{"id":"https://openalex.org/W4415524144","doi":"https://doi.org/10.1109/humanoids65713.2025.11203197","title":"Task and Motion Planning for Humanoid Loco-Manipulation","display_name":"Task and Motion Planning for Humanoid Loco-Manipulation","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524144","doi":"https://doi.org/10.1109/humanoids65713.2025.11203197"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203197","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203197","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/A5106865658","display_name":"Michal Ciebielski","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Michal Ciebielski","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM),Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM),Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088700428","display_name":"Victor Dh\u00e9din","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Victor Dh\u00e9din","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM),Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM),Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043216529","display_name":"Majid Khadiv","orcid":"https://orcid.org/0000-0001-9889-6543"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Majid Khadiv","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM),Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM),Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5106865658"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41449511,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1179","last_page":"1186"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9860000014305115,"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":0.9860000014305115,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9815000295639038,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9204000234603882,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7121999859809875},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.694599986076355},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6158000230789185},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.599399983882904},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5767999887466431},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5101000070571899},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4447000026702881},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.42980000376701355}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7121999859809875},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.694599986076355},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6158000230789185},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6047999858856201},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.599399983882904},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5767999887466431},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5206999778747559},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5101000070571899},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4447000026702881},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.43160000443458557},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.42980000376701355},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41749998927116394},{"id":"https://openalex.org/C2780576329","wikidata":"https://www.wikidata.org/wiki/Q39045793","display_name":"Motor planning","level":2,"score":0.40209999680519104},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.39570000767707825},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.3359000086784363},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.314300000667572},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.31310001015663147},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.2973000109195709},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.29580000042915344},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2879999876022339},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.28610000014305115},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27480000257492065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2687999904155731},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2581000030040741}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203197","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203197","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W28293053","https://openalex.org/W2004805052","https://openalex.org/W2042408133","https://openalex.org/W2087617385","https://openalex.org/W2158782408","https://openalex.org/W2345626358","https://openalex.org/W2805883505","https://openalex.org/W2842089854","https://openalex.org/W2906487027","https://openalex.org/W2986736840","https://openalex.org/W3091756548","https://openalex.org/W3128894241","https://openalex.org/W3169676024","https://openalex.org/W3207305612","https://openalex.org/W4313562939","https://openalex.org/W4382935639","https://openalex.org/W4385858056","https://openalex.org/W4390480962","https://openalex.org/W4399469378","https://openalex.org/W4404954016","https://openalex.org/W4406779533","https://openalex.org/W4415121671"],"related_works":[],"abstract_inverted_index":{"This":[0,39],"work":[1,105],"presents":[2],"an":[3,111],"optimization-based":[4],"task":[5],"and":[6,16,48,66,119],"motion":[7,49],"planning":[8,13,35,50,118],"(TAMP)":[9],"framework":[10],"that":[11,44,75,106],"unifies":[12],"for":[14,126],"locomotion":[15],"manipulation":[17],"through":[18],"a":[19,41,71,80],"shared":[20],"representation":[21],"of":[22,83,98,110],"contact":[23,30],"modes.":[24],"We":[25],"define":[26],"symbolic":[27],"actions":[28],"as":[29,55,57],"mode":[31],"changes,":[32],"grounding":[33],"high-level":[34],"in":[36],"lowlevel":[37],"motion.":[38],"enables":[40,107],"unified":[42],"search":[43],"spans":[45],"task,":[46],"contact,":[47],"while":[51],"incorporating":[52],"whole-body":[53],"dynamics,":[54],"well":[56],"all":[58],"constraints":[59,125],"between":[60],"the":[61,63,67,96,103,108,127,135],"robot,":[62],"manipulated":[64],"object,":[65],"environment.":[68],"Results":[69],"on":[70],"humanoid":[72,128],"platform":[73],"show":[74],"our":[76,99],"method":[77],"can":[78],"generate":[79],"broad":[81],"range":[82],"physically":[84],"consistent":[85],"loco-manipulation":[86,129],"behaviors":[87],"over":[88],"long":[89],"action":[90],"sequences":[91],"requiring":[92],"complex":[93],"reasoning.":[94],"To":[95],"best":[97],"knowledge,":[100],"this":[101],"is":[102,137],"first":[104],"resolution":[109],"integrated":[112],"TAMP":[113],"formulation":[114],"with":[115,123],"fully":[116],"acyclic":[117],"whole":[120],"body":[121],"dynamics":[122],"actuation":[124],"problem.":[130],"A":[131],"supplementary":[132],"video":[133],"demonstrating":[134],"results":[136],"available<sup":[138],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[139,141],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup><sup":[140],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>https://youtu.be/og3_T4VfXzc":[142],"here.":[143]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-24T00:00:00"}
