{"id":"https://openalex.org/W4405787415","doi":"https://doi.org/10.1109/iros58592.2024.10802746","title":"DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability","display_name":"DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787415","doi":"https://doi.org/10.1109/iros58592.2024.10802746"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802746","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/A5112049375","display_name":"Xiaolin Fang","orcid":"https://orcid.org/0000-0002-0164-2596"},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaolin Fang","raw_affiliation_strings":["MIT CSAIL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL","institution_ids":["https://openalex.org/I4405258931"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015917510","display_name":"Caelan Reed Garrett","orcid":"https://orcid.org/0000-0002-6474-1276"},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Caelan Reed Garrett","raw_affiliation_strings":["MIT CSAIL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL","institution_ids":["https://openalex.org/I4405258931"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076300410","display_name":"Clemens Eppner","orcid":"https://orcid.org/0000-0002-5398-4037"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Clemens Eppner","raw_affiliation_strings":["NVIDIA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063238208","display_name":"Tom\u00e1s Lozano\u2010P\u00e9rez","orcid":"https://orcid.org/0000-0002-8657-2450"},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tom\u00e1s Lozano-P\u00e9rez","raw_affiliation_strings":["MIT CSAIL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL","institution_ids":["https://openalex.org/I4405258931"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012862284","display_name":"Leslie Pack Kaelbling","orcid":null},"institutions":[{"id":"https://openalex.org/I4405258931","display_name":"MIT Computer Science and Artificial Intelligence Laboratory","ror":"https://ror.org/01e85r662","country_code":"US","type":"facility","lineage":["https://openalex.org/I4405258931","https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leslie Pack Kaelbling","raw_affiliation_strings":["MIT CSAIL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MIT CSAIL","institution_ids":["https://openalex.org/I4405258931"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108257764","display_name":"Dieter Fox","orcid":"https://orcid.org/0009-0009-4694-9127"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dieter Fox","raw_affiliation_strings":["NVIDIA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1412","last_page":"1419"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9869999885559082,"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":0.9869999885559082,"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":0.9672999978065491,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.960099995136261,"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/observability","display_name":"Observability","score":0.9600669145584106},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6247437000274658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.598496675491333},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.5910924673080444},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.58831387758255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3071035146713257},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2643967866897583},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.2297217845916748},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11804637312889099},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11198773980140686},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07423266768455505}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.9600669145584106},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6247437000274658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.598496675491333},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.5910924673080444},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.58831387758255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3071035146713257},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2643967866897583},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.2297217845916748},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11804637312889099},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11198773980140686},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07423266768455505},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802746","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/13","score":0.4099999964237213,"display_name":"Climate action"},{"id":"https://metadata.un.org/sdg/11","score":0.4000000059604645,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W2119709400","https://openalex.org/W2788882124","https://openalex.org/W2961368225","https://openalex.org/W3001865277","https://openalex.org/W3089355520","https://openalex.org/W3108645709","https://openalex.org/W3128894241","https://openalex.org/W3150384095","https://openalex.org/W3173991492","https://openalex.org/W3189699967","https://openalex.org/W3207647944","https://openalex.org/W4221163787","https://openalex.org/W4383109488","https://openalex.org/W4384390287","https://openalex.org/W4385403811","https://openalex.org/W4385403813","https://openalex.org/W4389665935","https://openalex.org/W6679045638","https://openalex.org/W6713184877","https://openalex.org/W6739778489","https://openalex.org/W6779823529","https://openalex.org/W6795288823","https://openalex.org/W6796289742","https://openalex.org/W6802414455","https://openalex.org/W6804244202","https://openalex.org/W6838483015","https://openalex.org/W6838586813","https://openalex.org/W6846316339","https://openalex.org/W6847081674","https://openalex.org/W6853982971","https://openalex.org/W6856366029","https://openalex.org/W6860883580"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2967463586","https://openalex.org/W2074679142","https://openalex.org/W2765830098","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W3157641275","https://openalex.org/W4312300846","https://openalex.org/W2104042711","https://openalex.org/W4206221578"],"abstract_inverted_index":{"Generative":[0],"models":[1,69],"such":[2],"as":[3],"diffusion":[4,68],"models,":[5],"excel":[6],"at":[7,22],"capturing":[8],"high-dimensional":[9],"distributions":[10],"with":[11,103],"diverse":[12],"input":[13],"modalities,":[14],"e.g.":[15],"robot":[16,38],"trajectories,":[17],"but":[18],"are":[19,32,56,84],"less":[20],"effective":[21],"multistep":[23],"constraint":[24],"reasoning.":[25,161],"Task":[26],"and":[27,53,81,92,123,145,155],"Motion":[28],"Planning":[29],"(TAMP)":[30],"approaches":[31],"suited":[33],"for":[34,79,99,112],"planning":[35,90],"multi-step":[36,159],"autonomous":[37],"manipulation.":[39],"However,":[40],"it":[41],"can":[42],"be":[43],"difficult":[44,85],"to":[45,48,62,86,97],"apply":[46,164],"them":[47],"domains":[49],"where":[50],"the":[51,76,89,100,116,120,148,165,169],"environment":[52],"its":[54],"dynamics":[55],"not":[57],"fully":[58],"known.":[59],"We":[60,74,134,162],"propose":[61],"overcome":[63],"these":[64],"limitations":[65],"by":[66],"composing":[67],"using":[70],"a":[71,94,139],"TAMP":[72,95,124],"system.":[73],"use":[75,93],"learned":[77,121,127,166],"components":[78],"constraints":[80],"samplers":[82,122],"that":[83],"engineer":[87],"in":[88,115,138,168],"model,":[91],"solver":[96],"search":[98],"task":[101],"plan":[102],"constraint-satisfying":[104],"action":[105],"parameter":[106],"values.":[107],"To":[108],"tractably":[109],"make":[110],"predictions":[111],"unseen":[113],"objects":[114],"environment,":[117],"we":[118],"define":[119],"operators":[125],"on":[126],"latent":[128,156],"embedding":[129,157],"of":[130,150],"changing":[131],"object":[132,142],"states.":[133],"evaluate":[135],"our":[136],"approach":[137],"simulated":[140],"articulated":[141],"manipulation":[143],"domain":[144],"show":[146],"how":[147],"combination":[149],"classical":[151],"TAMP,":[152],"generative":[153],"modeling,":[154],"enables":[158],"constraint-based":[160],"also":[163],"sampler":[167],"real":[170],"world.":[171],"Website:":[172],"https://sites.google.com/view/dimsam-tamp.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
