{"id":"https://openalex.org/W4312732547","doi":"https://doi.org/10.1109/iros47612.2022.9981735","title":"Sequential Manipulation Planning on Scene Graph","display_name":"Sequential Manipulation Planning on Scene Graph","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312732547","doi":"https://doi.org/10.1109/iros47612.2022.9981735"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981735","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981735","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/A5084328887","display_name":"Ziyuan Jiao","orcid":"https://orcid.org/0000-0003-3404-3810"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziyuan Jiao","raw_affiliation_strings":["UCLA Center for Vision, Cognition, Learning, and Autonomy (VCLA)","Institute for Artificial Intelligence, Peking University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UCLA Center for Vision, Cognition, Learning, and Autonomy (VCLA)","institution_ids":[]},{"raw_affiliation_string":"Institute for Artificial Intelligence, Peking University","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040455101","display_name":"Yida Niu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yida Niu","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute for General Artificial Intelligence (BIGAI)","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100358738","display_name":"Zeyu Zhang","orcid":"https://orcid.org/0000-0002-7583-1867"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyu Zhang","raw_affiliation_strings":["UCLA Center for Vision, Cognition, Learning, and Autonomy (VCLA)","Beijing Institute for General Artificial Intelligence (BIGAI)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UCLA Center for Vision, Cognition, Learning, and Autonomy (VCLA)","institution_ids":[]},{"raw_affiliation_string":"Beijing Institute for General Artificial Intelligence (BIGAI)","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034228010","display_name":"Song\u2010Chun Zhu","orcid":"https://orcid.org/0000-0002-1925-5973"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Song-Chun Zhu","raw_affiliation_strings":["UCLA Center for Vision, Cognition, Learning, and Autonomy (VCLA)","Beijing Institute for General Artificial Intelligence (BIGAI)","Institute for Artificial Intelligence, Peking University","Department of Automation, Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UCLA Center for Vision, Cognition, Learning, and Autonomy (VCLA)","institution_ids":[]},{"raw_affiliation_string":"Beijing Institute for General Artificial Intelligence (BIGAI)","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]},{"raw_affiliation_string":"Institute for Artificial Intelligence, Peking University","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051255725","display_name":"Yixin Zhu","orcid":"https://orcid.org/0000-0001-7024-1545"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixin Zhu","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI)","School of Artificial Intelligence, Peking University","Institute for Artificial Intelligence, Peking University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute for General Artificial Intelligence (BIGAI)","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]},{"raw_affiliation_string":"School of Artificial Intelligence, Peking University","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Institute for Artificial Intelligence, Peking University","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043423420","display_name":"Hangxin Liu","orcid":"https://orcid.org/0000-0002-3003-8611"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hangxin Liu","raw_affiliation_strings":["Beijing Institute for General Artificial Intelligence (BIGAI)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Institute for General Artificial Intelligence (BIGAI)","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9466,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.90814226,"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":"8203","last_page":"8210"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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":0.9987000226974487,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9983999729156494,"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":0.7294619679450989},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5352090001106262},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5068588852882385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4765649139881134},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4676501452922821},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4601711630821228},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.457040399312973}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7294619679450989},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5352090001106262},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5068588852882385