{"id":"https://openalex.org/W4383109312","doi":"https://doi.org/10.1109/icra48891.2023.10160406","title":"Resolution Complete In-Place Object Retrieval given Known Object Models","display_name":"Resolution Complete In-Place Object Retrieval given Known Object Models","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109312","doi":"https://doi.org/10.1109/icra48891.2023.10160406"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160406","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5050446535","display_name":"Daniel Nakhimovich","orcid":"https://orcid.org/0009-0005-2618-7656"},"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":"Daniel Nakhimovich","raw_affiliation_strings":["Rutgers,Dept. of Computer Science,New Brunswick,NJ","Dept. of Computer Science, Rutgers, New Brunswick, NJ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers,Dept. of Computer Science,New Brunswick,NJ","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Dept. of Computer Science, Rutgers, New Brunswick, NJ","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055831887","display_name":"Yinglong Miao","orcid":"https://orcid.org/0000-0003-3714-1395"},"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":"Yinglong Miao","raw_affiliation_strings":["Rutgers,Dept. of Computer Science,New Brunswick,NJ","Dept. of Computer Science, Rutgers, New Brunswick, NJ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers,Dept. of Computer Science,New Brunswick,NJ","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Dept. of Computer Science, Rutgers, New Brunswick, NJ","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010667333","display_name":"Kostas E. Bekris","orcid":"https://orcid.org/0000-0002-0675-3324"},"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":"Kostas E. Bekris","raw_affiliation_strings":["Rutgers,Dept. of Computer Science,New Brunswick,NJ","Dept. of Computer Science, Rutgers, New Brunswick, NJ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers,Dept. of Computer Science,New Brunswick,NJ","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Dept. of Computer Science, Rutgers, New Brunswick, NJ","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102322142"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"96","issue":null,"first_page":"3714","last_page":"3720"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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":0.7334132194519043},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7183677554130554},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.659936785697937},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.634344220161438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6158137321472168},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.600959062576294},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5883979201316833},{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.5533836483955383},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5480613112449646},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5117177963256836},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4373653531074524},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.17187952995300293},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09033423662185669}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7334132194519043},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7183677554130554},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.659936785697937},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.634344220161438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6158137321472168},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.600959062576294},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5883979201316833},{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.5533836483955383},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5480613112449646},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5117177963256836},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4373653531074524},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.17187952995300293},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09033423662185669},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160406","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160406","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":0.5799999833106995}],"awards":[{"id":"https://openalex.org/G926023403","display_name":null,"funder_award_id":"1934924,2021628","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":31,"referenced_works":["https://openalex.org/W1673310716","https://openalex.org/W2030016900","https://openalex.org/W2046796791","https://openalex.org/W2150382645","https://openalex.org/W2472138074","https://openalex.org/W2561079189","https://openalex.org/W2786036844","https://openalex.org/W2918333121","https://openalex.org/W2963982405","https://openalex.org/W2966615203","https://openalex.org/W2967349569","https://openalex.org/W2969146132","https://openalex.org/W3047905600","https://openalex.org/W3089355520","https://openalex.org/W3090679498","https://openalex.org/W3098945452","https://openalex.org/W3124148098","https://openalex.org/W3127940962","https://openalex.org/W3198928141","https://openalex.org/W3205538590","https://openalex.org/W3206144464","https://openalex.org/W3207057769","https://openalex.org/W3213354518","https://openalex.org/W4205312330","https://openalex.org/W4205892839","https://openalex.org/W4226450761","https://openalex.org/W4323527514","https://openalex.org/W4323527547","https://openalex.org/W6637131181","https://openalex.org/W6747827861","https://openalex.org/W6839639842"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"This":[0],"work":[1],"proposes":[2],"a":[3,10,14,88,212],"robot":[4,26,204],"task":[5,118],"planning":[6],"framework":[7],"for":[8,42,156],"retrieving":[9,208],"target":[11,209],"object":[12,143],"in":[13,46,53],"confined":[15],"workspace":[16],"among":[17],"multiple":[18],"stacked":[19],"objects":[20,45,196,210],"that":[21,140],"obstruct":[22],"the":[23,43,47,98,108,117,123,136,157,161,173,179,185,195],"target.":[24],"The":[25,35,49,151,166,182],"can":[27],"use":[28],"prehensile":[29],"picking":[30,131],"and":[31,69,72,132],"in-workspace":[32],"placing":[33,133],"actions.":[34],"method":[36],"assumes":[37],"access":[38],"to":[39,58,115,171],"3D":[40],"models":[41],"visible":[44],"scene.":[48],"key":[50],"contribution":[51],"is":[52,112,154,169],"achieving":[54],"desirable":[55,124],"properties,":[56],"i.e.,":[57],"provide":[59],"(a)":[60],"safety,":[61],"by":[62],"avoiding":[63],"collisions":[64],"with":[65,188],"sensed":[66],"obstacles,":[67],"objects,":[68],"occluded":[70],"regions,":[71],"(b)":[73],"resolution":[74,99],"completeness":[75,80],"(RC)":[76],"-":[77,85],"or":[78],"probabilistic":[79],"(PC)":[81],"depending":[82],"on":[83],"implementation":[84],"which":[86],"indicates":[87],"solution":[89],"will":[90],"be":[91],"eventually":[92],"found":[93],"(if":[94],"it":[95],"exists)":[96],"as":[97,145,147,197],"of":[100,107,164,184,206],"algorithmic":[101],"parameters":[102],"increases.":[103],"A":[104],"heuristic":[105,149,167],"variant":[106,168],"basic":[109,137,180],"RC":[110,138,158,186],"algorithm":[111,139,187],"also":[113],"proposed":[114],"solve":[116,172],"more":[119,176],"efficiently":[120,177],"while":[121],"retaining":[122],"properties.":[125],"Simulation":[126],"results":[127],"compare":[128],"using":[129],"random":[130],"operations":[134],"against":[135],"reasons":[141],"about":[142],"dependency":[144],"well":[146],"its":[148],"variant.":[150],"success":[152],"rate":[153],"higher":[155],"approaches":[159],"given":[160],"same":[162],"amount":[163],"time.":[165],"able":[170],"problem":[174],"even":[175],"than":[178],"approach.":[181],"integration":[183],"perception,":[189],"where":[190],"an":[191],"RGB-D":[192],"sensor":[193],"detects":[194],"they":[198],"are":[199],"being":[200],"moved,":[201],"enables":[202],"real":[203],"demonstrations":[205],"safely":[207],"from":[211],"cluttered":[213],"shelf.":[214]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
