{"id":"https://openalex.org/W4413925026","doi":"https://doi.org/10.1109/icra55743.2025.11127817","title":"Automated Planning Domain Inference for Task and Motion Planning","display_name":"Automated Planning Domain Inference for Task and Motion Planning","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925026","doi":"https://doi.org/10.1109/icra55743.2025.11127817"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127817","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":"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/A5101314205","display_name":"Jinbang Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210140832","display_name":"Terrestrial Ecosystem Research Network","ror":"https://ror.org/03wxseg04","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210140832"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Jinbang Huang","raw_affiliation_strings":["University of Toronto Robotics Institute.,Space and Terrestrial Autonomous Systems Lab,Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Robotics Institute.,Space and Terrestrial Autonomous Systems Lab,Canada","institution_ids":["https://openalex.org/I4210140832"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104222314","display_name":"Allen Tao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allen Tao","raw_affiliation_strings":["University of Toronto Robotics Institute.,Robot Vision and Learning Lab,Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Robotics Institute.,Robot Vision and Learning Lab,Canada","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046350069","display_name":"Rozilyn Marco","orcid":null},"institutions":[{"id":"https://openalex.org/I4210140832","display_name":"Terrestrial Ecosystem Research Network","ror":"https://ror.org/03wxseg04","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210140832"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Rozilyn Marco","raw_affiliation_strings":["University of Toronto Robotics Institute.,Space and Terrestrial Autonomous Systems Lab,Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Robotics Institute.,Space and Terrestrial Autonomous Systems Lab,Canada","institution_ids":["https://openalex.org/I4210140832"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032586525","display_name":"Miroslav Bogdanovi\u0107","orcid":"https://orcid.org/0000-0001-7255-7658"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Miroslav Bogdanovic","raw_affiliation_strings":["University of Toronto Robotics Institute.,Robot Vision and Learning Lab,Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Robotics Institute.,Robot Vision and Learning Lab,Canada","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001210516","display_name":"Jonathan Kelly","orcid":"https://orcid.org/0000-0002-5528-6136"},"institutions":[{"id":"https://openalex.org/I4210140832","display_name":"Terrestrial Ecosystem Research Network","ror":"https://ror.org/03wxseg04","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210140832"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jonathan Kelly","raw_affiliation_strings":["University of Toronto Robotics Institute.,Space and Terrestrial Autonomous Systems Lab,Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Robotics Institute.,Space and Terrestrial Autonomous Systems Lab,Canada","institution_ids":["https://openalex.org/I4210140832"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010648258","display_name":"Florian Shkurti","orcid":"https://orcid.org/0000-0002-5672-5831"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Florian Shkurti","raw_affiliation_strings":["University of Toronto Robotics Institute.,Robot Vision and Learning Lab,Canada"],"affiliations":[{"raw_affiliation_string":"University of Toronto Robotics Institute.,Robot Vision and Learning Lab,Canada","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101314205"],"corresponding_institution_ids":["https://openalex.org/I4210140832"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13456213,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12534","last_page":"12540"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.994700014591217,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.994700014591217,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.991100013256073,"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":0.9821000099182129,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7377896308898926},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6653207540512085},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.586614191532135},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5758216381072998},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5215399265289307},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5098646879196167},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42803192138671875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3256368041038513},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.17426791787147522},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12791964411735535},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09156116843223572},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08195620775222778}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7377896308898926},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6653207540512085},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.586614191532135},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5758216381072998},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5215399265289307},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5098646879196167},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42803192138671875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3256368041038513},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.17426791787147522},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12791964411735535},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09156116843223572},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08195620775222778},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127817","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1475741780","https://openalex.org/W2011890292","https://openalex.org/W2163178194","https://openalex.org/W2306644740","https://openalex.org/W2343568200","https://openalex.org/W2412154694","https://openalex.org/W2599174273","https://openalex.org/W2772821814","https://openalex.org/W3001865277","https://openalex.org/W3004011906","https://openalex.org/W3086207594","https://openalex.org/W3091340437","https://openalex.org/W3128894241","https://openalex.org/W3165194156","https://openalex.org/W3179146632","https://openalex.org/W3207057769","https://openalex.org/W3207647944","https://openalex.org/W3214738088","https://openalex.org/W3215761265","https://openalex.org/W4224004358","https://openalex.org/W4226088469","https://openalex.org/W4297964528","https://openalex.org/W4382202844","https://openalex.org/W4383066199","https://openalex.org/W4385430665","https://openalex.org/W4402754209"],"related_works":["https://openalex.org/W2055243143","https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W1986418932","https://openalex.org/W2357796999","https://openalex.org/W4321636575","https://openalex.org/W2741131631","https://openalex.org/W2045526782","https://openalex.org/W2111158727","https://openalex.org/W1809059965"],"abstract_inverted_index":{"Task":[0],"and":[1,8,38,86,97,143,156],"motion":[2,19],"planning":[3,10,32,51,141,166],"(TAMP)":[4],"frameworks":[5],"address":[6],"long":[7],"complex":[9,120],"problems":[11],"by":[12],"integrating":[13],"high-level":[14,42],"task":[15,85],"planners":[16],"with":[17],"low-level":[18],"planners.":[20],"However,":[21],"existing":[22],"TAMP":[23],"methods":[24],"rely":[25],"heavily":[26],"on":[27,64],"the":[28,36,62,76,95,99,102],"manual":[29],"design":[30],"of":[31,40,57,79,101,140,148],"domains":[33,110],"that":[34,74,90,126],"specify":[35],"preconditions":[37],"postconditions":[39],"all":[41],"actions.":[43],"This":[44],"paper":[45],"proposes":[46],"a":[47,55,70,80,83,87,146],"method":[48,106,152],"to":[49,118],"automate":[50],"domain":[52,81],"inference":[53],"from":[54,111],"handful":[56],"test-time":[58],"trajectory":[59],"demonstrations,":[60,115],"reducing":[61,94],"reliance":[63],"human":[65],"design.":[66],"Our":[67,105],"approach":[68,128],"incorporates":[69],"deep":[71],"learning-based":[72],"estimator":[73],"predicts":[75],"appropriate":[77],"components":[78],"for":[82,163],"new":[84,109,165],"search":[88],"algorithm":[89],"refines":[91],"this":[92],"prediction,":[93],"size":[96],"ensuring":[98],"utility":[100],"inferred":[103],"domain.":[104],"can":[107],"generate":[108],"minimal":[112],"test":[113,161],"time":[114,162],"enabling":[116],"robots":[117],"handle":[119],"tasks":[121],"more":[122],"efficiently.":[123],"We":[124],"demonstrate":[125],"our":[127,151],"outperforms":[129],"behaviour":[130],"cloning":[131],"baselines,":[132],"which":[133],"directly":[134],"imitate":[135],"planner":[136],"behaviour,":[137],"in":[138],"terms":[139],"performance":[142],"generalization":[144],"across":[145],"variety":[147],"tasks.":[149],"Additionally,":[150],"reduces":[153],"computational":[154],"costs":[155],"data":[157],"amount":[158],"requirements":[159],"at":[160],"inferring":[164],"domains.":[167]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
