{"id":"https://openalex.org/W4405785012","doi":"https://doi.org/10.1109/iros58592.2024.10801312","title":"BOMP: Bin-Optimized Motion Planning","display_name":"BOMP: Bin-Optimized Motion Planning","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785012","doi":"https://doi.org/10.1109/iros58592.2024.10801312"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801312","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801312","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5018760385","display_name":"Zachary Tam","orcid":null},"institutions":[{"id":"https://openalex.org/I4210153740","display_name":"Berkeley Systems (United States)","ror":"https://ror.org/05sb0mt20","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153740"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Tam","raw_affiliation_strings":["The AUTOLab at UC Berkeley (Automation.Berkeley.Edu)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The AUTOLab at UC Berkeley (Automation.Berkeley.Edu)","institution_ids":["https://openalex.org/I4210153740","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071396802","display_name":"Karthik Dharmarajan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210153740","display_name":"Berkeley Systems (United States)","ror":"https://ror.org/05sb0mt20","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153740"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Karthik Dharmarajan","raw_affiliation_strings":["The AUTOLab at UC Berkeley (Automation.Berkeley.Edu)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The AUTOLab at UC Berkeley (Automation.Berkeley.Edu)","institution_ids":["https://openalex.org/I4210153740","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109210851","display_name":"Tianshuang Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210153740","display_name":"Berkeley Systems (United States)","ror":"https://ror.org/05sb0mt20","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153740"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianshuang Qiu","raw_affiliation_strings":["The AUTOLab at UC Berkeley (Automation.Berkeley.Edu)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The AUTOLab at UC Berkeley (Automation.Berkeley.Edu)","institution_ids":["https://openalex.org/I4210153740","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061753410","display_name":"Yahav Avigal","orcid":null},"institutions":[{"id":"https://openalex.org/I4210153740","display_name":"Berkeley Systems (United States)","ror":"https://ror.org/05sb0mt20","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153740"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yahav Avigal","raw_affiliation_strings":["The AUTOLab at UC Berkeley (Automation.Berkeley.Edu)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The AUTOLab at UC Berkeley (Automation.Berkeley.Edu)","institution_ids":["https://openalex.org/I4210153740","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005587345","display_name":"Jeffrey Ichnowski","orcid":"https://orcid.org/0000-0003-4874-9478"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey Ichnowski","raw_affiliation_strings":["Carnegie Mellon University,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524"},"institutions":[{"id":"https://openalex.org/I4210153740","display_name":"Berkeley Systems (United States)","ror":"https://ror.org/05sb0mt20","country_code":"US","type":"company","lineage":["https://openalex.org/I4210153740"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":["The AUTOLab at UC Berkeley (Automation.Berkeley.Edu)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The AUTOLab at UC Berkeley (Automation.Berkeley.Edu)","institution_ids":["https://openalex.org/I4210153740","https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11056","last_page":"11063"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.992900013923645,"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":0.992900013923645,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9761000275611877,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9455999732017517,"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/bin","display_name":"Bin","score":0.7721846103668213},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6938403248786926},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5292655229568481},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25527316331863403},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12726157903671265}],"concepts":[{"id":"https://openalex.org/C156273044","wikidata":"https://www.wikidata.org/wiki/Q4913766","display_name":"Bin","level":2,"score":0.7721846103668213},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6938403248786926},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5292655229568481},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25527316331863403},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12726157903671265}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801312","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801312","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1485661534","https://openalex.org/W1970217647","https://openalex.org/W1971458750","https://openalex.org/W2004139909","https://openalex.org/W2019965290","https://openalex.org/W2038131922","https://openalex.org/W2085261163","https://openalex.org/W2099893201","https://openalex.org/W2142828048","https://openalex.org/W2293883387","https://openalex.org/W2294370754","https://openalex.org/W2295431040","https://openalex.org/W2515082088","https://openalex.org/W2600030077","https://openalex.org/W2738075826","https://openalex.org/W2963439114","https://openalex.org/W2964239605","https://openalex.org/W2967479691","https://openalex.org/W2967969632","https://openalex.org/W3089582219","https://openalex.org/W3090993660","https://openalex.org/W3104733355","https://openalex.org/W4226450761","https://openalex.org/W4237688380","https://openalex.org/W4300309110","https://openalex.org/W4388692454","https://openalex.org/W4390874575","https://openalex.org/W4401415533","https://openalex.org/W4401416446","https://openalex.org/W4402354021","https://openalex.org/W6638523607","https://openalex.org/W6674600207","https://openalex.org/W6746119731","https://openalex.org/W6770366356","https://openalex.org/W6800004206","https://openalex.org/W6853219587"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2107701374","https://openalex.org/W1616588898","https://openalex.org/W4395000504","https://openalex.org/W4249504934","https://openalex.org/W2183416055","https://openalex.org/W2568867011","https://openalex.org/W1994114538"],"abstract_inverted_index":{"In":[0],"logistics,":[1],"the":[2,55],"ability":[3],"to":[4,15,42,70,114,123],"quickly":[5],"compute":[6],"and":[7,61,75,94,101,121],"execute":[8],"pick-and-place":[9],"motions":[10,31],"from":[11,45],"bins":[12],"is":[13,80],"critical":[14],"increasing":[16],"productivity.":[17],"We":[18],"present":[19],"Bin-Optimized":[20],"Motion":[21],"Planning":[22],"(BOMP),":[23],"a":[24,33,38,58,62,67,83],"motion":[25],"planning":[26],"framework":[27],"that":[28,106,111],"plans":[29],"arm":[30,51],"for":[32],"six-axis":[34],"industrial":[35],"robot":[36,50],"with":[37,91,98],"long-nosed":[39],"suction":[40],"tool":[41],"remove":[43],"boxes":[44],"deep":[46,84],"bins.":[47],"BOMP":[48,107,142],"considers":[49],"kinematics,":[52],"actuation":[53],"limits,":[54],"dimensions":[56],"of":[57,66],"grasped":[59],"box,":[60],"varying":[63],"height":[64],"map":[65],"bin":[68],"environment":[69],"rapidly":[71],"generate":[72],"time-optimized,":[73],"jerk-limited,":[74],"collision-free":[76,109],"trajectories.":[77,96],"The":[78],"optimization":[79],"warm-started":[81],"using":[82],"neural":[85],"network":[86],"trained":[87],"offline":[88],"in":[89,139],"simulation":[90],"25,000":[92],"scenes":[93],"corresponding":[95],"Experiments":[97],"96":[99],"simulated":[100],"15":[102],"physical":[103],"environments":[104],"suggest":[105],"generates":[108,144],"trajectories":[110,146],"are":[112],"up":[113,122],"58%":[115],"faster":[116,125],"than":[117,126],"baseline":[118],"sampling-based":[119],"planners":[120],"36%":[124],"an":[127,133],"industry-standard":[128],"Up-Over-Down":[129],"algorithm,":[130],"which":[131],"has":[132],"extremely":[134],"low":[135],"15%":[136],"success":[137],"rate":[138],"this":[140],"context.":[141],"also":[143],"jerk-limited":[145],"while":[147],"baselines":[148],"do":[149],"not.":[150],"Website:":[151],"https://sites.google.com/berkeley.edu/bomp.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
