{"id":"https://openalex.org/W3090359198","doi":"https://doi.org/10.1109/icra40945.2020.9197545","title":"Informing Multi-Modal Planning with Synergistic Discrete Leads","display_name":"Informing Multi-Modal Planning with Synergistic Discrete Leads","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090359198","doi":"https://doi.org/10.1109/icra40945.2020.9197545","mag":"3090359198"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197545","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":"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/A5088789391","display_name":"Zachary Kingston","orcid":"https://orcid.org/0000-0002-3896-5110"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Kingston","raw_affiliation_strings":["Rice University,Department of Computer Science,Houston,TX,USA","Department of Computer Science, Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rice University,Department of Computer Science,Houston,TX,USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062808161","display_name":"Andrew M. Wells","orcid":"https://orcid.org/0000-0001-7780-2122"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew M. Wells","raw_affiliation_strings":["Rice University,Department of Computer Science,Houston,TX,USA","Department of Computer Science, Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rice University,Department of Computer Science,Houston,TX,USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061397940","display_name":"Mark Moll","orcid":"https://orcid.org/0000-0002-0451-2797"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Moll","raw_affiliation_strings":["Rice University,Department of Computer Science,Houston,TX,USA","Department of Computer Science, Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rice University,Department of Computer Science,Houston,TX,USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Rice University,Department of Computer Science,Houston,TX,USA","Department of Computer Science, Rice University, Houston, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rice University,Department of Computer Science,Houston,TX,USA","institution_ids":["https://openalex.org/I74775410"]},{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":8.2363,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.98936884,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3199","last_page":"3205"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/grasp","display_name":"GRASP","score":0.821087121963501},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.7288078665733337},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.7196842432022095},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6635295152664185},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6569736003875732},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6232507824897766},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5471512079238892},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5284825563430786},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4961772859096527},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4936717450618744},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4392436742782593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39079275727272034},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3675256371498108},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.24262160062789917},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14631640911102295}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.821087121963501},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.7288078665733337},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.7196842432022095},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6635295152664185},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6569736003875732},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6232507824897766},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5471512079238892},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5284825563430786},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4961772859096527},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4936717450618744},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4392436742782593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39079275727272034},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3675256371498108},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.24262160062789917},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14631640911102295},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","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/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197545","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197545","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6899999976158142}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W52525487","https://openalex.org/W77797718","https://openalex.org/W178999881","https://openalex.org/W181534116","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1563854815","https://openalex.org/W1587069887","https://openalex.org/W1592610110","https://openalex.org/W1594698162","https://openalex.org/W1601397300","https://openalex.org/W1964478285","https://openalex.org/W1970927851","https://openalex.org/W2006010000","https://openalex.org/W2041753526","https://openalex.org/W2044995998","https://openalex.org/W2075577325","https://openalex.org/W2103524001","https://openalex.org/W2116341587","https://openalex.org/W2124159396","https://openalex.org/W2128561641","https://openalex.org/W2128647215","https://openalex.org/W2135639338","https://openalex.org/W2138419444","https://openalex.org/W2141753064","https://openalex.org/W2141841102","https://openalex.org/W2142224528","https://openalex.org/W2156123119","https://openalex.org/W2159672814","https://openalex.org/W2161819990","https://openalex.org/W2163171217","https://openalex.org/W2167348159","https://openalex.org/W2403069916","https://openalex.org/W2518940182","https://openalex.org/W2563784145","https://openalex.org/W2611243847","https://openalex.org/W2735300570","https://openalex.org/W2786893837","https://openalex.org/W2789839425","https://openalex.org/W2794922736","https://openalex.org/W2805883505","https://openalex.org/W2967075852","https://openalex.org/W2967168619","https://openalex.org/W2967333821","https://openalex.org/W2971244547","https://openalex.org/W3022958460","https://openalex.org/W3103940950","https://openalex.org/W4211176451","https://openalex.org/W4243385754","https://openalex.org/W6602166310","https://openalex.org/W6603146607","https://openalex.org/W6635295212","https://openalex.org/W6635751194","https://openalex.org/W6683754100","https://openalex.org/W6713184877"],"related_works":["https://openalex.org/W2951730795","https://openalex.org/W2068051639","https://openalex.org/W2089957778","https://openalex.org/W1636820063","https://openalex.org/W2786068615","https://openalex.org/W2088078109","https://openalex.org/W2149518455","https://openalex.org/W3185561939","https://openalex.org/W4386794497","https://openalex.org/W4249345571"],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1,40,53,83,104],"problems":[2,23,54],"are":[3,24,195],"inherently":[4],"continuous,":[5],"but":[6],"typically":[7],"have":[8,29,106],"underlying":[9],"discrete":[10,152,200],"structure,":[11],"e.g.,":[12,63],"whether":[13],"or":[14,129],"not":[15],"an":[16,47,69],"object":[17,48,70,77],"is":[18,49,168],"grasped.":[19,78],"This":[20,138],"means":[21],"many":[22],"multi-modal":[25,113,147],"and":[26,44,121,171,189,202],"in":[27,37],"particular":[28],"a":[30,38,50,66,82,85,89,141,151],"continuous":[31,204],"infinity":[32],"of":[33,46,91,136,163,180],"modes.":[34,102,181],"For":[35],"example,":[36],"pick-and-place":[39],"domain,":[41],"every":[42],"grasp":[43],"placement":[45],"mode.":[51],"Usually":[52],"require":[55,118,133],"the":[56,76],"robot":[57],"to":[58,72,109,123,125,130,146,154,173,197],"transition":[59],"into":[60],"different":[61],"modes,":[62],"going":[64],"from":[65],"mode":[67,74,159,166],"with":[68,75,112],"placed":[71],"another":[73],"To":[79],"successfully":[80],"find":[81,88],"plan,":[84],"planner":[86,185],"must":[87],"sequence":[90],"valid":[92,98],"single-mode":[93],"motions":[94],"as":[95,97],"well":[96],"transitions":[99,167],"between":[100],"these":[101,116],"Many":[103],"planners":[105,120],"been":[107],"proposed":[108],"solve":[110],"tasks":[111,131],"structure.":[114],"However,":[115],"methods":[117],"mode-specific":[119],"fail":[122],"scale":[124],"very":[126],"cluttered":[127],"environments":[128],"that":[132,149,191],"long":[134],"sequences":[135,179],"transitions.":[137,160],"paper":[139],"presents":[140],"general":[142],"layered":[143],"planning":[144,148],"approach":[145],"uses":[150],"\"lead\"":[153,201],"bias":[155,174],"search":[156,175],"towards":[157,176],"useful":[158],"The":[161],"difficulty":[162],"achieving":[164],"specific":[165],"captured":[169],"online":[170],"used":[172],"more":[177],"promising":[178],"We":[182],"demonstrate":[183],"our":[184,199,203],"on":[186],"complex":[187],"scenes":[188],"show":[190],"significant":[192],"performance":[193],"improvements":[194],"tied":[196],"both":[198],"representation.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
