{"id":"https://openalex.org/W4206575475","doi":"https://doi.org/10.1109/lra.2021.3133603","title":"MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets","display_name":"MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets","publication_year":2021,"publication_date":"2021-12-09","ids":{"openalex":"https://openalex.org/W4206575475","doi":"https://doi.org/10.1109/lra.2021.3133603"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3133603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3133603","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2112.06402","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061640673","display_name":"Constantinos Chamzas","orcid":"https://orcid.org/0000-0001-5830-5542"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Constantinos Chamzas","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086444973","display_name":"Carlos Quintero","orcid":"https://orcid.org/0000-0003-0915-8691"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlos Quintero-Pena","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088789391","display_name":"Zachary Kingston","orcid":"https://orcid.org/0000-0002-3896-5110"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Kingston","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024839170","display_name":"Andreas Orthey","orcid":"https://orcid.org/0000-0002-1478-1405"},"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":"Andreas Orthey","raw_affiliation_strings":["Learning and Intelligent Systems Lab, TU, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Learning and Intelligent Systems Lab, TU, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006252401","display_name":"Daniel Rakita","orcid":"https://orcid.org/0000-0001-6292-8515"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Rakita","raw_affiliation_strings":["Department of Computer Sciences, University of Wisconsin-Madison, Madison, WI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Sciences, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084778474","display_name":"Michael Gleicher","orcid":"https://orcid.org/0000-0003-3295-4071"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Gleicher","raw_affiliation_strings":["Department of Computer Sciences, University of Wisconsin-Madison, Madison, WI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Sciences, University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","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":["Learning and Intelligent Systems Lab, TU, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Learning and Intelligent Systems Lab, TU, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067205988","display_name":"Lydia E. Kavraki","orcid":"https://orcid.org/0000-0003-0699-8038"},"institutions":[{"id":"https://openalex.org/I74775410","display_name":"Rice University","ror":"https://ror.org/008zs3103","country_code":"US","type":"education","lineage":["https://openalex.org/I74775410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lydia E. Kavraki","raw_affiliation_strings":["Department of Computer Science, Rice University, Houston, TX, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rice University, Houston, TX, USA","institution_ids":["https://openalex.org/I74775410"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5061640673"],"corresponding_institution_ids":["https://openalex.org/I74775410"],"apc_list":null,"apc_paid":null,"fwci":3.4867,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.94160099,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"882","last_page":"889"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9994000196456909,"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/T12290","display_name":"Human Motion and Animation","score":0.9973000288009644,"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/benchmark","display_name":"Benchmark (surveying)","score":0.8035135269165039},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6624277830123901},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.525386393070221},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5046147108078003},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1461729109287262},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.10615471005439758}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.8035135269165039},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6624277830123901},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.525386393070221},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5046147108078003},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1461729109287262},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.10615471005439758}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3133603","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3133603","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"},{"id":"pmh:oai:arXiv.org:2112.06402","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2112.06402","pdf_url":"https://arxiv.org/pdf/2112.06402","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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:2112.06402","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2112.06402","pdf_url":"https://arxiv.org/pdf/2112.06402","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":[{"score":0.5899999737739563,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G5944919406","display_name":null,"funder_award_id":"NSF 