{"id":"https://openalex.org/W3206314692","doi":"https://doi.org/10.1109/icra48506.2021.9561311","title":"APPLI: Adaptive Planner Parameter Learning From Interventions","display_name":"APPLI: Adaptive Planner Parameter Learning From Interventions","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206314692","doi":"https://doi.org/10.1109/icra48506.2021.9561311","mag":"3206314692"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561311","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5009277161","display_name":"Zizhao Wang","orcid":"https://orcid.org/0000-0003-1934-1449"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zizhao Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Texas at Austin, Austin, Texas"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017662025","display_name":"Xuesu Xiao","orcid":"https://orcid.org/0000-0001-5151-2186"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xuesu Xiao","raw_affiliation_strings":["Department of Computer Science, University of Texas at Austin, Austin, Texas"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100461686","display_name":"Bo Liu","orcid":"https://orcid.org/0000-0002-8158-4129"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bo Liu","raw_affiliation_strings":["Department of Computer Science, University of Texas at Austin, Austin, Texas"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060981901","display_name":"Garrett Warnell","orcid":"https://orcid.org/0000-0003-3846-8787"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]},{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Garrett Warnell","raw_affiliation_strings":["Computational and Information Sciences Directorate, Army Research Laboratory, Austin, Texas","Department of Computer Science, University of Texas at Austin, Austin, Texas"],"affiliations":[{"raw_affiliation_string":"Computational and Information Sciences Directorate, Army Research Laboratory, Austin, Texas","institution_ids":["https://openalex.org/I166416128"]},{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001594330","display_name":"Peter Stone","orcid":"https://orcid.org/0000-0002-6795-420X"},"institutions":[{"id":"https://openalex.org/I2800278093","display_name":"Sony Corporation (United States)","ror":"https://ror.org/05k91zb11","country_code":"US","type":"company","lineage":["https://openalex.org/I2800278093"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Stone","raw_affiliation_strings":["Department of Computer Science, University of Texas at Austin, Austin, Texas","Sony AI"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Sony AI","institution_ids":["https://openalex.org/I2800278093"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5009277161"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":2.3254,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.90416842,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"6079","last_page":"6085"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.996399998664856,"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":0.993399977684021,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7947914004325867},{"id":"https://openalex.org/keywords/generalizability-theory","display_name":"Generalizability theory","score":0.6156523823738098},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6037985682487488},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.540631115436554},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49076637625694275},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47958341240882874},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.47742876410484314},{"id":"https://openalex.org/keywords/test-suite","display_name":"Test suite","score":0.44221705198287964},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.41881507635116577},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.4108772277832031},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3633635938167572},{"id":"https://openalex.org/keywords/test-case","display_name":"Test case","score":0.2956499755382538}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7947914004325867},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.6156523823738098},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6037985682487488},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.540631115436554},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49076637625694275},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47958341240882874},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.47742876410484314},{"id":"https://openalex.org/C151552104","wikidata":"https://www.wikidata.org/wiki/Q7705809","display_name":"Test