{"id":"https://openalex.org/W4390187881","doi":"https://doi.org/10.1109/icdl55364.2023.10364419","title":"State Representation Learning for Task and Motion Planning in Robot Manipulation","display_name":"State Representation Learning for Task and Motion Planning in Robot Manipulation","publication_year":2023,"publication_date":"2023-11-09","ids":{"openalex":"https://openalex.org/W4390187881","doi":"https://doi.org/10.1109/icdl55364.2023.10364419"},"language":"en","primary_location":{"id":"doi:10.1109/icdl55364.2023.10364419","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icdl55364.2023.10364419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Development and Learning (ICDL)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5036193384","display_name":"Qu Weiming","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qu Weiming","raw_affiliation_strings":["School of Intelligence Science and Technology, Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE),Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE),Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054661634","display_name":"Yaoyao Wei","orcid":"https://orcid.org/0000-0003-2001-5114"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Yaoyao","raw_affiliation_strings":["School of Intelligence Science and Technology, Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE),Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE),Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111443902","display_name":"Dingsheng Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Luo Dingsheng","raw_affiliation_strings":["School of Intelligence Science and Technology, Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE),Beijing,China,100871"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Intelligence Science and Technology, Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE),Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"93","last_page":"99"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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":0.9987999796867371,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9945999979972839,"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"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9933000206947327,"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/computer-science","display_name":"Computer science","score":0.7133296132087708},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.7118014097213745},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6412242650985718},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.637342095375061},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6117104291915894},{"id":"https://openalex.org/keywords/pruning","display_name":"Pruning","score":0.5847825407981873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5802487134933472},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5165275931358337},{"id":"https://openalex.org/keywords/multi-task-learning","display_name":"Multi-task learning","score":0.47777020931243896},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4566984474658966},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4392847716808319},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.41437897086143494},{"id":"https://openalex.org/keywords/domain-knowledge","display_name":"Domain knowledge","score":0.41101136803627014},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4010865390300751},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1609472930431366},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09243372082710266}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7133296132087708},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.7118014097213745},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6412242650985718},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.637342095375061},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6117104291915894},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.5847825407981873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5802487134933472},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5165275931358337},{"id":"https://openalex.org/C28006648","wikidata":"https://www.wikidata.org/wiki/Q6934509","display_name":"Multi-task learning","level":3,"score":0.47777020931243896},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4566984474658966},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4392847716808319},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.41437897086143494},{"id":"https://openalex.org/C207685749","wikidata":"https://www.wikidata.org/wiki/Q2088941","display_name":"Domain knowledge","level":2,"score":0.41101136803627014},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4010865390300751},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1609472930431366},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09243372082710266},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icdl55364.2023.10364419","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icdl55364.2023.10364419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Development and Learning (ICDL)","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":34,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W284629942","https://openalex.org/W1491843047","https://openalex.org/W1959608418","https://openalex.org/W1976930960","https://openalex.org/W2025768430","https://openalex.org/W2100988719","https://openalex.org/W2111481694","https://openalex.org/W2128990851","https://openalex.org/W2135639338","https://openalex.org/W2143936212","https://openalex.org/W2194775991","https://openalex.org/W2561918466","https://openalex.org/W2565427121","https://openalex.org/W2570734388","https://openalex.org/W2752796333","https://openalex.org/W2787666871","https://openalex.org/W2884855872","https://openalex.org/W2945600613","https://openalex.org/W2953363924","https://openalex.org/W2963709735","https://openalex.org/W2963799213","https://openalex.org/W3003372958","https://openalex.org/W3091340437","https://openalex.org/W3102121895","https://openalex.org/W3189699967","https://openalex.org/W4221153240","https://openalex.org/W4242811155","https://openalex.org/W4319988532","https://openalex.org/W6630827198","https://openalex.org/W6638782989","https://openalex.org/W6640963894","https://openalex.org/W6675301218","https://openalex.org/W6849896277"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2586732548","https://openalex.org/W3049728571","https://openalex.org/W2373300491"],"abstract_inverted_index":{"Employing":[0],"the":[1,12,31,64,69,73,77,83,123],"knowledge":[2],"representation":[3,48,54,66],"model":[4,67,79],"designed":[5],"by":[6],"human":[7],"experts":[8],"has":[9],"long":[10],"been":[11],"dominant":[13],"methodology":[14],"in":[15,122],"task":[16,92],"and":[17,28,57,68,91,107,125,128],"motion":[18],"planning":[19,89],"(TAMP).":[20],"However,":[21],"this":[22,35],"type":[23],"of":[24,41,85],"method":[25,56,110,119],"is":[26,120],"time-consuming":[27],"suffers":[29],"from":[30],"domain-dependence":[32],"problem.":[33],"In":[34],"paper,":[36],"we":[37,95],"focus":[38],"on":[39,46,103,112],"TAMP":[40,136],"robot":[42,74],"arm":[43],"manipulation":[44],"based":[45,102,111],"state":[47,53,65],"learning.":[49],"We":[50],"present":[51],"a":[52,58,98,108],"learning":[55,60,106],"joint":[59],"strategy":[61,101],"for":[62],"both":[63],"environment":[70,78],"model,":[71],"enabling":[72],"to":[75,130,134],"learn":[76],"autonomously,":[80],"thereby":[81],"mitigating":[82],"issue":[84],"domain-dependence.":[86],"To":[87],"improve":[88],"efficiency":[90],"success":[93],"rate,":[94],"also":[96],"incorporate":[97],"search":[99],"pruning":[100],"value":[104],"function":[105],"re-planning":[109],"Model":[113],"Predictive":[114],"Control":[115],"(MPC).":[116],"The":[117],"proposed":[118],"evaluated":[121],"simulation":[124],"real-robot":[126],"experiments":[127],"shown":[129],"be":[131],"effective":[132],"compared":[133],"current":[135],"systems.":[137]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
