{"id":"https://openalex.org/W4312257746","doi":"https://doi.org/10.1109/iros47612.2022.9981220","title":"Imitation Learning and Model Integrated Excavator Trajectory Planning","display_name":"Imitation Learning and Model Integrated Excavator Trajectory Planning","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312257746","doi":"https://doi.org/10.1109/iros47612.2022.9981220"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981220","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5101955062","display_name":"Qiangqiang Guo","orcid":"https://orcid.org/0000-0002-6461-5886"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Qiangqiang Guo","raw_affiliation_strings":["Baidu USA"],"affiliations":[{"raw_affiliation_string":"Baidu USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085546684","display_name":"Zhixian Ye","orcid":"https://orcid.org/0000-0003-3686-046X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhixian Ye","raw_affiliation_strings":["Robotics and Autonomous Driving Lab., Baidu USA,Sunnyvale,CA,USA,94089"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Driving Lab., Baidu USA,Sunnyvale,CA,USA,94089","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100749341","display_name":"Liyang Wang","orcid":"https://orcid.org/0000-0002-8063-354X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liyang Wang","raw_affiliation_strings":["Robotics and Autonomous Driving Lab., Baidu USA,Sunnyvale,CA,USA,94089"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Driving Lab., Baidu USA,Sunnyvale,CA,USA,94089","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065065325","display_name":"Liangjun Zhang","orcid":"https://orcid.org/0009-0007-7060-1660"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liangjun Zhang","raw_affiliation_strings":["Robotics and Autonomous Driving Lab., Baidu USA,Sunnyvale,CA,USA,94089"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Driving Lab., Baidu USA,Sunnyvale,CA,USA,94089","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101955062"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.496,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.98167792,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5737","last_page":"5743"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.9901999831199646,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10653","display_name":"Robot Manipulation and Learning","score":0.989799976348877,"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/excavator","display_name":"Excavator","score":0.9622582197189331},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7998645901679993},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7211212515830994},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5943553447723389},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5769107341766357},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5757708549499512},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5682166814804077},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5678989291191101},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5518074631690979},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4344263970851898},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32384395599365234},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23658719658851624},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11475932598114014}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9622582197189331},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7998645901679993},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7211212515830994},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5943553447723389},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5769107341766357},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5757708549499512},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5682166814804077},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5678989291191101},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5518074631690979},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4344263970851898},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32384395599365234},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23658719658851624},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11475932598114014},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981220","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981220","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":0.5600000023841858,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1931877416","https://openalex.org/W2019965290","https://openalex.org/W2123368124","https://openalex.org/W2153318775","https://openalex.org/W2471969791","https://openalex.org/W2507904268","https://openalex.org/W2545899169","https://openalex.org/W2597234992","https://openalex.org/W2728742905","https://openalex.org/W2755087487","https://openalex.org/W2962787969","https://openalex.org/W2963508354","https://openalex.org/W3107041087","https://openalex.org/W3217243053","https://openalex.org/W4394897684","https://openalex.org/W6640174482","https://openalex.org/W6755492382","https://openalex.org/W6768652012","https://openalex.org/W6798169123"],"related_works":["https://openalex.org/W2324465777","https://openalex.org/W2384763423","https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2904060783","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871"],"abstract_inverted_index":{"Automated":[0],"excavation":[1,104,155],"is":[2,15],"promising":[3],"to":[4,39,56,83,92,159],"improve":[5,84,96],"the":[6,18,58,85,89,108,141,154],"safety":[7],"and":[8,12,35,72,101,133,149],"efficiency":[9],"of":[10,17,61],"excavators,":[11],"trajectory":[13,37,80,86],"planning":[14],"one":[16],"most":[19],"important":[20],"techniques.":[21],"In":[22],"this":[23],"paper,":[24],"we":[25,76],"propose":[26],"a":[27,49,78,112,118],"two-stage":[28,143],"method":[29,82,125],"that":[30,140],"integrates":[31],"data-driven":[32],"imitation":[33],"learning":[34],"model-based":[36],"optimization":[38,81,151],"generate":[40],"optimal":[41],"trajectories":[42],"for":[43],"autonomous":[44],"excavators.":[45],"We":[46,106,121],"firstly":[47],"train":[48],"deep":[50],"neural":[51,90],"network":[52,91],"using":[53],"demonstration":[54],"data":[55],"mimic":[57],"operation":[59],"patterns":[60],"human":[62],"experts":[63],"under":[64],"various":[65],"terrain":[66],"states":[67],"including":[68],"their":[69],"geometry":[70],"shape":[71],"material":[73,128],"type.":[74],"Then,":[75],"use":[77],"stochastic":[79],"generated":[87],"by":[88,145,157],"guarantee":[93],"kinematics":[94],"feasibility,":[95],"smoothness,":[97],"satisfy":[98],"hard":[99],"constraints,":[100],"achieve":[102],"desired":[103],"volumes.":[105],"test":[107],"proposed":[109,142],"algorithm":[110,144],"on":[111,126],"Franka":[113],"robot":[114],"arm":[115],"equipped":[116],"with":[117,162],"bucket":[119],"end-effector.":[120],"further":[122],"evaluate":[123],"our":[124],"different":[127],"types,":[129],"such":[130],"as":[131],"sand":[132],"rigid":[134],"blocks.":[135],"The":[136],"ex-perimental":[137],"results":[138],"show":[139],"combining":[146],"expert":[147],"knowledge":[148],"model":[150],"can":[152],"increase":[153],"weights":[156],"up":[158],"24.77%":[160],"meanwhile":[161],"low":[163],"variance.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
