{"id":"https://openalex.org/W2604698059","doi":"https://doi.org/10.1109/lra.2018.2795645","title":"Real-Time Perception Meets Reactive Motion Generation","display_name":"Real-Time Perception Meets Reactive Motion Generation","publication_year":2018,"publication_date":"2018-01-19","ids":{"openalex":"https://openalex.org/W2604698059","doi":"https://doi.org/10.1109/lra.2018.2795645","mag":"2604698059"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2795645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2795645","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5039293409","display_name":"Daniel Kappler","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Kappler","raw_affiliation_strings":["Lula Robotics, Inc., Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lula Robotics, Inc., Seattle, WA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071976030","display_name":"Franziska Meier","orcid":"https://orcid.org/0000-0003-1640-4619"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Franziska Meier","raw_affiliation_strings":["Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany","CLMC Lab University of Southern California, Los Angeles, CA, USA","Department of Computer Science and Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"CLMC Lab University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021247251","display_name":"Jan Issac","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jan Issac","raw_affiliation_strings":["Lula Robotics, Inc., Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lula Robotics, Inc., Seattle, WA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064890344","display_name":"Jim Mainprice","orcid":"https://orcid.org/0000-0002-0503-2218"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jim Mainprice","raw_affiliation_strings":["Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany","University of Stuttgart, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"University of Stuttgart, Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091634416","display_name":"Cristina Garcia Cifuentes","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cristina Garcia Cifuentes","raw_affiliation_strings":["Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028976996","display_name":"Manuel W\u00fcthrich","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Wuthrich","raw_affiliation_strings":["Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001165058","display_name":"Vincent Berenz","orcid":"https://orcid.org/0000-0003-2226-9660"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Vincent Berenz","raw_affiliation_strings":["Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029642293","display_name":"Stefan Schaal","orcid":"https://orcid.org/0000-0001-5660-1874"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany","CLMC Lab University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"CLMC Lab University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017897684","display_name":"Nathan Ratliff","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nathan Ratliff","raw_affiliation_strings":["Lula Robotics, Inc., Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lula Robotics, Inc., Seattle, WA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021676288","display_name":"Jeannette Bohg","orcid":"https://orcid.org/0000-0002-4921-7193"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Jeannette Bohg","raw_affiliation_strings":["Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany","Department of Computer Science, Stanford University, Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, MPI for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Department of Computer Science, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.4956,"has_fulltext":false,"cited_by_count":107,"citation_normalized_percentile":{"value":0.98403026,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"3","issue":"3","first_page":"1864","last_page":"1871"},"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":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/workspace","display_name":"Workspace","score":0.8090925216674805},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6827976703643799},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6744346022605896},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.4893138110637665},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4679863452911377},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44270050525665283},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4368784725666046},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43283629417419434},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4162948727607727},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29296714067459106},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18014416098594666},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06771329045295715}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8090925216674805},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6827976703643799},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6744346022605896},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.4893138110637665},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4679863452911377},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44270050525665283},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4368784725666046},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43283629417419434},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4162948727607727},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29296714067459106},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18014416098594666},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06771329045295715},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2795645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2795645","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1249953932","https://openalex.org/W1490431568","https://openalex.org/W1514989902","https://openalex.org/W1515613626","https://openalex.org/W1534401054","https://openalex.org/W1536308292","https://openalex.org/W1820821744","https://openalex.org/W1966089223","https://openalex.org/W1993999483","https://openalex.org/W2003708116","https://openalex.org/W2012804028","https://openalex.org/W2019965290","https://openalex.org/W2103120971","https://openalex.org/W2124651605","https://openalex.org/W2132714442","https://openalex.org/W2133844819","https://openalex.org/W2136719407","https://openalex.org/W2152864241","https://openalex.org/W2155007355","https://openalex.org/W2161819990","https://openalex.org/W2162000109","https://openalex.org/W2165216595","https://openalex.org/W2201087437","https://openalex.org/W2296055201","https://openalex.org/W2474350242","https://openalex.org/W2482392012","https://openalex.org/W2514828909","https://openalex.org/W2529170537","https://openalex.org/W2531282941","https://openalex.org/W2537677623","https://openalex.org/W2560978298","https://openalex.org/W2563829853","https://openalex.org/W2758107681","https://openalex.org/W2783192199","https://openalex.org/W2963694596","https://openalex.org/W2964161785","https://openalex.org/W2983963859","https://openalex.org/W3103803758","https://openalex.org/W4236881204","https://openalex.org/W4285719527","https://openalex.org/W4294411035","https://openalex.org/W6682849425","https://openalex.org/W6721459605","https://openalex.org/W6748202546"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W1999333556"],"abstract_inverted_index":{"We":[0,28,49,117,141,164],"address":[1],"the":[2,11,30,58,63,102,120,143,168],"challenging":[3,134],"problem":[4],"of":[5,13,32,57],"robotic":[6,125],"grasping":[7],"and":[8,24,36,86,95,108,145],"manipulation":[9,47],"in":[10,45,62,127,158],"presence":[12],"uncertainty.":[14],"This":[15],"uncertainty":[16],"is":[17,71,148],"due":[18,149],"to":[19,82,112,150],"noisy":[20],"sensing,":[21],"inaccurate":[22],"models,":[23],"hard-to-predict":[25],"environment":[26,84],"dynamics.":[27],"quantify":[29,142],"importance":[31],"continuous,":[33],"real-time":[34,106,152],"perception":[35,107],"its":[37],"tight":[38],"integration":[39],"with":[40],"reactive":[41,89,109,160],"motion":[42,96,110,161],"generation":[43,111,162],"methods":[44],"dynamic":[46,139],"scenarios.":[48],"compare":[50],"three":[51],"different":[52,155],"systems":[53,121],"that":[54,70,79,91,130,147],"are":[55],"instantiations":[56],"most":[59],"common":[60],"architectures":[61,99],"field:":[64],"1)":[65],"a":[66,76,88,114,123,133,138,159],"traditional":[67],"sense-plan-act":[68],"approach":[69],"still":[72],"widely":[73],"used;":[74],"2)":[75],"myopic":[77],"controller":[78],"only":[80],"reacts":[81],"local":[83],"dynamics;":[85],"3)":[87],"planner":[90],"integrates":[92],"feedback":[93,153],"control":[94],"optimization.":[97],"All":[98],"rely":[100],"on":[101,122,167],"same":[103],"components":[104],"for":[105,171],"allow":[113],"quantitative":[115],"evaluation.":[116],"extensively":[118],"evaluate":[119],"real":[124],"platform":[126],"four":[128],"scenarios":[129],"exhibit":[131],"either":[132],"workspace":[135],"geometry":[136],"or":[137],"environment.":[140],"robustness":[144],"accuracy":[146],"integrating":[151],"at":[154],"time":[156],"scales":[157],"system.":[163],"also":[165],"report":[166],"lessons":[169],"learned":[170],"system":[172],"building.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":28},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