1718478","funder_id":"https://openalex.org/F4320310133","funder_display_name":"Rice University"},{"id":"https://openalex.org/G7666409050","display_name":null,"funder_award_id":"NSF 2008720","funder_id":"https://openalex.org/F4320310133","funder_display_name":"Rice University"},{"id":"https://openalex.org/G7764043642","display_name":null,"funder_award_id":"NSF-GRFP 1842494","funder_id":"https://openalex.org/F4320310133","funder_display_name":"Rice University"},{"id":"https://openalex.org/G8103809200","display_name":null,"funder_award_id":"EXC 2002/1-390523135","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320310133","display_name":"Rice University","ror":"https://ror.org/008zs3103"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":64,"referenced_works":["https://openalex.org/W1502517891","https://openalex.org/W1516027685","https://openalex.org/W1522302154","https://openalex.org/W1571162977","https://openalex.org/W1670942551","https://openalex.org/W1814533834","https://openalex.org/W1971086298","https://openalex.org/W2108598243","https://openalex.org/W2110762409","https://openalex.org/W2130962127","https://openalex.org/W2133844819","https://openalex.org/W2171266831","https://openalex.org/W2415595313","https://openalex.org/W2606926518","https://openalex.org/W2740508249","https://openalex.org/W2786893837","https://openalex.org/W2789839425","https://openalex.org/W2901136733","https://openalex.org/W2907258563","https://openalex.org/W2949992533","https://openalex.org/W2962936820","https://openalex.org/W2963439114","https://openalex.org/W2964137828","https://openalex.org/W2964997335","https://openalex.org/W2975395092","https://openalex.org/W2995284558","https://openalex.org/W2999169383","https://openalex.org/W2999786727","https://openalex.org/W3003356003","https://openalex.org/W3005798847","https://openalex.org/W3006249771","https://openalex.org/W3006441365","https://openalex.org/W3007769740","https://openalex.org/W3028676366","https://openalex.org/W3035198432","https://openalex.org/W3043256667","https://openalex.org/W3052028990","https://openalex.org/W3089868768","https://openalex.org/W3098336417","https://openalex.org/W3099587965","https://openalex.org/W3103346840","https://openalex.org/W3104753760","https://openalex.org/W3122878979","https://openalex.org/W3128894241","https://openalex.org/W3132780644","https://openalex.org/W3133653368","https://openalex.org/W3134179334","https://openalex.org/W3138026026","https://openalex.org/W3143901407","https://openalex.org/W3157870573","https://openalex.org/W3175280799","https://openalex.org/W3182196489","https://openalex.org/W3202846827","https://openalex.org/W3203686546","https://openalex.org/W3206801026","https://openalex.org/W3213354518","https://openalex.org/W4200224433","https://openalex.org/W4366956087","https://openalex.org/W4387928338","https://openalex.org/W6637067985","https://openalex.org/W6755243447","https://openalex.org/W6756486208","https://openalex.org/W6769609827","https://openalex.org/W6772113929"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2745001401","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W4246352526"],"abstract_inverted_index":{"Recently,":[0],"there":[1],"has":[2],"been":[3],"a":[4,113,130,148],"wealth":[5],"of":[6,107,125,132],"development":[7],"in":[8,121,142],"motion":[9,14,99,153],"planning":[10,100,154],"for":[11,41,71],"robotic":[12],"manipulation\u2014new":[13],"planners":[15,30],"are":[16],"continuously":[17],"proposed,":[18],"each":[19],"with":[20,136],"their":[21,37],"own":[22,38],"unique":[23],"strengths":[24],"and":[25,33,49,94],"weaknesses.":[26],"However,":[27],"evaluating":[28],"new":[29],"is":[31,44,79],"challenging":[32],"researchers":[34],"often":[35],"create":[36],"ad-hoc":[39],"problems":[40],"benchmarking,":[42],"which":[43,119],"time-consuming,":[45],"prone":[46],"to":[47,67,81,90,115,145,151],"bias,":[48],"does":[50],"not":[51],"directly":[52],"compare":[53],"against":[54],"other":[55],"state-of-the-art":[56],"planners.":[57,126],"We":[58,127],"present":[59,129],"<sc":[60,76,109],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[61,77,110],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">MotionBenchMaker</small>":[62,78,111],",":[63],"an":[64,83],"open-source":[65],"tool":[66,86,114],"generate":[68,92,117],"benchmarking":[69],"datasets":[70,93,118],"realistic":[72],"robot":[73],"manipulation":[74],"problems.":[75],"designed":[80],"be":[82],"extensible,":[84],"easy-to-use":[85],"that":[87],"allows":[88],"users":[89],"both":[91],"benchmark":[95],"them":[96],"by":[97],"comparing":[98],"algorithms.":[101],"Empirically,":[102],"we":[103],"show":[104],"the":[105,122],"benefit":[106],"using":[108],"as":[112,147],"procedurally":[116],"helps":[120],"fair":[123],"evaluation":[124],"also":[128],"suite":[131],"40":[133],"prefabricated":[134],"datasets,":[135],"5":[137],"different":[138],"commonly":[139],"used":[140],"robots":[141],"8":[143],"environments,":[144],"serve":[146],"common":[149],"ground":[150],"accelerate":[152],"research.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":14},{"year":2022,"cited_by_count":7}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-10-10T00:00:00"}