{"id":"https://openalex.org/W4383108895","doi":"https://doi.org/10.1109/icra48891.2023.10161534","title":"Open-vocabulary Queryable Scene Representations for Real World Planning","display_name":"Open-vocabulary Queryable Scene Representations for Real World Planning","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108895","doi":"https://doi.org/10.1109/icra48891.2023.10161534"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161534","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":"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/A5061701229","display_name":"Boyuan Chen","orcid":"https://orcid.org/0000-0001-9103-5820"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Boyuan Chen","raw_affiliation_strings":["Everyday Robots"],"affiliations":[{"raw_affiliation_string":"Everyday Robots","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100676785","display_name":"Fei Xia","orcid":"https://orcid.org/0000-0003-4343-1444"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fei Xia","raw_affiliation_strings":["Robotics at Google"],"affiliations":[{"raw_affiliation_string":"Robotics at Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018507768","display_name":"Brian Ichter","orcid":"https://orcid.org/0000-0002-6955-6432"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian Ichter","raw_affiliation_strings":["Robotics at Google"],"affiliations":[{"raw_affiliation_string":"Robotics at Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111514705","display_name":"Kanishka Rao","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kanishka Rao","raw_affiliation_strings":["Robotics at Google"],"affiliations":[{"raw_affiliation_string":"Robotics at Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025695094","display_name":"Keerthana Gopalakrishnan","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Keerthana Gopalakrishnan","raw_affiliation_strings":["Robotics at Google"],"affiliations":[{"raw_affiliation_string":"Robotics at Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084829008","display_name":"Michael S. Ryoo","orcid":"https://orcid.org/0000-0002-5452-8332"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael S. Ryoo","raw_affiliation_strings":["Robotics at Google"],"affiliations":[{"raw_affiliation_string":"Robotics at Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005128564","display_name":"Austin V. Stone","orcid":"https://orcid.org/0000-0002-9406-7884"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Austin Stone","raw_affiliation_strings":["Robotics at Google"],"affiliations":[{"raw_affiliation_string":"Robotics at Google","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039293409","display_name":"Daniel Kappler","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Kappler","raw_affiliation_strings":["Everyday Robots"],"affiliations":[{"raw_affiliation_string":"Everyday Robots","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5061701229"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":14.6319,"has_fulltext":false,"cited_by_count":124,"citation_normalized_percentile":{"value":0.99389313,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"11509","last_page":"11522"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","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/T11714","display_name":"Multimodal Machine Learning Applications","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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9940999746322632,"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/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9919000267982483,"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":0.8092923164367676},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.6417335271835327},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.6282998323440552},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6213051080703735},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5269354581832886},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5054857730865479},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5048568844795227},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5027766227722168},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.49556195735931396},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4661259651184082},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.4637957215309143},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.41165217757225037},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3525811433792114},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32165807485580444},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.26069021224975586},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.10023117065429688}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8092923164367676},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.6417335271835327},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.6282998323440552},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6213051080703735},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5269354581832886},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5054857730865479},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5048568844795227},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5027766227722168},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.49556195735931396},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4661259651184082},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.4637957215309143},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.41165217757225037},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3525811433792114},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32165807485580444},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.26069021224975586},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.10023117065429688},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161534","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161534","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":[{"score":0.7799999713897705,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1852202999","https://openalex.org/W1966213627","https://openalex.org/W2133145258","https://openalex.org/W2739423245","https://openalex.org/W2884565639","https://openalex.org/W2888144883","https://openalex.org/W2895745202","https://openalex.org/W2953127211","https://openalex.org/W2962812366","https://openalex.org/W2962888833","https://openalex.org/W2964226622","https://openalex.org/W2967853831","https://openalex.org/W2990129662","https://openalex.org/W3001865277","https://openalex.org/W3011144238","https://openalex.org/W3034429258","https://openalex.org/W3034728521","https://openalex.org/W3040041096","https://openalex.org/W3143213514","https://openalex.org/W3166396011","https://openalex.org/W3176974620","https://openalex.org/W3183042936","https://openalex.org/W3206072662","https://openalex.org/W3207057769","https://openalex.org/W4221152848","https://openalex.org/W4224308101","https://openalex.org/W4226352076","https://openalex.org/W4283640928","https://openalex.org/W4285069854","https://openalex.org/W4285428875","https://openalex.org/W4287704118","https://openalex.org/W4303697778","https://openalex.org/W4313180266","https://openalex.org/W4383108296","https://openalex.org/W6639173921","https://openalex.org/W6753516098","https://openalex.org/W6758824984","https://openalex.org/W6774815639","https://openalex.org/W6778299498","https://openalex.org/W6780443396","https://openalex.org/W6781054291","https://openalex.org/W6791353385","https://openalex.org/W6802517928","https://openalex.org/W6809509765","https://openalex.org/W6810081322","https://openalex.org/W6811467201","https://openalex.org/W6839459284","https://openalex.org/W6839650396","https://openalex.org/W6839928859","https://openalex.org/W6846310961"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W2350278424","https://openalex.org/W2071432835","https://openalex.org/W4234371507","https://openalex.org/W4299534542","https://openalex.org/W2381278952","https://openalex.org/W2778896642","https://openalex.org/W2146449547","https://openalex.org/W618994464","https://openalex.org/W2017877785"],"abstract_inverted_index":{"Large":[0],"language":[1,86],"models":[2,93],"(LLMs)":[3],"have":[4],"unlocked":[5],"new":[6],"capabilities":[7],"of":[8,29,137],"task":[9],"planning":[10],"from":[11],"human":[12],"instructions.":[13],"However,":[14],"prior":[15],"attempts":[16],"to":[17,20,47,56,67,107,131],"apply":[18],"LLMs":[19],"real-world":[21],"robotic":[22],"tasks":[23],"are":[24],"limited":[25],"by":[26,147],"the":[27,32,74,109,126],"lack":[28],"grounding":[30],"in":[31,73],"surrounding":[33],"scene.":[34,127],"In":[35],"this":[36,49],"paper,":[37],"we":[38],"develop":[39],"NLMap,":[40],"an":[41],"open-vocabulary":[42],"and":[43,58,69,103,115],"queryable":[44,87],"scene":[45,75,88,110],"representation":[46,89,111],"address":[48],"problem.":[50],"NLMap":[51,81,128],"serves":[52],"as":[53],"a":[54,78,84,134],"framework":[55],"gather":[57],"integrate":[59],"contextual":[60],"information":[61,124],"into":[62],"LLM":[63,96,118],"planners,":[64],"allowing":[65],"them":[66],"see":[68],"query":[70,108],"available":[71],"objects":[72,106,138],"before":[76],"generating":[77],"context-conditioned":[79],"plan.":[80],"first":[82],"establishes":[83],"natural":[85],"with":[90,122],"Visual":[91],"Language":[92],"(VLMs).":[94],"An":[95,117],"based":[97],"object":[98,113],"proposal":[99],"module":[100],"parses":[101],"instructions":[102],"proposes":[104],"involved":[105],"for":[112],"availability":[114],"location.":[116],"planner":[119],"then":[120],"plans":[121],"such":[123],"about":[125],"allows":[129],"robots":[130],"operate":[132],"without":[133],"fixed":[135],"list":[136],"nor":[139],"executable":[140],"options,":[141],"enabling":[142],"real":[143],"robot":[144],"operation":[145],"unachievable":[146],"previous":[148],"methods.":[149],"Project":[150],"website:":[151],"https://nlmap-saycan.github.io.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":51},{"year":2024,"cited_by_count":45},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}
