{"id":"https://openalex.org/W4413925046","doi":"https://doi.org/10.1109/icra55743.2025.11128166","title":"Dynamic Object Goal Pushing with Mobile Manipulators Through Model-Free Constrained Reinforcement Learning","display_name":"Dynamic Object Goal Pushing with Mobile Manipulators Through Model-Free Constrained Reinforcement Learning","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925046","doi":"https://doi.org/10.1109/icra55743.2025.11128166"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128166","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/A5045702481","display_name":"Ioannis Dadiotis","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Ioannis Dadiotis","raw_affiliation_strings":["IIT,HHCM lab,Genoa,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIT,HHCM lab,Genoa,Italy,16163","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088381068","display_name":"Mayank Mittal","orcid":"https://orcid.org/0000-0003-3783-7624"},"institutions":[{"id":"https://openalex.org/I75746372","display_name":"ZTE (United States)","ror":"https://ror.org/0518yg160","country_code":"US","type":"company","lineage":["https://openalex.org/I4210098582","https://openalex.org/I75746372"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mayank Mittal","raw_affiliation_strings":["ETH Z&#x00FC;rich,RSL,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,RSL,Z&#x00FC;rich,Switzerland,8092","institution_ids":["https://openalex.org/I75746372"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos Tsagarakis","raw_affiliation_strings":["IIT,HHCM lab,Genoa,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIT,HHCM lab,Genoa,Italy,16163","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I75746372","display_name":"ZTE (United States)","ror":"https://ror.org/0518yg160","country_code":"US","type":"company","lineage":["https://openalex.org/I4210098582","https://openalex.org/I75746372"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["ETH Z&#x00FC;rich,RSL,Z&#x00FC;rich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Z&#x00FC;rich,RSL,Z&#x00FC;rich,Switzerland,8092","institution_ids":["https://openalex.org/I75746372"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"13363","last_page":"13369"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9901999831199646,"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":0.9901999831199646,"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":0.9803000092506409,"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/T14011","display_name":"Elevator Systems and Control","score":0.963100016117096,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8321603536605835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6873005032539368},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5098318457603455},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47020846605300903},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.42569828033447266},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39774560928344727},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.337629109621048},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26783567667007446},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20246922969818115}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8321603536605835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6873005032539368},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5098318457603455},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47020846605300903},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.42569828033447266},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39774560928344727},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.337629109621048},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26783567667007446},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20246922969818115}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128166","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128166","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":[{"id":"https://openalex.org/G8371384509","display_name":null,"funder_award_id":"101070596 (euROBIN)","funder_id":"https://openalex.org/F4320333065","funder_display_name":"Seventh Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320327714","display_name":"ETH Z\u00fcrich Foundation","ror":null},{"id":"https://openalex.org/F4320333065","display_name":"Seventh Framework Programme","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1560450306","https://openalex.org/W2767050701","https://openalex.org/W2925761457","https://openalex.org/W2964198579","https://openalex.org/W2999253226","https://openalex.org/W3024987186","https://openalex.org/W3042402313","https://openalex.org/W3138392552","https://openalex.org/W3142410314","https://openalex.org/W3194048684","https://openalex.org/W3203017576","https://openalex.org/W4214902667","https://openalex.org/W4313563004","https://openalex.org/W4315640913","https://openalex.org/W4367016688","https://openalex.org/W4383108204","https://openalex.org/W4385858056","https://openalex.org/W4388895019","https://openalex.org/W4389667645","https://openalex.org/W4390481134","https://openalex.org/W4391462717","https://openalex.org/W4399619317","https://openalex.org/W4401416030","https://openalex.org/W4405778675"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W2964765435"],"abstract_inverted_index":{"Non-prehensile":[0],"pushing":[1,68,152],"to":[2,7,52,57],"move":[3,53],"and":[4,23,61,77,116,146,154],"reorient":[5],"objects":[6,140],"a":[8,11,37,45,49,58,65,85,98,109],"goal":[9],"is":[10,82],"versatile":[12],"loco-manipulation":[13],"skill.":[14],"In":[15,40],"the":[16,19,26,33,74,78,133,151,163,166,171,175,180],"real":[17],"world,":[18],"object's":[20],"physical":[21],"properties":[22],"friction":[24],"with":[25,97,102],"floor":[27],"contain":[28],"significant":[29],"uncertainties,":[30],"which":[31],"makes":[32],"task":[34],"challenging":[35,123],"for":[36,48,73],"mobile":[38,50,79],"manipulator.":[39],"this":[41],"paper,":[42],"we":[43,130,169],"develop":[44],"learning-based":[46],"controller":[47,72],"manipulator":[51],"an":[54,103],"unknown":[55,139],"object":[56,181],"desired":[59],"position":[60],"yaw":[62],"orientation":[63],"through":[64],"sequence":[66],"of":[67,112,141,165,174],"actions.":[69],"The":[70,105],"proposed":[71],"robotic":[75],"arm":[76],"base":[80],"motion":[81],"trained":[83],"using":[84],"constrained":[86],"Reinforcement":[87],"Learning":[88],"(RL)":[89],"formulation.":[90],"We":[91],"demonstrate":[92,170],"its":[93],"capability":[94],"in":[95,114,122],"experiments":[96],"quadrupedal":[99],"robot":[100],"equipped":[101],"arm.":[104],"learned":[106,176],"policy":[107,177],"achieves":[108],"success":[110],"rate":[111],"91.35%":[113],"simulation":[115],"at":[117],"least":[118],"80%":[119],"on":[120],"hardware":[121,128],"scenarios.":[124],"Through":[125],"our":[126],"extensive":[127],"experiments,":[129],"show":[131],"that":[132],"approach":[134],"demonstrates":[135],"high":[136],"robustness":[137],"against":[138],"different":[142],"masses,":[143],"materials,":[144],"sizes,":[145],"shapes.":[147],"It":[148],"reactively":[149],"discovers":[150],"location":[153],"direction,":[155],"thus":[156],"achieving":[157],"contact-rich":[158],"behavior":[159,173],"while":[160],"observing":[161],"only":[162],"pose":[164],"object.":[167],"Additionally,":[168],"adaptive":[172],"towards":[178],"preventing":[179],"from":[182],"toppling.":[183]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
