{"id":"https://openalex.org/W3207798805","doi":"https://doi.org/10.1109/icra46639.2022.9812252","title":"Towards Optimal Correlational Object Search","display_name":"Towards Optimal Correlational Object Search","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3207798805","doi":"https://doi.org/10.1109/icra46639.2022.9812252","mag":"3207798805"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812252","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/A5101914277","display_name":"Kaiyu Zheng","orcid":"https://orcid.org/0000-0002-9002-6292"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kaiyu Zheng","raw_affiliation_strings":["Brown University,Providence,RI","Brown University, Providence, RI"],"affiliations":[{"raw_affiliation_string":"Brown University,Providence,RI","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Brown University, Providence, RI","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076794038","display_name":"Rohan Chitnis","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rohan Chitnis","raw_affiliation_strings":["MIT CSAIL,Cambridge,MA","MIT CSAIL, Cambridge, MA"],"affiliations":[{"raw_affiliation_string":"MIT CSAIL,Cambridge,MA","institution_ids":["https://openalex.org/I4210110987"]},{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021197317","display_name":"Yoonchang Sung","orcid":"https://orcid.org/0000-0002-6811-1490"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yoonchang Sung","raw_affiliation_strings":["MIT CSAIL,Cambridge,MA","MIT CSAIL, Cambridge, MA"],"affiliations":[{"raw_affiliation_string":"MIT CSAIL,Cambridge,MA","institution_ids":["https://openalex.org/I4210110987"]},{"raw_affiliation_string":"MIT CSAIL, Cambridge, MA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078124517","display_name":"George Konidaris","orcid":"https://orcid.org/0000-0002-4460-2519"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Konidaris","raw_affiliation_strings":["Brown University,Providence,RI","Brown University, Providence, RI"],"affiliations":[{"raw_affiliation_string":"Brown University,Providence,RI","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Brown University, Providence, RI","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059273574","display_name":"Stefanie Tellex","orcid":"https://orcid.org/0000-0002-2905-4075"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefanie Tellex","raw_affiliation_strings":["Brown University,Providence,RI","Brown University, Providence, RI"],"affiliations":[{"raw_affiliation_string":"Brown University,Providence,RI","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Brown University, Providence, RI","institution_ids":["https://openalex.org/I27804330"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101914277"],"corresponding_institution_ids":["https://openalex.org/I27804330"],"apc_list":null,"apc_paid":null,"fwci":4.3137,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.96272926,"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":"7313","last_page":"7319"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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":0.9990000128746033,"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/T12288","display_name":"Optimization and Search Problems","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.761279821395874},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5989741683006287},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.5898181200027466},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5622375011444092},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.5010180473327637},{"id":"https://openalex.org/keywords/search-problem","display_name":"Search problem","score":0.4838360846042633},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47054749727249146},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.4254525303840637},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.4135773181915283},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.40792131423950195},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.3103175163269043},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.14934974908828735},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.13905781507492065},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.10402065515518188}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.761279821395874},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5989741683006287},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.5898181200027466},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5622375011444092},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.5010180473327637},{"id":"https://openalex.org/C201789804","wikidata":"https://www.wikidata.org/wiki/Q2362762","display_name":"Search problem","level":2,"score":0.4838360846042633},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47054749727249146},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.4254525303840637},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.4135773181915283},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40792131423950195},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.3103175163269043},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.14934974908828735},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.13905781507492065},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.10402065515518188},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812252","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":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G8757391641","display_name":null,"funder_award_id":"N00014-21-1-2584","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W200191133","https://openalex.org/W1990953362","https://openalex.org/W1993992338","https://openalex.org/W1997295310","https://openalex.org/W2021577700","https://openalex.org/W2042189440","https://openalex.org/W2046796791","https://openalex.org/W2055921164","https://openalex.org/W2056904140","https://openalex.org/W2069809153","https://openalex.org/W2105849221","https://openalex.org/W2108712229","https://openalex.org/W2124595631","https://openalex.org/W2168359464","https://openalex.org/W2171084228","https://openalex.org/W2277195237","https://openalex.org/W2538300499","https://openalex.org/W2561079189","https://openalex.org/W2724806769","https://openalex.org/W2742411979","https://openalex.org/W2776202271","https://openalex.org/W2809222802","https://openalex.org/W2884565639","https://openalex.org/W2896242380","https://openalex.org/W2962732398","https://openalex.org/W2962887844","https://openalex.org/W2963037989","https://openalex.org/W2967349569","https://openalex.org/W2967686773","https://openalex.org/W2968322027","https://openalex.org/W3003174489","https://openalex.org/W3007469703","https://openalex.org/W3013935575","https://openalex.org/W3019709472","https://openalex.org/W3023009541","https://openalex.org/W3036368534","https://openalex.org/W3036497058","https://openalex.org/W3090679498","https://openalex.org/W3090952442","https://openalex.org/W3098970982","https://openalex.org/W3133018151","https://openalex.org/W3147794100","https://openalex.org/W3173993018","https://openalex.org/W3177023080","https://openalex.org/W3195272314","https://openalex.org/W3205673843","https://openalex.org/W3208166608","https://openalex.org/W3210311771","https://openalex.org/W4206513913","https://openalex.org/W4226054716","https://openalex.org/W4293566037","https://openalex.org/W4322588859","https://openalex.org/W6684973485","https://openalex.org/W6747106673","https://openalex.org/W6753516098","https://openalex.org/W6776027039","https://openalex.org/W6776194005","https://openalex.org/W6780167394","https://openalex.org/W6785337047","https://openalex.org/W6787235369"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W3088215699","https://openalex.org/W3211245791"],"abstract_inverted_index":{"In":[0,27],"realistic":[1],"applications":[2],"of":[3],"object":[4,95],"search,":[5],"robots":[6],"will":[7],"need":[8],"to":[9,46,77,108],"locate":[10],"target":[11],"objects":[12,102,113],"in":[13],"complex":[14],"environments":[15],"while":[16,62],"coping":[17],"with":[18,66,87],"unreliable":[19],"sensors,":[20],"especially":[21],"for":[22,35,81,111],"small":[23],"or":[24],"hard-to-detect":[25,112],"objects.":[26],"such":[28,114],"settings,":[29],"correlational":[30,42],"information":[31,43],"can":[32],"be":[33],"valuable":[34],"planning":[36,75],"efficiently.":[37],"Previous":[38],"approaches":[39],"that":[40,98],"consider":[41],"typically":[44],"resort":[45],"ad-hoc,":[47],"greedy":[48],"search":[49],"strategies.":[50],"We":[51,71],"introduce":[52],"the":[53,88,93],"Correlational":[54],"Object":[55],"Search":[56],"POMDP":[57],"(COS-POMDP),":[58],"which":[59],"models":[60],"correlations":[61],"preserving":[63],"optimal":[64],"solutions":[65],"a":[67,73],"reduced":[68],"state":[69],"space.":[70],"propose":[72],"hierarchical":[74],"algorithm":[76],"scale":[78],"up":[79],"COS-POMDPs":[80],"practical":[82],"domains.":[83],"Our":[84],"evaluation,":[85],"conducted":[86],"AI2-THOR":[89],"household":[90],"simulator":[91],"and":[92,105,118],"YOLOv5":[94],"detector,":[96],"shows":[97],"our":[99],"method":[100],"finds":[101],"more":[103],"successfully":[104],"efficiently":[106],"compared":[107],"baselines,":[109],"particularly":[110],"as":[115],"srub":[116],"brush":[117],"remote":[119],"control.":[120]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}