{"id":"https://openalex.org/W3090717212","doi":"https://doi.org/10.1109/icra40945.2020.9197291","title":"Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning","display_name":"Deep Visual Heuristics: Learning Feasibility of Mixed-Integer Programs for Manipulation Planning","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090717212","doi":"https://doi.org/10.1109/icra40945.2020.9197291","mag":"3090717212"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","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/A5080239685","display_name":"Danny Driess","orcid":"https://orcid.org/0000-0002-8258-1659"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Danny Driess","raw_affiliation_strings":["Machine Learning and Robotics Lab, University of Stuttgart, Germany","Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics Lab, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013059855","display_name":"Ozgur S. Oguz","orcid":"https://orcid.org/0000-0001-8723-1837"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ozgur Oguz","raw_affiliation_strings":["Machine Learning and Robotics Lab, University of Stuttgart, Germany","Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics Lab, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003306942","display_name":"Jung-Su Ha","orcid":"https://orcid.org/0000-0002-1024-4119"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jung-Su Ha","raw_affiliation_strings":["Machine Learning and Robotics Lab, University of Stuttgart, Germany","Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics Lab, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["Machine Learning and Robotics Lab, University of Stuttgart, Germany","Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics Lab, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5080239685"],"corresponding_institution_ids":["https://openalex.org/I100066346","https://openalex.org/I4210135521"],"apc_list":null,"apc_paid":null,"fwci":6.473,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.9725247,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.9854000210762024,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9850999712944031,"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/heuristics","display_name":"Heuristics","score":0.8275591135025024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7337813377380371},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6200908422470093},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5826596617698669},{"id":"https://openalex.org/keywords/integer","display_name":"Integer (computer science)","score":0.5821491479873657},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5374166965484619},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5162039399147034},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.49974775314331055},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4595105051994324},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45373740792274475},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.4416866600513458},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.4392359256744385},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43119585514068604},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4245445728302002},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.19394835829734802}],"concepts":[{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.8275591135025024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7337813377380371},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6200908422470093},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5826596617698669},{"id":"https://openalex.org/C97137487","wikidata":"https://www.wikidata.org/wiki/Q729138","display_name":"Integer (computer science)","level":2,"score":0.5821491479873657},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5374166965484619},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5162039399147034},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.49974775314331055},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4595105051994324},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45373740792274475},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.4416866600513458},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.4392359256744385},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43119585514068604},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4245445728302002},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.19394835829734802},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197291","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W106094172","https://openalex.org/W834081922","https://openalex.org/W1968962398","https://openalex.org/W2015149365","https://openalex.org/W2031738727","https://openalex.org/W2057408106","https://openalex.org/W2135319191","https://openalex.org/W2141841102","https://openalex.org/W2153635508","https://openalex.org/W2412154694","https://openalex.org/W2528489519","https://openalex.org/W2553701371","https://openalex.org/W2567374473","https://openalex.org/W2569188995","https://openalex.org/W2600030077","https://openalex.org/W2736258566","https://openalex.org/W2736968485","https://openalex.org/W2738669288","https://openalex.org/W2738675347","https://openalex.org/W2794922736","https://openalex.org/W2805883505","https://openalex.org/W2882052894","https://openalex.org/W2885010347","https://openalex.org/W2913995205","https://openalex.org/W2914044489","https://openalex.org/W2952578114","https://openalex.org/W2962837436","https://openalex.org/W2963150697","https://openalex.org/W2963406904","https://openalex.org/W2963430173","https://openalex.org/W2963604043","https://openalex.org/W2963634205","https://openalex.org/W2963756675","https://openalex.org/W2964259080","https://openalex.org/W2968967434","https://openalex.org/W3044175123","https://openalex.org/W3090701469","https://openalex.org/W4246876444","https://openalex.org/W4292558188","https://openalex.org/W4293396018","https://openalex.org/W4293456076","https://openalex.org/W4298159930","https://openalex.org/W6623316541","https://openalex.org/W6718856663","https://openalex.org/W6729788943","https://openalex.org/W6731227521","https://openalex.org/W6741940250","https://openalex.org/W6745193426","https://openalex.org/W6774488020","https://openalex.org/W6842177754"],"related_works":["https://openalex.org/W2468279273","https://openalex.org/W2354198838","https://openalex.org/W1989130879","https://openalex.org/W2103419012","https://openalex.org/W1925942709","https://openalex.org/W2047683846","https://openalex.org/W2044902158","https://openalex.org/W2082154838","https://openalex.org/W2109912052","https://openalex.org/W1711527768"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,75],"propose":[4,76],"a":[5,14,52,59,120,146],"deep":[6],"neural":[7],"network":[8,95,118],"that":[9,54,92,139],"predicts":[10],"the":[11,38,48,79,82,87,111,116,124,127,131,134],"feasibility":[12],"of":[13,61,68,130,136],"mixed-integer":[15,132],"program":[16],"from":[17],"visual":[18],"input":[19,46],"for":[20],"robot":[21],"manipulation":[22],"planning.":[23],"Integrating":[24],"learning":[25,49],"into":[26],"task":[27],"and":[28,40,70,81],"motion":[29],"planning":[30],"is":[31,35],"challenging,":[32],"since":[33],"it":[34],"unclear":[36],"how":[37],"scene":[39,80],"goals":[41],"can":[42,153],"be":[43,142,155],"encoded":[44],"as":[45,119],"to":[47,56,77,97,122,141,144,150],"algorithm":[50],"in":[51,63,86],"way":[53],"enables":[55],"generalize":[57],"over":[58,126],"variety":[60],"tasks":[62],"environments":[64],"with":[65,99],"changing":[66],"numbers":[67],"objects":[69,107],"goals.":[71],"To":[72],"achieve":[73],"this,":[74],"encode":[78],"target":[83],"object":[84],"directly":[85],"image":[88],"space.Our":[89],"experiments":[90],"show":[91],"our":[93],"proposed":[94],"generalizes":[96],"scenes":[98],"multiple":[100],"objects,":[101],"although":[102],"during":[103],"training":[104],"only":[105],"two":[106],"are":[108],"present":[109],"at":[110],"same":[112],"time.":[113],"By":[114],"using":[115],"learned":[117],"heuristic":[121],"guide":[123],"search":[125],"discrete":[128],"variables":[129],"program,":[133],"number":[135],"optimization":[137],"problems":[138],"have":[140],"solved":[143],"find":[145],"feasible":[147],"solution":[148],"or":[149],"detect":[151],"infeasibility":[152],"greatly":[154],"reduced.":[156]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":15},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":10}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}