{"id":"https://openalex.org/W4280523861","doi":"https://doi.org/10.1109/lra.2022.3186635","title":"Generalizable Task Planning Through Representation Pretraining","display_name":"Generalizable Task Planning Through Representation Pretraining","publication_year":2022,"publication_date":"2022-06-27","ids":{"openalex":"https://openalex.org/W4280523861","doi":"https://doi.org/10.1109/lra.2022.3186635"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3186635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3186635","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":["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/A5092421394","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0001-9453-8933"},"institutions":[{"id":"https://openalex.org/I4210105015","display_name":"Stanford Health Care","ror":"https://ror.org/019wqcg20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210105015"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["Stanford Vision and Learning Lab., Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9453-8933","affiliations":[{"raw_affiliation_string":"Stanford Vision and Learning Lab., Stanford, CA, USA","institution_ids":["https://openalex.org/I4210105015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028834865","display_name":"Danfei Xu","orcid":"https://orcid.org/0000-0002-8744-3861"},"institutions":[{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Danfei Xu","raw_affiliation_strings":["NVIDIA, Santa Clara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NVIDIA, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100450462","display_name":"Li Fei-Fei","orcid":"https://orcid.org/0000-0002-7481-0810"},"institutions":[{"id":"https://openalex.org/I4210105015","display_name":"Stanford Health Care","ror":"https://ror.org/019wqcg20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210105015"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Li Fei-Fei","raw_affiliation_strings":["Stanford Vision and Learning Lab., Stanford, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford Vision and Learning Lab., Stanford, CA, USA","institution_ids":["https://openalex.org/I4210105015"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2183,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.78596367,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"7","issue":"3","first_page":"8299","last_page":"8306"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9979000091552734,"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/leverage","display_name":"Leverage (statistics)","score":0.823442280292511},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7678335309028625},{"id":"https://openalex.org/keywords/suite","display_name":"Suite","score":0.7577434182167053},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.607504665851593},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5392317771911621},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5186440348625183},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5067513585090637},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4630129039287567},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.46264493465423584},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.44327419996261597},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.382533997297287}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.823442280292511},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7678335309028625},{"id":"https://openalex.org/C79581498","wikidata":"https://www.wikidata.org/wiki/Q1367530","display_name":"Suite","level":2,"score":0.7577434182167053},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.607504665851593},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5392317771911621},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5186440348625183},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5067513585090637},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4630129039287567},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.46264493465423584},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.44327419996261597},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.382533997297287},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3186635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3186635","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W2031738727","https://openalex.org/W2141664020","https://openalex.org/W2528489519","https://openalex.org/W2736337778","https://openalex.org/W2805883505","https://openalex.org/W2909064322","https://openalex.org/W2952578114","https://openalex.org/W2953388933","https://openalex.org/W2962746398","https://openalex.org/W2975980450","https://openalex.org/W3001865277","https://openalex.org/W3003310656","https://openalex.org/W3039141704","https://openalex.org/W3040490156","https://openalex.org/W3091340437","https://openalex.org/W3115080916","https://openalex.org/W3128894241","https://openalex.org/W3134231938","https://openalex.org/W3150384095","https://openalex.org/W3167674515","https://openalex.org/W3173991492","https://openalex.org/W3179146632","https://openalex.org/W3189699967","https://openalex.org/W3199458926","https://openalex.org/W3201307163","https://openalex.org/W3204665606","https://openalex.org/W3205304947","https://openalex.org/W3207647944","https://openalex.org/W3214952050","https://openalex.org/W6713184877","https://openalex.org/W6729788943","https://openalex.org/W6739901393","https://openalex.org/W6740836278","https://openalex.org/W6756256016","https://openalex.org/W6757902542","https://openalex.org/W6767372934","https://openalex.org/W6785308759","https://openalex.org/W6787566416","https://openalex.org/W6791353385","https://openalex.org/W6800117431","https://openalex.org/W6800564222","https://openalex.org/W6800887884","https://openalex.org/W6801810553","https://openalex.org/W6802366246"],"related_works":["https://openalex.org/W4231704780","https://openalex.org/W2083794993","https://openalex.org/W352609212","https://openalex.org/W1511772879","https://openalex.org/W4379115841","https://openalex.org/W4200340037","https://openalex.org/W608917066","https://openalex.org/W4283652261","https://openalex.org/W585424826","https://openalex.org/W564602992"],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,60,81],"plan":[3],"for":[4,13,22,64],"multi-step":[5,105],"manipulation":[6,65,106],"tasks":[7,107],"in":[8,28,35],"unseen":[9],"situations":[10],"is":[11,25],"crucial":[12],"future":[14],"home":[15],"robots.":[16],"But":[17,58],"collecting":[18],"sufficient":[19],"experience":[20],"data":[21],"end-to-end":[23,127],"learning":[24],"often":[26],"infeasible":[27],"the":[29,43],"real":[30],"world,":[31],"as":[32],"deploying":[33],"robots":[34],"many":[36],"environments":[37],"can":[38,79],"be":[39],"prohibitively":[40],"expensive.":[41],"On":[42],"other":[44],"hand,":[45],"large-scale":[46],"scene":[47,93],"understanding":[48,94],"datasets":[49],"contain":[50],"diverse":[51],"and":[52,55,115],"rich":[53],"semantic":[54],"geometric":[56],"information.":[57],"how":[59],"leverage":[61],"such":[62],"information":[63],"remains":[66],"an":[67],"open":[68],"problem.":[69],"In":[70],"this":[71],"letter,":[72],"we":[73],"propose":[74],"a":[75,91,101],"learning-to-plan":[76],"method":[77,99],"that":[78,117],"generalize":[80],"new":[82],"object":[83],"instances":[84],"by":[85,109],"leveraging":[86],"object-level":[87],"representations":[88],"extracted":[89],"from":[90],"synthetic":[92],"dataset.":[95],"We":[96],"evaluate":[97],"our":[98,118],"with":[100],"suite":[102],"of":[103],"challenging":[104],"inspired":[108],"household":[110],"activities":[111],"(Srivastava,et":[112],"al.,":[113],"2022)":[114],"show":[116],"model":[119],"achieves":[120],"measurably":[121],"better":[122],"success":[123],"rate":[124],"than":[125],"state-of-the-art":[126],"approaches.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}