{"id":"https://openalex.org/W4405778904","doi":"https://doi.org/10.1109/iros58592.2024.10802344","title":"Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model","display_name":"Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405778904","doi":"https://doi.org/10.1109/iros58592.2024.10802344"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802344","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/A5108887001","display_name":"Jin Wang","orcid":"https://orcid.org/0000-0002-1830-8527"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jin Wang","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoids and Human-Centered Mechatronics (HHCM),Genoa,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoids and Human-Centered Mechatronics (HHCM),Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016982993","display_name":"Arturo Laurenzi","orcid":"https://orcid.org/0000-0002-9065-1266"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arturo Laurenzi","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoids and Human-Centered Mechatronics (HHCM),Genoa,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoids and Human-Centered Mechatronics (HHCM),Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos Tsagarakis","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoids and Human-Centered Mechatronics (HHCM),Genoa,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoids and Human-Centered Mechatronics (HHCM),Genoa,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10856","last_page":"10863"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.7947999835014343,"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/T13382","display_name":"Robotics and Automated Systems","score":0.7947999835014343,"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/T10181","display_name":"Natural Language Processing Techniques","score":0.7311000227928162,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.7300999760627747,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6774867177009583},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6380821466445923},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.48603516817092896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29722607135772705},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16368836164474487}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6774867177009583},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6380821466445923},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48603516817092896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29722607135772705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16368836164474487}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802344","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":[{"id":"https://metadata.un.org/sdg/10","score":0.4399999976158142,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1933349210","https://openalex.org/W2296055201","https://openalex.org/W2912365230","https://openalex.org/W2968694796","https://openalex.org/W3015991193","https://openalex.org/W3024044737","https://openalex.org/W3099587965","https://openalex.org/W3131698977","https://openalex.org/W3145123113","https://openalex.org/W4214634122","https://openalex.org/W4383097638","https://openalex.org/W4385430679","https://openalex.org/W4385858056","https://openalex.org/W4386066385","https://openalex.org/W4386495331","https://openalex.org/W4387764390","https://openalex.org/W4389665359","https://openalex.org/W4390481134","https://openalex.org/W6754677871","https://openalex.org/W6809509765","https://openalex.org/W6810640255","https://openalex.org/W6850503672","https://openalex.org/W6854738657","https://openalex.org/W6854929498"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2564804538","https://openalex.org/W1974803039"],"abstract_inverted_index":{"Enabling":[0],"humanoid":[1,88],"robots":[2,21,99],"to":[3,24,36,100],"perform":[4],"autonomously":[5,101],"loco-manipulation":[6],"in":[7,30,127,149,168],"unstructured":[8],"environments":[9,154],"is":[10],"crucial":[11],"and":[12,28,42,54,59,76,104,113,135,142,147,152,159,163],"highly":[13],"challenging":[14],"for":[15,57,78,139],"achieving":[16],"embodied":[17],"intelligence.":[18],"This":[19],"involves":[20],"being":[22],"able":[23],"plan":[25,102],"their":[26],"actions":[27],"behaviors":[29,103],"long-horizon":[31],"tasks":[32,146,170],"while":[33,111],"using":[34,155],"multi-modality":[35],"perceive":[37],"deviations":[38],"between":[39],"task":[40,120,140],"execution":[41,106],"high-level":[43],"planning.":[44,174],"Recently,":[45],"large":[46],"language":[47],"models":[48],"(LLMs)":[49],"have":[50],"demonstrated":[51],"powerful":[52],"planning":[53],"reasoning":[55],"capabilities":[56],"comprehension":[58],"processing":[60],"of":[61,73,85,165],"semantic":[62],"information":[63],"through":[64],"robot":[65,133],"control":[66],"tasks,":[67],"as":[68,70],"well":[69],"the":[71,83,132,156,161],"usability":[72],"analytical":[74],"judgment":[75],"decision-making":[77],"multi-modal":[79],"inputs.":[80],"To":[81,122],"leverage":[82],"power":[84],"LLMs":[86],"towards":[87],"loco-manipulation,":[89],"we":[90,130],"propose":[91],"a":[92],"novel":[93],"language-model":[94],"based":[95],"framework":[96,126],"that":[97,116],"enables":[98],"low-level":[105],"under":[107],"given":[108],"textual":[109],"instructions,":[110],"observing":[112],"correcting":[114],"failures":[115],"may":[117],"occur":[118],"during":[119],"execution.":[121],"systematically":[123],"evaluate":[124],"this":[125,166],"grounding":[128],"LLMs,":[129],"created":[131],"\u2019action\u2019":[134],"\u2019sensing\u2019":[136],"behavior":[137],"library":[138],"planning,":[141],"conducted":[143],"mobile":[144],"manipulation":[145],"experiments":[148],"both":[150],"simulated":[151],"real":[153],"CENTAURO":[157],"robot,":[158],"verified":[160],"effectiveness":[162],"application":[164],"approach":[167],"robotic":[169],"with":[171],"autonomous":[172],"behavioral":[173],"Video:":[175],"https://youtu.be/mmnaxthEX34":[176]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