suite","level":4,"score":0.44221705198287964},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41881507635116577},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.4108772277832031},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3633635938167572},{"id":"https://openalex.org/C128942645","wikidata":"https://www.wikidata.org/wiki/Q1568346","display_name":"Test case","level":3,"score":0.2956499755382538},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C152877465","wikidata":"https://www.wikidata.org/wiki/Q208042","display_name":"Regression analysis","level":2,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561311","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561311","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320316514","display_name":"Arm","ror":"https://ror.org/04mmhzs81"},{"id":"https://openalex.org/F4320317463","display_name":"Future of Life Institute","ror":null},{"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":37,"referenced_works":["https://openalex.org/W582134693","https://openalex.org/W2049165798","https://openalex.org/W2117211893","https://openalex.org/W2138537392","https://openalex.org/W2152536965","https://openalex.org/W2396217537","https://openalex.org/W2724806769","https://openalex.org/W2736629007","https://openalex.org/W2775115763","https://openalex.org/W2806471870","https://openalex.org/W2923223302","https://openalex.org/W2949760349","https://openalex.org/W2963367680","https://openalex.org/W2964059111","https://openalex.org/W2964273112","https://openalex.org/W2966994213","https://openalex.org/W2970204937","https://openalex.org/W3007643476","https://openalex.org/W3036170014","https://openalex.org/W3038618902","https://openalex.org/W3045851631","https://openalex.org/W3089422924","https://openalex.org/W3122878979","https://openalex.org/W3131579243","https://openalex.org/W3132408792","https://openalex.org/W3206800343","https://openalex.org/W4293191749","https://openalex.org/W6617145748","https://openalex.org/W6683397050","https://openalex.org/W6712453370","https://openalex.org/W6739941012","https://openalex.org/W6752745768","https://openalex.org/W6760639414","https://openalex.org/W6766511448","https://openalex.org/W6780931446","https://openalex.org/W6781408305","https://openalex.org/W6784515023"],"related_works":["https://openalex.org/W2118717649","https://openalex.org/W1923069992","https://openalex.org/W410723623","https://openalex.org/W2413243053","https://openalex.org/W2015341305","https://openalex.org/W4225593417","https://openalex.org/W2035068594","https://openalex.org/W4287448183","https://openalex.org/W1485837041","https://openalex.org/W3204955359"],"abstract_inverted_index":{"While":[0],"classical":[1],"autonomous":[2],"navigation":[3,108,126,142,190],"systems":[4,21],"can":[5],"typically":[6],"move":[7],"robots":[8],"from":[9,102,118,168],"one":[10],"point":[11],"to":[12,38,51,76,88,100,106,139,156],"another":[13,179],"safely":[14],"and":[15,59,83,132,163,184],"in":[16,28,34,63,121,178],"a":[17,74,85,136,169,185],"collision-free":[18],"manner,":[19],"these":[20],"may":[22,60],"fail":[23],"or":[24,80,92],"produce":[25],"suboptimal":[26,81,93],"behavior":[27],"certain":[29],"scenarios.":[30,67],"The":[31],"current":[32],"practice":[33,55],"such":[35],"scenarios":[36],"is":[37,70],"manually":[39],"re-tune":[40],"the":[41,64,90,140,150,157],"system\u2019s":[42],"parameters,":[43,162],"e.g.":[44],"max":[45],"speed,":[46],"sampling":[47],"rate,":[48],"inflation":[49],"radius,":[50],"optimize":[52],"performance.":[53,109],"This":[54],"requires":[56],"expert":[57],"knowledge":[58],"jeopardize":[61],"performance":[62,154],"originally":[65],"good":[66],"Meanwhile,":[68],"it":[69],"relatively":[71],"easy":[72],"for":[73],"human":[75,104,171],"identify":[77],"those":[78,103],"failure":[79,91],"cases":[82],"provide":[84],"teleoperated":[86],"intervention":[87],"correct":[89],"behavior.":[94],"In":[95,110,146],"this":[96],"work,":[97],"we":[98,112],"seek":[99],"learn":[101],"interventions":[105],"improve":[107],"particular,":[111],"propose":[113],"Adaptive":[114],"Planner":[115],"Parameter":[116],"Learning":[117],"Interventions":[119],"(APPLI),":[120],"which":[122],"multiple":[123],"sets":[124],"of":[125,187],"parameters":[127,166],"are":[128],"learned":[129,167],"during":[130,144],"training":[131],"applied":[133],"based":[134],"on":[135],"confidence":[137],"measure":[138],"underlying":[141],"system":[143],"deployment.":[145],"our":[147],"physical":[148,181],"experiments,":[149],"robot":[151],"achieves":[152],"better":[153],"compared":[155],"planner":[158],"with":[159],"static":[160],"default":[161],"even":[164],"dynamic":[165],"full":[170],"demonstration.":[172],"We":[173],"also":[174],"show":[175],"APPLI\u2019s":[176],"generalizability":[177],"unseen":[180],"test":[182],"course,":[183],"suite":[186],"300":[188],"simulated":[189],"environments.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}