{"id":"https://openalex.org/W4413926248","doi":"https://doi.org/10.1109/icra55743.2025.11127480","title":"Closed Loop Interactive Embodied Reasoning for Robot Manipulation","display_name":"Closed Loop Interactive Embodied Reasoning for Robot Manipulation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926248","doi":"https://doi.org/10.1109/icra55743.2025.11127480"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127480","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5023176824","display_name":"Micha\u0142 Nazarczuk","orcid":"https://orcid.org/0000-0003-1692-4470"},"institutions":[{"id":"https://openalex.org/I4210159102","display_name":"Huawei Technologies (Sweden)","ror":"https://ror.org/0500fyd17","country_code":"SE","type":"company","lineage":["https://openalex.org/I2250955327","https://openalex.org/I4210159102"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Michal Nazarczuk","raw_affiliation_strings":["Huawei Noah&#x0027;s Ark London"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huawei Noah&#x0027;s Ark London","institution_ids":["https://openalex.org/I4210159102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030177747","display_name":"Jan Kristof Behrens","orcid":"https://orcid.org/0000-0002-7375-2815"},"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":"Jan Kristof Behrens","raw_affiliation_strings":["Czech Technical University in Prague"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065125599","display_name":"Karla \u0160t\u011bp\u00e1nov\u00e1","orcid":"https://orcid.org/0000-0003-4239-2092"},"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":"Karla Stepanova","raw_affiliation_strings":["Czech Technical University in Prague"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031321219","display_name":"Matej Hoffmann","orcid":"https://orcid.org/0000-0001-8137-3412"},"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":"Matej Hoffmann","raw_affiliation_strings":["Czech Technical University in Prague"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024769212","display_name":"Krystian Mikolajczyk","orcid":"https://orcid.org/0000-0003-0726-9187"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Krystian Mikolajczyk","raw_affiliation_strings":["Imperial College London"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Imperial College London","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19212659,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13722","last_page":"13729"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9685999751091003,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9685999751091003,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9632999897003174,"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/T10215","display_name":"Semantic Web and Ontologies","score":0.9480000138282776,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/embodied-cognition","display_name":"Embodied cognition","score":0.795836329460144},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.663436233997345},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6424423456192017},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.517008900642395},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5141440033912659},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.4971356689929962},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4138909876346588},{"id":"https://openalex.org/keywords/feedback-loop","display_name":"Feedback loop","score":0.41151174902915955},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3579222857952118},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17071714997291565},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09725379943847656}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.795836329460144},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.663436233997345},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6424423456192017},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.517008900642395},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5141440033912659},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.4971356689929962},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4138909876346588},{"id":"https://openalex.org/C186886427","wikidata":"https://www.wikidata.org/wiki/Q5441213","display_name":"Feedback loop","level":2,"score":0.41151174902915955},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3579222857952118},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17071714997291565},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09725379943847656},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127480","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127480","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W2020149918","https://openalex.org/W2119709400","https://openalex.org/W2135639338","https://openalex.org/W2194775991","https://openalex.org/W2412154694","https://openalex.org/W2468062401","https://openalex.org/W2945600613","https://openalex.org/W2950697717","https://openalex.org/W2962716332","https://openalex.org/W2963150697","https://openalex.org/W2963188159","https://openalex.org/W2963903510","https://openalex.org/W2964487155","https://openalex.org/W2981799368","https://openalex.org/W2984756091","https://openalex.org/W3001865277","https://openalex.org/W3034758614","https://openalex.org/W3039141704","https://openalex.org/W3089355520","https://openalex.org/W3090008049","https://openalex.org/W3092774272","https://openalex.org/W3109759111","https://openalex.org/W3159619744","https://openalex.org/W3206639911","https://openalex.org/W3207057769","https://openalex.org/W4383108457","https://openalex.org/W4389667233","https://openalex.org/W4402354093","https://openalex.org/W4405785040"],"related_works":["https://openalex.org/W2322335058","https://openalex.org/W2259382430","https://openalex.org/W2375499102","https://openalex.org/W2381125525","https://openalex.org/W3084132679","https://openalex.org/W2397460850","https://openalex.org/W4322484979","https://openalex.org/W4301401229","https://openalex.org/W2612895087","https://openalex.org/W2024563306"],"abstract_inverted_index":{"Embodied":[0,67],"reasoning":[1,100,153],"systems":[2,58],"integrate":[3],"robotic":[4,95],"hardware":[5],"and":[6,38,101,104,143,157],"cognitive":[7],"processes":[8],"to":[9,16,48,52,127],"perform":[10],"complex":[11],"tasks,":[12],"typically":[13],"in":[14,82,122,129,155,158],"response":[15],"a":[17,22,61,106,116,123,163],"natural":[18],"language":[19],"query":[20],"about":[21,32],"specific":[23],"physical":[24],"environment.":[25,131],"This":[26],"usually":[27],"involves":[28],"changing":[29,39],"the":[30,33,40,44,54,75,83,130,137],"belief":[31],"scene":[34,41,84],"or":[35],"physically":[36],"interacting":[37],"(e.g.":[42],"sort":[43],"objects":[45],"from":[46],"lightest":[47],"heaviest).":[49],"In":[50],"order":[51],"facilitate":[53],"development":[55],"of":[56,77,94,108,139],"such":[57],"we":[59],"introduce":[60],"new":[62],"modular":[63],"Closed":[64],"Loop":[65],"Interactive":[66],"Reasoning":[68],"(CLIER)":[69],"approach":[70,133,154],"that":[71,111],"takes":[72],"into":[73],"account":[74],"measurements":[76],"non-visual":[78],"object":[79],"properties,":[80],"changes":[81,128],"caused":[85],"by":[86,115],"external":[87],"disturbances":[88],"as":[89,91],"well":[90],"uncertain":[92],"outcomes":[93],"actions.":[96],"CLIER":[97],"performs":[98],"multi-modal":[99],"action":[102],"planning":[103],"generates":[105],"sequence":[107],"primitive":[109],"actions":[110],"can":[112],"be":[113],"executed":[114],"robot":[117],"manipulator.":[118],"Our":[119,132],"method":[120],"operates":[121],"closed":[124],"loop,":[125],"responding":[126],"is":[134],"developed":[135],"with":[136,162],"use":[138],"MuBle":[140],"simulation":[141,156],"environment":[142],"tested":[144],"in$\\mathbf{1":[145],"0}$interactive":[146],"benchmark":[147],"scenarios.":[148],"We":[149],"extensively":[150],"evaluate":[151],"our":[152],"real-world":[159],"manipulation":[160],"tasks":[161],"success":[164],"rate":[165],"above$\\mathbf{7":[166],"6":[167],"\\%}$and":[168],"64%,":[169],"respectively.":[170]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
