{"id":"https://openalex.org/W4416748878","doi":"https://doi.org/10.1109/iros60139.2025.11247727","title":"Regrasp Maps for Sequential Manipulation Planning","display_name":"Regrasp Maps for Sequential Manipulation Planning","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748878","doi":"https://doi.org/10.1109/iros60139.2025.11247727"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5097195381","display_name":"Svetlana Levit","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Svetlana Levit","raw_affiliation_strings":["TU Berlin,Learning &#x0026; Intelligent Systems Lab,Germany"],"affiliations":[{"raw_affiliation_string":"TU Berlin,Learning &#x0026; Intelligent Systems Lab,Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["TU Berlin,Learning &#x0026; Intelligent Systems Lab,Germany"],"affiliations":[{"raw_affiliation_string":"TU Berlin,Learning &#x0026; Intelligent Systems Lab,Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5097195381"],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48240279,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"17436","last_page":"17441"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9488999843597412,"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":0.9488999843597412,"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":0.027799999341368675,"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":0.007799999788403511,"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/grasp","display_name":"GRASP","score":0.7585999965667725},{"id":"https://openalex.org/keywords/interleaving","display_name":"Interleaving","score":0.6868000030517578},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6481000185012817},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6220999956130981},{"id":"https://openalex.org/keywords/problem-solver","display_name":"Problem solver","score":0.5382999777793884},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5376999974250793},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.49070000648498535}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7585999965667725},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7211999893188477},{"id":"https://openalex.org/C28034677","wikidata":"https://www.wikidata.org/wiki/Q17092530","display_name":"Interleaving","level":2,"score":0.6868000030517578},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6481000185012817},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6220999956130981},{"id":"https://openalex.org/C3019612716","wikidata":"https://www.wikidata.org/wiki/Q730920","display_name":"Problem solver","level":2,"score":0.5382999777793884},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5376999974250793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5361999869346619},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.49070000648498535},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4023999869823456},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.3978999853134155},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.3928999900817871},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.37709999084472656},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3504999876022339},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.33489999175071716},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32820001244544983},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.27570000290870667},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.26269999146461487},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2041753526","https://openalex.org/W2044995998","https://openalex.org/W2103524001","https://openalex.org/W2138419444","https://openalex.org/W2518940182","https://openalex.org/W2563784145","https://openalex.org/W2739341730","https://openalex.org/W2805883505","https://openalex.org/W2883499711","https://openalex.org/W2967075852","https://openalex.org/W2967168619","https://openalex.org/W3090822776","https://openalex.org/W3207187156","https://openalex.org/W4200442696","https://openalex.org/W4285102491","https://openalex.org/W4292825907","https://openalex.org/W4323527551","https://openalex.org/W4389665535","https://openalex.org/W4401414279","https://openalex.org/W4401415639","https://openalex.org/W4401416379","https://openalex.org/W4401417366"],"related_works":[],"abstract_inverted_index":{"We":[0,16],"consider":[1],"manipulation":[2,115],"problems":[3],"in":[4,59],"constrained":[5],"and":[6,23,32,66,79,99],"cluttered":[7],"settings,":[8],"which":[9],"require":[10],"several":[11],"regrasps":[12],"at":[13],"unknown":[14],"locations.":[15],"propose":[17],"to":[18,35,44,69,106],"inform":[19],"an":[20],"optimization-based":[21],"task":[22],"motion":[24],"planning":[25],"(TAMP)":[26],"solver":[27,72],"with":[28,73],"possible":[29],"regrasp":[30,51,91,114],"areas":[31],"grasp":[33],"sequences":[34],"speed":[36],"up":[37],"the":[38,54,63,71,76,83,88],"search.":[39],"Our":[40],"main":[41],"idea":[42],"is":[43],"use":[45],"a":[46,50,108],"state":[47],"space":[48],"abstraction,":[49],"map,":[52],"capturing":[53],"combinations":[55],"of":[56,62,90],"available":[57],"grasps":[58],"different":[60],"parts":[61],"configuration":[64],"space,":[65],"allowing":[67],"us":[68],"provide":[70,107],"guesses":[74],"for":[75,82,112],"mode":[77],"switches":[78],"additional":[80],"constraints":[81],"object":[84],"placements.":[85],"By":[86],"interleaving":[87],"creation":[89],"maps,":[92],"their":[93],"adaptation":[94],"based":[95],"on":[96],"failed":[97],"refinements,":[98],"solving":[100],"TAMP":[101],"(sub)problems,":[102],"we":[103],"are":[104],"able":[105],"robust":[109],"search":[110],"method":[111],"challenging":[113],"problems.":[116]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
