{"id":"https://openalex.org/W4221152092","doi":"https://doi.org/10.1109/icra46639.2022.9812132","title":"Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter","display_name":"Interleaving Monte Carlo Tree Search and Self-Supervised Learning for Object Retrieval in Clutter","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4221152092","doi":"https://doi.org/10.1109/icra46639.2022.9812132"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812132","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812132","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/A5031296968","display_name":"Baichuan Huang","orcid":"https://orcid.org/0000-0002-9658-6071"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Baichuan Huang","raw_affiliation_strings":["Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012909716","display_name":"Teng Guo","orcid":"https://orcid.org/0000-0003-2429-0762"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Teng Guo","raw_affiliation_strings":["Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068615270","display_name":"Abdeslam Boularias","orcid":"https://orcid.org/0000-0002-5587-4560"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdeslam Boularias","raw_affiliation_strings":["Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048925474","display_name":"Jingjin Yu","orcid":"https://orcid.org/0000-0002-7594-7798"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingjin Yu","raw_affiliation_strings":["Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers, the State University of New Jersey,Department of Computer Science,Piscataway,NJ,USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers, the State University of New Jersey, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2613,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.97403904,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"625","last_page":"632"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9939000010490417,"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/computer-science","display_name":"Computer science","score":0.8316068649291992},{"id":"https://openalex.org/keywords/monte-carlo-tree-search","display_name":"Monte Carlo tree search","score":0.7574166059494019},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6973064541816711},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5472844839096069},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.5164187550544739},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49613985419273376},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.48542460799217224},{"id":"https://openalex.org/keywords/interleaving","display_name":"Interleaving","score":0.47580963373184204},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4710264801979065},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.46106773614883423},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4345756471157074},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4147310256958008},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.10557329654693604}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8316068649291992},{"id":"https://openalex.org/C46149586","wikidata":"https://www.wikidata.org/wiki/Q11785332","display_name":"Monte Carlo tree search","level":3,"score":0.7574166059494019},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6973064541816711},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5472844839096069},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.5164187550544739},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49613985419273376},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.48542460799217224},{"id":"https://openalex.org/C28034677","wikidata":"https://www.wikidata.org/wiki/Q17092530","display_name":"Interleaving","level":2,"score":0.47580963373184204},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4710264801979065},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.46106773614883423},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4345756471157074},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4147310256958008},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.10557329654693604},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812132","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812132","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.699999988079071}],"awards":[{"id":"https://openalex.org/G4861722980","display_name":null,"funder_award_id":"IIS-1734492,IIS-1846043,IIS-1845888,CCF-1934924,IIS-2132972","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W1714211023","https://openalex.org/W1820657498","https://openalex.org/W1981667747","https://openalex.org/W2014568170","https://openalex.org/W2036637075","https://openalex.org/W2128613422","https://openalex.org/W2159290603","https://openalex.org/W2194775991","https://openalex.org/W2565639579","https://openalex.org/W2600030077","https://openalex.org/W2603737562","https://openalex.org/W2810785043","https://openalex.org/W2889969363","https://openalex.org/W2902907165","https://openalex.org/W2904207885","https://openalex.org/W2910474428","https://openalex.org/W2918333121","https://openalex.org/W2923106440","https://openalex.org/W2962737955","https://openalex.org/W2962793652","https://openalex.org/W2963150697","https://openalex.org/W2963263347","https://openalex.org/W2967068439","https://openalex.org/W2967349569","https://openalex.org/W2980119898","https://openalex.org/W2986303149","https://openalex.org/W2989847975","https://openalex.org/W2993335716","https://openalex.org/W3006932462","https://openalex.org/W3014041360","https://openalex.org/W3021544315","https://openalex.org/W3035198432","https://openalex.org/W3090679498","https://openalex.org/W3091256784","https://openalex.org/W3098945452","https://openalex.org/W3118210634","https://openalex.org/W3130138602","https://openalex.org/W3132114951","https://openalex.org/W3133137374","https://openalex.org/W3173721784","https://openalex.org/W3174356430","https://openalex.org/W3176770340","https://openalex.org/W3190988267","https://openalex.org/W3201312429","https://openalex.org/W3205918749","https://openalex.org/W3210327237","https://openalex.org/W4214717370","https://openalex.org/W4295312788","https://openalex.org/W6637441126","https://openalex.org/W6726497184","https://openalex.org/W6730903564","https://openalex.org/W6744680348","https://openalex.org/W6760848492","https://openalex.org/W6761347996","https://openalex.org/W6766978945","https://openalex.org/W6769136867","https://openalex.org/W6770758762","https://openalex.org/W6771066560","https://openalex.org/W6771700207","https://openalex.org/W6801542347"],"related_works":["https://openalex.org/W1655266410","https://openalex.org/W2389051085","https://openalex.org/W2330343234","https://openalex.org/W1901012776","https://openalex.org/W2463883322","https://openalex.org/W2229382548","https://openalex.org/W2391789612","https://openalex.org/W2814468324","https://openalex.org/W2389236462","https://openalex.org/W415847890"],"abstract_inverted_index":{"In":[0,62],"this":[1,79],"study,":[2],"working":[3,108],"with":[4],"the":[5,38,53,58,64,110,116],"task":[6],"of":[7,60,107],"object":[8],"retrieval":[9],"in":[10,19,109],"clutter,":[11],"we":[12],"have":[13],"developed":[14],"a":[15,31,42,46,102,137],"robot":[16,43],"learning":[17,122],"framework":[18],"which":[20,90],"Monte":[21,82],"Carlo":[22,83],"Tree":[23],"Search":[24],"(MCTS)":[25],"is":[26,67,101],"first":[27],"applied":[28],"to":[29,36,55,71],"enable":[30],"Deep":[32],"Neural":[33],"Network":[34],"(DNN)":[35],"learn":[37],"intricate":[39],"interactions":[40],"between":[41],"arm":[44],"and":[45,96,144],"complex":[47],"scene":[48],"containing":[49],"many":[50],"objects,":[51],"allowing":[52],"DNN":[54,66],"partially":[56],"clone":[57],"behavior":[59],"MCTS.":[61],"turn,":[63],"trained":[65],"integrated":[68],"into":[69],"MCTS":[70],"help":[72,133],"guide":[73],"its":[74],"search":[75,85],"effort.":[76],"We":[77],"call":[78],"approach":[80],"learning-guided":[81],"tree":[84],"for":[86],"Object":[87],"REtrieval":[88],"(MORE),":[89],"delivers":[91],"significant":[92],"computational":[93],"efficiency":[94],"gains":[95],"added":[97],"solution":[98],"optimality.":[99],"MORE":[100],"self-supervised":[103],"robotics":[104],"framework/pipeline":[105],"capable":[106],"real":[111],"world":[112],"that":[113],"successfully":[114],"embodies":[115],"System":[117,120],"2":[118],"\u2192":[119],"1":[121],"philosophy":[123],"proposed":[124],"by":[125],"Kahneman,":[126],"where":[127],"learned":[128],"knowledge,":[129],"used":[130],"properly,":[131],"can":[132,147],"greatly":[134],"speed":[135],"up":[136],"time-consuming":[138],"decision":[139],"process":[140],"over":[141],"time.":[142],"Videos":[143],"supplementary":[145],"material":[146],"be":[148],"found":[149],"at":[150],"https://github.com/arc-l/more.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
