{"id":"https://openalex.org/W4200043122","doi":"https://doi.org/10.1109/iros51168.2021.9636395","title":"A Sampling-based Motion Planning Framework for Complex Motor Actions","display_name":"A Sampling-based Motion Planning Framework for Complex Motor Actions","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200043122","doi":"https://doi.org/10.1109/iros51168.2021.9636395"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636395","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5032549401","display_name":"Shlok Sobti","orcid":"https://orcid.org/0000-0002-7852-8484"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shlok Sobti","raw_affiliation_strings":["Rice University, Houston"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rice University, Houston","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076976011","display_name":"Rahul Shome","orcid":"https://orcid.org/0000-0002-1689-9220"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Shome","raw_affiliation_strings":["Rice University, Houston"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rice University, Houston","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057341982","display_name":"Swarat Chaudhuri","orcid":"https://orcid.org/0000-0002-6859-1391"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Swarat Chaudhuri","raw_affiliation_strings":["University of Texas, Austin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas, Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Rice University, Houston"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rice University, Houston","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.25,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.89162234,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6928","last_page":"6934"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9988999962806702,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.7901893258094788},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7899430394172668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7780754566192627},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7013838291168213},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6597064733505249},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6534157395362854},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6098974943161011},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5683608055114746},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.5440927147865295},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5226580500602722},{"id":"https://openalex.org/keywords/motor-planning","display_name":"Motor planning","score":0.4418294131755829},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.41721513867378235},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23114120960235596},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10845041275024414},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08362135291099548},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.06560984253883362}],"concepts":[{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.7901893258094788},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7899430394172668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7780754566192627},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7013838291168213},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6597064733505249},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6534157395362854},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6098974943161011},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5683608055114746},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.5440927147865295},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5226580500602722},{"id":"https://openalex.org/C2780576329","wikidata":"https://www.wikidata.org/wiki/Q39045793","display_name":"Motor planning","level":2,"score":0.4418294131755829},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.41721513867378235},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23114120960235596},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10845041275024414},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08362135291099548},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.06560984253883362},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"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/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636395","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636395","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 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":"2021 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","id":"https://metadata.un.org/sdg/11","score":0.800000011920929}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310133","display_name":"Rice University","ror":"https://ror.org/008zs3103"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W78534123","https://openalex.org/W130216483","https://openalex.org/W131069610","https://openalex.org/W152645600","https://openalex.org/W1517802146","https://openalex.org/W1977174110","https://openalex.org/W2046681095","https://openalex.org/W2062198398","https://openalex.org/W2088261946","https://openalex.org/W2099893201","https://openalex.org/W2110144538","https://openalex.org/W2113698995","https://openalex.org/W2116341587","https://openalex.org/W2128990851","https://openalex.org/W2129202194","https://openalex.org/W2136719407","https://openalex.org/W2140801763","https://openalex.org/W2142224528","https://openalex.org/W2149192758","https://openalex.org/W2167340365","https://openalex.org/W2205340216","https://openalex.org/W2416313483","https://openalex.org/W2744687549","https://openalex.org/W2789839425","https://openalex.org/W2890523827","https://openalex.org/W2968821825","https://openalex.org/W2971244547","https://openalex.org/W2999910018","https://openalex.org/W3004689279","https://openalex.org/W3150384095","https://openalex.org/W4235212802","https://openalex.org/W6605295560","https://openalex.org/W6606247353","https://openalex.org/W6680971464","https://openalex.org/W6779577385"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W4380590094"],"abstract_inverted_index":{"We":[0,36,133],"present":[1],"a":[2,38,52,77,128,139],"framework":[3],"for":[4,127,142],"planning":[5,62],"complex":[6],"motor":[7],"actions":[8],"such":[9,25],"as":[10],"pouring":[11,129,143],"or":[12],"scooping":[13,145],"from":[14,33,75,101],"arbitrary":[15],"start":[16],"states":[17],"in":[18,91,96,105,124,131],"cluttered":[19,125],"real-world":[20],"scenes.":[21],"Traditional":[22],"approaches":[23],"to":[24,67],"tasks":[26,123],"use":[27],"dynamic":[28],"motion":[29,61],"primitives":[30],"(DMPs)":[31],"learned":[32],"human":[34],"demonstrations.":[35],"enhance":[37],"recently":[39],"proposed":[40],"state-of-the-art":[41],"DMP":[42,78],"technique":[43],"capable":[44],"of":[45,107],"obstacle":[46],"avoidance":[47],"by":[48,120],"including":[49],"them":[50],"within":[51],"novel":[53],"hybrid":[54,114],"framework.":[55],"This":[56],"complements":[57],"DMPs":[58,89,119],"with":[59],"sampling-based":[60],"algorithms,":[63],"using":[64],"the":[65,69,82,102,108],"latter":[66],"explore":[68],"scene":[70],"and":[71,111,144],"reach":[72],"promising":[73],"regions":[74],"which":[76,98],"can":[79],"successfully":[80,121],"complete":[81],"task.":[83],"Experiments":[84],"indicate":[85],"that":[86],"even":[87],"obstacle-aware":[88,118],"suffer":[90],"task":[92,130],"success":[93],"when":[94],"used":[95],"scenarios":[97],"largely":[99],"differ":[100],"trained":[103],"demonstration":[104],"terms":[106],"start,":[109],"goal,":[110],"obstacles.":[112],"Our":[113],"approach":[115],"significantly":[116],"outperforms":[117],"completing":[122],"scenes":[126],"simulation.":[132],"further":[134],"demonstrate":[135],"our":[136],"method":[137],"on":[138],"real":[140],"robot":[141],"tasks.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}