{"id":"https://openalex.org/W4226277223","doi":"https://doi.org/10.1109/icra46639.2022.9811707","title":"Temporal Logic Guided Motion Primitives for Complex Manipulation Tasks with User Preferences","display_name":"Temporal Logic Guided Motion Primitives for Complex Manipulation Tasks with User Preferences","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4226277223","doi":"https://doi.org/10.1109/icra46639.2022.9811707"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811707","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5051494127","display_name":"Hao Wang","orcid":"https://orcid.org/0009-0001-3132-2809"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hao Wang","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,Anhui,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,Anhui,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020463556","display_name":"Haoyuan He","orcid":"https://orcid.org/0000-0003-2204-7179"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyuan He","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,Anhui,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,Anhui,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031221880","display_name":"Weiwei Shang","orcid":"https://orcid.org/0000-0001-7541-2198"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weiwei Shang","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,Anhui,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,Anhui,China,230026","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018344952","display_name":"Zhen Kan","orcid":"https://orcid.org/0000-0003-2069-9544"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Kan","raw_affiliation_strings":["University of Science and Technology of China,Department of Automation,Hefei,Anhui,China,230026"],"affiliations":[{"raw_affiliation_string":"University of Science and Technology of China,Department of Automation,Hefei,Anhui,China,230026","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5051494127"],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":2.4774,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.90394338,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4305","last_page":"4311"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996999979019165,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9908999800682068,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.647964596748352},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5982308387756348},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5934969782829285},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5161195993423462},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5126568675041199},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.510099470615387},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.48876261711120605},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4567618668079376},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.42592209577560425},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3656174838542938},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.35985612869262695},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24083909392356873},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09934559464454651}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.647964596748352},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5982308387756348},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5934969782829285},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5161195993423462},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5126568675041199},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.510099470615387},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.48876261711120605},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4567618668079376},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.42592209577560425},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3656174838542938},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.35985612869262695},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24083909392356873},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09934559464454651},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811707","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G17457250","display_name":null,"funder_award_id":"U2013601,62173314","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1498432697","https://openalex.org/W1512185023","https://openalex.org/W1547304883","https://openalex.org/W1672041297","https://openalex.org/W1700264732","https://openalex.org/W2060914855","https://openalex.org/W2069270694","https://openalex.org/W2078763164","https://openalex.org/W2092884371","https://openalex.org/W2100993276","https://openalex.org/W2112036188","https://openalex.org/W2125612430","https://openalex.org/W2127107099","https://openalex.org/W2136534584","https://openalex.org/W2136719407","https://openalex.org/W2294845706","https://openalex.org/W2567705466","https://openalex.org/W2802700851","https://openalex.org/W2905277694","https://openalex.org/W2906023997","https://openalex.org/W2963657380","https://openalex.org/W2964025822","https://openalex.org/W2995074243","https://openalex.org/W2997896361","https://openalex.org/W3005581722","https://openalex.org/W3011570961","https://openalex.org/W3034174753","https://openalex.org/W3039276491","https://openalex.org/W3039865636","https://openalex.org/W3090827750","https://openalex.org/W3130777366","https://openalex.org/W3141989474","https://openalex.org/W3176233416","https://openalex.org/W3206858608","https://openalex.org/W4226277223","https://openalex.org/W6640290305","https://openalex.org/W6676560026","https://openalex.org/W6757082783"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W4323768008","https://openalex.org/W3131574667","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611","https://openalex.org/W2101105382"],"abstract_inverted_index":{"Dynamic":[0],"movement":[1],"primitives":[2],"(DMPs)":[3],"are":[4],"a":[5,85,98],"flexible":[6],"trajectory":[7],"learning":[8],"scheme":[9],"widely":[10],"used":[11],"in":[12,68],"motion":[13,34,44,123],"generation":[14],"of":[15,43,80,87,119,125,130],"robotic":[16,126],"systems.":[17,127],"However,":[18],"existing":[19],"DMP-based":[20],"methods":[21],"mainly":[22],"focus":[23],"on":[24],"simple":[25],"go-to-goal":[26],"tasks.":[27],"Motivated":[28],"to":[29,103,114,121],"handle":[30],"tasks":[31,54,82],"beyond":[32],"point-to-point":[33],"planning,":[35],"this":[36],"work":[37],"presents":[38],"temporal":[39,63],"logic":[40,64],"guided":[41],"optimization":[42,110],"primitives,":[45],"namely":[46],"<tex":[47,70,132],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[48,71,133],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\mathbf{PI}^{\\mathbf{BB}-\\mathbf{TL}}$</tex>":[49,72,134],"algorithm,":[50,73],"for":[51],"complex":[52,81],"manipulation":[53],"with":[55,92],"user":[56,93],"preferences.":[57],"In":[58],"particular,":[59],"weighted":[60],"truncated":[61],"linear":[62],"(wTLTL)":[65],"is":[66,111,136],"incorporated":[67],"the":[69,78,105,131],"which":[74],"not":[75],"only":[76],"enables":[77],"encoding":[79],"that":[83],"involve":[84],"sequence":[86],"logically":[88],"organized":[89],"action":[90],"plans":[91],"preferences,":[94],"but":[95],"also":[96],"provides":[97],"convenient":[99],"and":[100,140],"efficient":[101],"means":[102],"design":[104],"cost":[106],"function.":[107],"The":[108,128],"black-box":[109],"then":[112],"adapted":[113],"identify":[115],"optimal":[116],"shape":[117],"parameters":[118],"DMPs":[120],"enable":[122],"planning":[124],"effectiveness":[129],"algorithm":[135],"demonstrated":[137],"via":[138],"simulation":[139],"experiment.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}