{"id":"https://openalex.org/W4318623800","doi":"https://doi.org/10.1109/icra48891.2023.10161551","title":"Multi-Contact Task and Motion Planning Guided by Video Demonstration","display_name":"Multi-Contact Task and Motion Planning Guided by Video Demonstration","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4318623800","doi":"https://doi.org/10.1109/icra48891.2023.10161551"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161551","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10161551","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":true,"oa_status":"green","oa_url":"https://hal.laas.fr/hal-03945110/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086780023","display_name":"Kateryna Zorina","orcid":"https://orcid.org/0000-0002-4697-8966"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Kateryna Zorina","raw_affiliation_strings":["Czech Technical University in Prague,CIIRC","Czech Technical University in Prague"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,CIIRC","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Czech Technical University in Prague","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077776525","display_name":"David Kov\u00e1\u0159","orcid":"https://orcid.org/0000-0002-5550-6143"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"David Kovar","raw_affiliation_strings":["Czech Technical University in Prague,CIIRC","Czech Technical University in Prague"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,CIIRC","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Czech Technical University in Prague","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091327522","display_name":"Florent Lamiraux","orcid":"https://orcid.org/0000-0002-8757-567X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Florent Lamiraux","raw_affiliation_strings":["Universite de Toulouse, CNRS,LAAS-CNRS,Toulouse","\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universite de Toulouse, CNRS,LAAS-CNRS,Toulouse","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349"]},{"raw_affiliation_string":"\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046876471","display_name":"Nicolas Mansard","orcid":"https://orcid.org/0000-0002-8090-0601"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Mansard","raw_affiliation_strings":["Universite de Toulouse, CNRS,LAAS-CNRS,Toulouse","\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universite de Toulouse, CNRS,LAAS-CNRS,Toulouse","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349"]},{"raw_affiliation_string":"\u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059986205","display_name":"Justin Carpentier","orcid":"https://orcid.org/0000-0001-6585-2894"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Justin Carpentier","raw_affiliation_strings":["INRIA,Paris","Models of visual object recognition and scene understanding"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA,Paris","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"Models of visual object recognition and scene understanding","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025398783","display_name":"Josef \u0160ivic","orcid":"https://orcid.org/0000-0002-2554-5301"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Josef Sivic","raw_affiliation_strings":["Czech Technical University in Prague,CIIRC","Czech Technical University in Prague"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,CIIRC","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Czech Technical University in Prague","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068303316","display_name":"Vladim\u00edr Petr\u00edk","orcid":"https://orcid.org/0000-0001-9450-4987"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Vladimir Petrik","raw_affiliation_strings":["Czech Technical University in Prague,CIIRC","Czech Technical University in Prague"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague,CIIRC","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Czech Technical University in Prague","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"17","issue":null,"first_page":"3764","last_page":"3770"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":1.0,"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":1.0,"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":0.9990000128746033,"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":0.996399998664856,"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":0.7355442047119141},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6845388412475586},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6305678486824036},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.487956702709198},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44439712166786194},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37544792890548706},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.32491636276245117},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10344460606575012},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.062023699283599854}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7355442047119141},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6845388412475586},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6305678486824036},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.487956702709198},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44439712166786194},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37544792890548706},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.32491636276245117},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10344460606575012},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.062023699283599854}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra48891.2023.10161551","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10161551","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"},{"id":"pmh:oai:HAL:hal-03945110v1","is_oa":true,"landing_page_url":"https://hal.laas.fr/hal-03945110","pdf_url":"https://hal.laas.fr/hal-03945110/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2023 - International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:HAL:hal-03945110v2","is_oa":true,"landing_page_url":"https://laas.hal.science/hal-03945110","pdf_url":"https://laas.hal.science/hal-03945110/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2023 - International Conference on Robotics and Automation, IEEE, May 2023, Londres, United Kingdom","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03945110v1","is_oa":true,"landing_page_url":"https://hal.laas.fr/hal-03945110","pdf_url":"https://hal.laas.fr/hal-03945110/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2023 - International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4318623800.pdf"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1520597402","https://openalex.org/W2021118704","https://openalex.org/W2030174522","https://openalex.org/W2046356179","https://openalex.org/W2114193135","https://openalex.org/W2128990851","https://openalex.org/W2135054350","https://openalex.org/W2141664020","https://openalex.org/W2293698677","https://openalex.org/W2515082088","https://openalex.org/W2963188159","https://openalex.org/W2963860638","https://openalex.org/W2968203899","https://openalex.org/W3001865277","https://openalex.org/W3012008866","https://openalex.org/W3034891989","https://openalex.org/W3146778708","https://openalex.org/W4205757878","https://openalex.org/W4214630662","https://openalex.org/W6605295560","https://openalex.org/W6682849425","https://openalex.org/W6760917111","https://openalex.org/W6782856899"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W1891287906","https://openalex.org/W2775347418","https://openalex.org/W4386051551","https://openalex.org/W2123189663","https://openalex.org/W2725946685","https://openalex.org/W2145652935","https://openalex.org/W2625805835","https://openalex.org/W2779427294","https://openalex.org/W3196817267"],"abstract_inverted_index":{"This":[0],"work":[1],"aims":[2],"at":[3,89],"leveraging":[4],"instructional":[5],"video":[6,65],"to":[7,74,86,93],"guide":[8],"the":[9,27,46,63,99,102,154,164,169],"solving":[10],"of":[11,26,101,119,131,156],"complex":[12],"multi-contact":[13,129],"task-and-motion":[14],"planning":[15,69,105,158],"tasks":[16,76],"in":[17,53,144],"robotics.":[18],"Towards":[19],"this":[20],"goal,":[21],"we":[22,107],"propose":[23],"an":[24,83,132],"extension":[25],"well-established":[28],"Rapidly-Exploring":[29],"Random":[30],"Tree":[31],"(RRT)":[32],"planner,":[33],"which":[34],"simultaneously":[35],"grows":[36],"multiple":[37,120],"trees":[38],"around":[39],"grasp":[40],"and":[41,57,125,137,168],"release":[42],"states":[43],"extracted":[44,61],"from":[45,62],"guiding":[47,64],"video.":[48],"Our":[49],"key":[50],"novelty":[51],"lies":[52],"combining":[54],"contact":[55],"states,":[56],"3D":[58,117],"object":[59,84,133],"poses":[60],"with":[66,77,112],"a":[67,90,109,123,126,135,142,145,148],"traditional":[68],"algorithm":[70,159],"that":[71],"allows":[72],"us":[73],"solve":[75],"sequential":[78],"dependencies,":[79],"for":[80],"example,":[81],"if":[82],"needs":[85],"be":[87,94],"placed":[88],"specific":[91],"location":[92],"grasped":[95],"later.":[96],"To":[97],"demonstrate":[98,153],"benefits":[100],"proposed":[103],"video-guided":[104],"approach,":[106],"design":[108],"new":[110],"benchmark":[111],"three":[113],"challenging":[114],"tasks:":[115],"(i)":[116],"re-arrangement":[118],"objects":[121,140],"between":[122],"table":[124],"shelf,":[127],"(ii)":[128],"transfer":[130],"through":[134],"tunnel,":[136],"(iii)":[138],"transferring":[139],"using":[141],"tray":[143],"similar":[146],"way":[147],"waiter":[149],"transfers":[150],"dishes.":[151],"We":[152],"effectiveness":[155],"our":[157],"on":[160],"several":[161],"robots,":[162],"including":[163],"Franka":[165],"Emika":[166],"Panda":[167],"KUKA":[170],"KMR":[171],"iiwa.":[172]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}