deploying":[154],"it":[155],"real":[158],"robot.":[159],"experiments,":[162],"as":[167],"planner":[169],"seeding":[172],"state-of-the-art":[174],"optimizer.":[176],"Our":[177],"results":[178],"advantage":[181],"transformer-based":[183],"its":[188],"positive":[189],"impact":[190],"success":[193],"rates":[194],"traditional":[196],"solvers.":[197]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-24T00:00:00"}