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4765649139881134},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4676501452922821},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4601711630821228},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.457040399312973},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981735","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981735","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":[{"score":0.5699999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W1920293286","https://openalex.org/W1965142824","https://openalex.org/W2010541316","https://openalex.org/W2040492000","https://openalex.org/W2068397385","https://openalex.org/W2076337359","https://openalex.org/W2119709400","https://openalex.org/W2131564913","https://openalex.org/W2135639338","https://openalex.org/W2141841102","https://openalex.org/W2142224528","https://openalex.org/W2143602574","https://openalex.org/W2147357263","https://openalex.org/W2337392266","https://openalex.org/W2403069916","https://openalex.org/W2467598065","https://openalex.org/W2490090381","https://openalex.org/W2771075179","https://openalex.org/W2798622261","https://openalex.org/W2805883505","https://openalex.org/W2808775391","https://openalex.org/W2885364117","https://openalex.org/W2889883940","https://openalex.org/W2963593823","https://openalex.org/W2964873565","https://openalex.org/W2980400095","https://openalex.org/W2990129662","https://openalex.org/W2995983596","https://openalex.org/W3001865277","https://openalex.org/W3008748303","https://openalex.org/W3010276570","https://openalex.org/W3016401366","https://openalex.org/W3039329805","https://openalex.org/W3089355520","https://openalex.org/W3089374415","https://openalex.org/W3090701469","https://openalex.org/W3104605181","https://openalex.org/W3107580728","https://openalex.org/W3125969836","https://openalex.org/W3128894241","https://openalex.org/W3132393434","https://openalex.org/W3151772196","https://openalex.org/W3177426614","https://openalex.org/W3183042936","https://openalex.org/W3188348760","https://openalex.org/W3189688664","https://openalex.org/W3207081724","https://openalex.org/W3207210614","https://openalex.org/W4205969993","https://openalex.org/W4226236972","https://openalex.org/W4230684562","https://openalex.org/W4232345992","https://openalex.org/W4394671432","https://openalex.org/W6604083862","https://openalex.org/W6679542984","https://openalex.org/W6687484953","https://openalex.org/W6713184877","https://openalex.org/W6751530663"],"related_works":["https://openalex.org/W2062195135","https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2795079307","https://openalex.org/W2674584172","https://openalex.org/W4288076938","https://openalex.org/W2967743314","https://openalex.org/W1990892711","https://openalex.org/W2606825221","https://openalex.org/W3213722473"],"abstract_inverted_index":{"We":[0,92],"devise":[1],"a":[2,52,56,116],"3D":[3],"scene":[4,31],"graph":[5,8,77,84,106],"representation,":[6],"contact":[7,27,46,76],"<sup":[9,13,156],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[10,14,157],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">+</sup>":[11,15,158],"(cg":[12],"),":[16],"for":[17],"efficient":[18],"sequential":[19,127,151],"manipulation":[20,152],"planning.":[21],"Augmented":[22],"with":[23,33,55],"predicate-like":[24],"attributes,":[25],"this":[26],"graph-based":[28],"representation":[29],"abstracts":[30],"layouts":[32],"succinct":[34],"geometric":[35],"information":[36],"and":[37,78,112,120],"valid":[38,110],"robot-scene":[39],"interactions.":[40],"Goal":[41],"configurations,":[42],"naturally":[43],"specified":[44],"on":[45,154],"graphs,":[47],"can":[48],"be":[49],"produced":[50],"by":[51,66,97],"genetic":[53],"algorithm":[54],"stochastic":[57],"optimization":[58],"method.":[59],"A":[60],"task":[61,95,111],"plan":[62,96],"is":[63],"then":[64],"initialized":[65],"computing":[67],"the":[68,74,79,94,102],"Graph":[69],"Editing":[70],"Distance":[71],"(GED)":[72],"between":[73],"initial":[75],"goal":[80],"configuration,":[81],"which":[82],"generates":[83],"edit":[85,107],"operations":[86],"corresponding":[87],"to":[88,100,134],"possible":[89],"robot":[90],"actions.":[91],"finalize":[93],"imposing":[98],"constraints":[99],"regulate":[101],"temporal":[103],"feasibility":[104],"of":[105,118,149],"operations,":[108],"ensuring":[109],"motion":[113],"correspondences.":[114],"In":[115],"series":[117],"simulated":[119],"real":[121],"experiments,":[122],"robots":[123],"successfully":[124],"complete":[125],"complex":[126],"object":[128],"rearrangement":[129],"tasks":[130,153],"that":[131],"are":[132],"difficult":[133],"specify":[135],"using":[136],"conventional":[137],"planning":[138,150],"language":[139],"like":[140],"Planning":[141],"Domain":[142],"Definition":[143],"Language":[144],"(PDDL),":[145],"demonstrating":[146],"high":[147],"potential":[148],"cg":[155],".":[159]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
