{"id":"https://openalex.org/W3004230875","doi":"https://doi.org/10.1109/lra.2020.2972858","title":"Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces","display_name":"Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces","publication_year":2020,"publication_date":"2020-02-11","ids":{"openalex":"https://openalex.org/W3004230875","doi":"https://doi.org/10.1109/lra.2020.2972858","mag":"3004230875"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2972858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972858","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2001.11051","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Dale McConachie","orcid":"https://orcid.org/0000-0002-2615-3473"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dale McConachie","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, USA"],"raw_orcid":"https://orcid.org/0000-0002-2615-3473","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Thomas Power","orcid":"https://orcid.org/0000-0002-2439-3262"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Power","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, USA"],"raw_orcid":"https://orcid.org/0000-0002-2439-3262","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Peter Mitrano","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Mitrano","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":null,"display_name":"Dmitry Berenson","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["Robotics Institute, University of Michigan, Ann Arbor, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Michigan, Ann Arbor, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":1.4158,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.79316089,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"5","issue":"2","first_page":"3540","last_page":"3547"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6531000137329102,"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":0.6531000137329102,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.11469999700784683,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.08269999921321869,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7835999727249146},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.6036999821662903},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.4894999861717224},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.46700000762939453},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4490000009536743},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4345000088214874}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7835999727249146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6078000068664551},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.6036999821662903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5080000162124634},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.4894999861717224},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.46700000762939453},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4490000009536743},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4345000088214874},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.41920000314712524},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.40389999747276306},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3560999929904938},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.353300005197525},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.34709998965263367},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2802000045776367},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2644999921321869}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2972858","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972858","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"},{"id":"pmh:oai:arXiv.org:2001.11051","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.11051","pdf_url":"https://arxiv.org/pdf/2001.11051","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2001.11051","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.11051","pdf_url":"https://arxiv.org/pdf/2001.11051","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1481925965","https://openalex.org/W1974581510","https://openalex.org/W1980757084","https://openalex.org/W1985787666","https://openalex.org/W2005503440","https://openalex.org/W2083331227","https://openalex.org/W2101073745","https://openalex.org/W2110762409","https://openalex.org/W2117828438","https://openalex.org/W2127199521","https://openalex.org/W2141664020","https://openalex.org/W2157979562","https://openalex.org/W2158782408","https://openalex.org/W2211722331","https://openalex.org/W2356023750","https://openalex.org/W2528489519","https://openalex.org/W2743299392","https://openalex.org/W2808405904","https://openalex.org/W2885010347","https://openalex.org/W2900130725","https://openalex.org/W2963881774","https://openalex.org/W2966271811","https://openalex.org/W2991013770","https://openalex.org/W3149513485","https://openalex.org/W6631190155","https://openalex.org/W6677291438","https://openalex.org/W6703214588","https://openalex.org/W6745638589","https://openalex.org/W6754162236","https://openalex.org/W6784990652"],"related_works":[],"abstract_inverted_index":{"When":[0],"the":[1,39,54,57,66,73,95,107,145,155,159,175,185],"dynamics":[2,40,70],"of":[3,59,75,129,162,184],"a":[4,81,91,112,122,138],"system":[5,55],"are":[6,32,41,102,171],"difficult":[7,168],"to":[8,12,25,35,43,63,93,114,119,132,144,173,177],"model":[9,44],"and/or":[10],"time-consuming":[11],"evaluate,":[13],"such":[14,48,121],"as":[15,124,126],"in":[16,85,166,181],"deformable":[17],"object":[18],"manipulation":[19,152],"tasks,":[20],"motion":[21],"planning":[22,84],"algorithms":[23],"struggle":[24],"find":[26],"feasible":[27,105],"plans":[28],"efficiently.":[29],"Such":[30],"problems":[31],"often":[33],"reduced":[34,69,86],"state":[36,87],"spaces":[37,88],"where":[38,65,135],"straightforward":[42],"and":[45,68,116],"evaluate.":[46],"However,":[47],"reductions":[49],"usually":[50],"discard":[51],"information":[52],"about":[53],"for":[56,83],"benefit":[58],"computational":[60],"efficiency,":[61],"leading":[62],"cases":[64],"true":[67,108,146],"disagree":[71],"on":[72],"result":[74],"an":[76,127],"action.":[77],"This":[78],"letter":[79],"presents":[80],"formulation":[82],"that":[89,101,154],"uses":[90],"classifier":[92,156],"bias":[94],"planner":[96,165],"away":[97],"from":[98],"state-action":[99],"pairs":[100],"not":[103],"reliably":[104],"under":[106],"dynamics.":[109,147],"We":[110],"present":[111],"method":[113],"generate":[115],"label":[117],"data":[118],"train":[120],"classifier,":[123],"well":[125],"application":[128],"our":[130,163],"framework":[131],"rope":[133,151],"manipulation,":[134],"we":[136],"use":[137],"Virtual":[139],"Elastic":[140],"Band":[141],"(VEB)":[142],"approximation":[143],"Our":[148],"experiments":[149],"with":[150],"demonstrate":[153],"significantly":[157],"improves":[158],"success":[160],"rate":[161],"RRT-based":[164],"several":[167],"scenarios":[169],"which":[170],"designed":[172],"cause":[174],"VEB":[176],"produce":[178],"incorrect":[179],"predictions":[180],"key":[182],"parts":[183],"environment.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2020-02-07T00:00:00"}