{"id":"https://openalex.org/W4400488001","doi":"https://doi.org/10.1109/lra.2024.3426183","title":"Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning","display_name":"Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning","publication_year":2024,"publication_date":"2024-07-10","ids":{"openalex":"https://openalex.org/W4400488001","doi":"https://doi.org/10.1109/lra.2024.3426183"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3426183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3426183","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/A5031956464","display_name":"Yuezhe Zhang","orcid":"https://orcid.org/0009-0009-7212-2561"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Yuezhe Zhang","raw_affiliation_strings":["Cognitive Robotics Department, TU Delft, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0009-0009-7212-2561","affiliations":[{"raw_affiliation_string":"Cognitive Robotics Department, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040457648","display_name":"Corrado Pezzato","orcid":"https://orcid.org/0000-0002-1835-9578"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Corrado Pezzato","raw_affiliation_strings":["Cognitive Robotics Department, TU Delft, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-1835-9578","affiliations":[{"raw_affiliation_string":"Cognitive Robotics Department, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066308245","display_name":"Elia Trevisan","orcid":"https://orcid.org/0000-0002-2858-5894"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Elia Trevisan","raw_affiliation_strings":["Cognitive Robotics Department, TU Delft, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0002-2858-5894","affiliations":[{"raw_affiliation_string":"Cognitive Robotics Department, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090082819","display_name":"Chadi Salmi","orcid":"https://orcid.org/0000-0001-7019-7142"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Chadi Salmi","raw_affiliation_strings":["Cognitive Robotics Department, TU Delft, Delft, The Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics Department, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101448926","display_name":"Carlos Hern\u00e1ndez","orcid":"https://orcid.org/0000-0001-6094-4917"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Carlos Hern\u00e1ndez Corbato","raw_affiliation_strings":["Cognitive Robotics Department, TU Delft, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-6094-4917","affiliations":[{"raw_affiliation_string":"Cognitive Robotics Department, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013297671","display_name":"Javier Alonso\u2013Mora","orcid":"https://orcid.org/0000-0003-0058-570X"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Javier Alonso-Mora","raw_affiliation_strings":["Cognitive Robotics Department, TU Delft, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-0058-570X","affiliations":[{"raw_affiliation_string":"Cognitive Robotics Department, TU Delft, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.913,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.91060424,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"9","issue":"9","first_page":"7461","last_page":"7468"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9887999892234802,"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":0.9887999892234802,"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":0.9663000106811523,"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/T10142","display_name":"Formal Methods in Verification","score":0.9634000062942505,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/modal","display_name":"Modal","score":0.6601375341415405},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6335340738296509},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5932137370109558},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5135090947151184},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4800511598587036},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31019628047943115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2277112603187561},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.11722004413604736}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6601375341415405},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6335340738296509},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5932137370109558},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5135090947151184},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4800511598587036},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31019628047943115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2277112603187561},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.11722004413604736},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3426183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3426183","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:tudelft.nl:uuid:4f1ae12a-376a-49e9-9837-4fc4dc3d2aa6","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:4f1ae12a-376a-49e9-9837-4fc4dc3d2aa6","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"master thesis"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6693488994","display_name":"Sustainable Transportation and Logistics over Water: Electrification, Automation and Optimization (TRiLOGy)","funder_award_id":"TWM.BL.019.006","funder_id":"https://openalex.org/F4320321800","funder_display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321800","display_name":"Nederlandse Organisatie voor Wetenschappelijk Onderzoek","ror":"https://ror.org/04jsz6e67"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2059493488","https://openalex.org/W2548961765","https://openalex.org/W2584986912","https://openalex.org/W2738778707","https://openalex.org/W2911477000","https://openalex.org/W2963238245","https://openalex.org/W2984756091","https://openalex.org/W3001865277","https://openalex.org/W3003735829","https://openalex.org/W3006009338","https://openalex.org/W3098499184","https://openalex.org/W3100049110","https://openalex.org/W3100516791","https://openalex.org/W3101144081","https://openalex.org/W3106296277","https://openalex.org/W3128894241","https://openalex.org/W3187771686","https://openalex.org/W3198639011","https://openalex.org/W3206619562","https://openalex.org/W3207251292","https://openalex.org/W3213974477","https://openalex.org/W4310632022","https://openalex.org/W4312453053","https://openalex.org/W4312760748","https://openalex.org/W4312869698","https://openalex.org/W4312990487","https://openalex.org/W4383108601","https://openalex.org/W4384808129","https://openalex.org/W4396680642","https://openalex.org/W6713184877","https://openalex.org/W6800004206","https://openalex.org/W6801436214","https://openalex.org/W6847252870","https://openalex.org/W6854834459"],"related_works":["https://openalex.org/W2055243143","https://openalex.org/W2379392295","https://openalex.org/W3160965418","https://openalex.org/W4321636575","https://openalex.org/W613940353","https://openalex.org/W1986418932","https://openalex.org/W2357796999","https://openalex.org/W2320915480","https://openalex.org/W2045526782","https://openalex.org/W2741131631"],"abstract_inverted_index":{"Task":[0],"and":[1,37,51,75,123,134,158],"Motion":[2],"Planning":[3],"(TAMP)":[4],"has":[5],"made":[6],"strides":[7],"in":[8,66,156],"complex":[9],"manipulation":[10],"tasks,":[11],"yet":[12],"the":[13,17,107,132,148],"execution":[14],"robustness":[15],"of":[16],"planned":[18],"solutions":[19],"remains":[20],"overlooked.":[21],"In":[22],"this":[23],"work,":[24],"we":[25],"propose":[26],"a":[27,52,67,87,95],"method":[28],"for":[29,46,61,90,98,121,139],"reactive":[30,124],"TAMP":[31],"to":[32,86,111,137],"cope":[33],"with":[34,141],"runtime":[35],"uncertainties":[36],"disturbances.":[38],"We":[39,151],"combine":[40],"an":[41],"Active":[42],"Inference":[43],"planner":[44],"(AIP)":[45],"adaptive":[47],"high-level":[48,73],"action":[49],"selection":[50],"novel":[53],"Multi-Modal":[54],"Model":[55],"Predictive":[56],"Path":[57],"Integral":[58],"controller":[59],"(M3P2I)":[60],"low-level":[62,76],"control.":[63],"This":[64,114],"results":[65],"scheme":[68],"that":[69,146],"simultaneously":[70],"adapts":[71],"both":[72,131],"actions":[74],"motions.":[77],"The":[78,92],"AIP":[79],"generates":[80],"alternative":[81],"symbolic":[82],"plans,":[83],"each":[84],"linked":[85],"cost":[88],"function":[89],"M3P2I.":[91],"latter":[93],"employs":[94],"physics":[96],"simulator":[97],"diverse":[99],"trajectory":[100],"rollouts,":[101],"deriving":[102],"optimal":[103],"control":[104],"by":[105],"weighing":[106],"different":[108,118],"samples":[109],"according":[110],"their":[112],"cost.":[113],"idea":[115],"enables":[116],"blending":[117],"robot":[119],"skills":[120],"fluid":[122],"plan":[125,128],"execution,":[126],"accommodating":[127],"adjustments":[129],"at":[130],"high":[133],"low":[135],"levels":[136],"cope,":[138],"instance,":[140],"dynamic":[142],"obstacles":[143],"or":[144],"disturbances":[145],"invalidate":[147],"current":[149],"plan.":[150],"have":[152],"tested":[153],"our":[154],"approach":[155],"simulations":[157],"real-world":[159],"scenarios.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":9}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}