{"id":"https://openalex.org/W2963903510","doi":"https://doi.org/10.1109/iros.2018.8594027","title":"Active Model Learning and Diverse Action Sampling for Task and Motion Planning","display_name":"Active Model Learning and Diverse Action Sampling for Task and Motion Planning","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2963903510","doi":"https://doi.org/10.1109/iros.2018.8594027","mag":"2963903510"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594027","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100338335","display_name":"Zi Wang","orcid":"https://orcid.org/0000-0002-6859-8569"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zi Wang","raw_affiliation_strings":["MIT CSAIL, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"MIT CSAIL, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, Madrid, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015917510","display_name":"Caelan Reed Garrett","orcid":"https://orcid.org/0000-0002-6474-1276"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Caelan Reed Garrett","raw_affiliation_strings":["MIT CSAIL, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"MIT CSAIL, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, Madrid, Spain","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012862284","display_name":"Leslie Pack Kaelbling","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leslie Pack Kaelbling","raw_affiliation_strings":["MIT CSAIL, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"MIT CSAIL, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, Madrid, Spain","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063238208","display_name":"Tom\u00e1s Lozano\u2010P\u00e9rez","orcid":"https://orcid.org/0000-0002-8657-2450"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tomas Lozano-Perez","raw_affiliation_strings":["MIT CSAIL, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"MIT CSAIL, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS, Madrid, Spain","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100338335"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.1037,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.97498455,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4107","last_page":"4114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9958000183105469,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9958000183105469,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9930999875068665,"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/computer-science","display_name":"Computer science","score":0.7326135039329529},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6185511350631714},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5957149267196655},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5724427103996277},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5640053749084473},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.5145232081413269},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5006940364837646},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4648384749889374},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.44870227575302124},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4408164322376251},{"id":"https://openalex.org/keywords/time-horizon","display_name":"Time horizon","score":0.4380728006362915},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4138999879360199},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.28128528594970703},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.18276968598365784},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11579889059066772},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08180436491966248}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7326135039329529},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6185511350631714},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5957149267196655},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5724427103996277},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5640053749084473},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.5145232081413269},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5006940364837646},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4648384749889374},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.44870227575302124},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4408164322376251},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.4380728006362915},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4138999879360199},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.28128528594970703},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.18276968598365784},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11579889059066772},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08180436491966248},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594027","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594027","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6700000166893005,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W582134693","https://openalex.org/W1530718350","https://openalex.org/W1746819321","https://openalex.org/W1820075673","https://openalex.org/W2012350342","https://openalex.org/W2076235166","https://openalex.org/W2096642565","https://openalex.org/W2100438617","https://openalex.org/W2118459920","https://openalex.org/W2134553104","https://openalex.org/W2135639338","https://openalex.org/W2135730283","https://openalex.org/W2138779671","https://openalex.org/W2141664020","https://openalex.org/W2141841102","https://openalex.org/W2337392266","https://openalex.org/W2412154694","https://openalex.org/W2526512233","https://openalex.org/W2539543268","https://openalex.org/W2569589396","https://openalex.org/W2570416094","https://openalex.org/W2570797809","https://openalex.org/W2579689856","https://openalex.org/W2736337778","https://openalex.org/W2736968485","https://openalex.org/W2754876573","https://openalex.org/W2787066086","https://openalex.org/W2788882124","https://openalex.org/W2890912593","https://openalex.org/W2951665052","https://openalex.org/W2962775423","https://openalex.org/W2963184571","https://openalex.org/W2963238274","https://openalex.org/W2963866308","https://openalex.org/W2963921646","https://openalex.org/W2964059111","https://openalex.org/W2964237810","https://openalex.org/W3103014337","https://openalex.org/W3124229194","https://openalex.org/W4211049957","https://openalex.org/W4295744890","https://openalex.org/W6617145748","https://openalex.org/W6631546570","https://openalex.org/W6638384976","https://openalex.org/W6674514268","https://openalex.org/W6675083971","https://openalex.org/W6679853412","https://openalex.org/W6727817106","https://openalex.org/W6728744783","https://openalex.org/W6730042731","https://openalex.org/W6732797672","https://openalex.org/W6744275271","https://openalex.org/W6748583927","https://openalex.org/W6764988152"],"related_works":["https://openalex.org/W1764572413","https://openalex.org/W3150915502","https://openalex.org/W2111158727","https://openalex.org/W2024668666","https://openalex.org/W3049557657","https://openalex.org/W2112736381","https://openalex.org/W2045659398","https://openalex.org/W2125569607","https://openalex.org/W2787689450","https://openalex.org/W2958651120"],"abstract_inverted_index":{"The":[0],"objective":[1],"of":[2,11,25,68,73,113,119,138],"this":[3,81],"work":[4],"is":[5,158],"to":[6,16,21,47,58,60,184,186],"augment":[7],"the":[8,23,54,69,88,111],"basic":[9],"abilities":[10,43],"a":[12,127,152],"robot":[13,143,179],"by":[14,124],"learning":[15,101,110],"use":[17,105],"new":[18,153],"sensorimotor":[19],"primitives":[20],"enable":[22],"solution":[24],"complex":[26,33],"long-horizon":[27,30],"problems.":[28],"Solving":[29],"problems":[31,49,190],"in":[32,44,53,87,167],"domains":[34],"requires":[35],"flexible":[36],"generative":[37],"planning":[38,149,157],"that":[39,156],"can":[40],"combine":[41,61],"primitive":[42,62,82],"novel":[45,94],"combinations":[46],"solve":[48,187],"as":[50,142,159,161],"they":[51],"arise":[52],"world.":[55],"In":[56],"order":[57],"plan":[59],"actions,":[63],"we":[64],"must":[65],"have":[66],"models":[67,174],"preconditions":[70],"and":[71,92,102,145,181],"effects":[72],"those":[74],"actions:":[75],"under":[76],"what":[77],"circumstances":[78],"will":[79],"executing":[80],"achieve":[83],"some":[84],"particular":[85],"effect":[86],"world?":[89],"We":[90,104,129,163],"use,":[91],"develop":[93,130],"improvements":[95],"on,":[96],"state-of-the-art":[97],"methods":[98,108,133,166],"for":[99,109,134,150],"active":[100],"sampling.":[103],"Gaussian":[106],"process":[107],"conditions":[112],"operator":[114],"effectiveness":[115],"from":[116],"small":[117],"numbers":[118],"expensive":[120],"training":[121],"examples":[122],"collected":[123],"experimentation":[125],"on":[126],"robot.":[128],"adaptive":[131],"sampling":[132],"generating":[135],"diverse":[136],"elements":[137],"continuous":[139],"sets":[140],"(such":[141],"configurations":[144],"object":[146],"poses)":[147],"during":[148],"solving":[151],"task,":[154],"so":[155],"efficient":[160,177],"possible.":[162,196],"demonstrate":[164],"these":[165],"an":[168,176],"integrated":[169],"system,":[170],"combining":[171],"newly":[172],"learned":[173],"with":[175],"continuous-space":[178],"task":[180],"motion":[182],"planner":[183],"learn":[185],"long":[188],"horizon":[189],"more":[191],"efficiently":[192],"than":[193],"was":[194],"previously":[195]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}