{"id":"https://openalex.org/W4408357967","doi":"https://doi.org/10.1109/lra.2025.3550849","title":"Autoregressive Action Sequence Learning for Robotic Manipulation","display_name":"Autoregressive Action Sequence Learning for Robotic Manipulation","publication_year":2025,"publication_date":"2025-03-12","ids":{"openalex":"https://openalex.org/W4408357967","doi":"https://doi.org/10.1109/lra.2025.3550849"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3550849","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3550849","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":null,"display_name":"Xinyu Zhang","orcid":"https://orcid.org/0000-0002-6390-7131"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Xinyu Zhang","raw_affiliation_strings":["Department of Computer Science, Rutgers University, Piscataway, NJ, USA","Department of Computer Science, Rutgers University, USA"],"raw_orcid":"https://orcid.org/0000-0002-6390-7131","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers University, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuhan Liu","orcid":"https://orcid.org/0009-0000-8119-828X"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuhan Liu","raw_affiliation_strings":["Department of Computer Science, Rutgers University, Piscataway, NJ, USA","Department of Computer Science, Rutgers University, USA"],"raw_orcid":"https://orcid.org/0009-0000-8119-828X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers University, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103173214","display_name":"Haonan Chang","orcid":"https://orcid.org/0000-0001-5733-4536"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haonan Chang","raw_affiliation_strings":["Department of Computer Science, Rutgers University, Piscataway, NJ, USA","Department of Computer Science, Rutgers University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers University, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071636030","display_name":"Liam Schramm","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liam Schramm","raw_affiliation_strings":["Department of Computer Science, Rutgers University, Piscataway, NJ, USA","Department of Computer Science, Rutgers University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers University, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068615270","display_name":"Abdeslam Boularias","orcid":"https://orcid.org/0000-0002-5587-4560"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdeslam Boularias","raw_affiliation_strings":["Department of Computer Science, Rutgers University, Piscataway, NJ, USA","Department of Computer Science, Rutgers University, USA"],"raw_orcid":"https://orcid.org/0000-0002-5587-4560","affiliations":[{"raw_affiliation_string":"Department of Computer Science, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]},{"raw_affiliation_string":"Department of Computer Science, Rutgers University, USA","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102322142"],"apc_list":null,"apc_paid":null,"fwci":8.5005,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.97712857,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"5","first_page":"4898","last_page":"4905"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9955000281333923,"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":0.9955000281333923,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.980400025844574,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.949400007724762,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/sequence","display_name":"Sequence (biology)","score":0.6429826021194458},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.552851140499115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5252030491828918},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5159295797348022},{"id":"https://openalex.org/keywords/sequence-learning","display_name":"Sequence learning","score":0.4712921679019928},{"id":"https://openalex.org/keywords/autoregressive-model","display_name":"Autoregressive model","score":0.4449130892753601},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3667062520980835},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.1651918888092041},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1292213797569275},{"id":"https://openalex.org/keywords/econometrics","display_name":"Econometrics","score":0.08163684606552124},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07176941633224487}],"concepts":[{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.6429826021194458},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.552851140499115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5252030491828918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5159295797348022},{"id":"https://openalex.org/C40506919","wikidata":"https://www.wikidata.org/wiki/Q7452469","display_name":"Sequence learning","level":2,"score":0.4712921679019928},{"id":"https://openalex.org/C159877910","wikidata":"https://www.wikidata.org/wiki/Q2202883","display_name":"Autoregressive model","level":2,"score":0.4449130892753601},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3667062520980835},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.1651918888092041},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1292213797569275},{"id":"https://openalex.org/C149782125","wikidata":"https://www.wikidata.org/wiki/Q160039","display_name":"Econometrics","level":1,"score":0.08163684606552124},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07176941633224487},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3550849","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3550849","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1605181360","https://openalex.org/W2016589492","https://openalex.org/W3007769740","https://openalex.org/W3030163527","https://openalex.org/W3109908659","https://openalex.org/W3168892396","https://openalex.org/W3174849255","https://openalex.org/W4206941915","https://openalex.org/W4382246105","https://openalex.org/W4385403811","https://openalex.org/W4385430674","https://openalex.org/W4400770903","https://openalex.org/W4402354093","https://openalex.org/W4402727730","https://openalex.org/W4402754209","https://openalex.org/W6706320068","https://openalex.org/W6796289742","https://openalex.org/W6804244202","https://openalex.org/W6838557027","https://openalex.org/W6838729795","https://openalex.org/W6851534656","https://openalex.org/W6854474332","https://openalex.org/W6860545845","https://openalex.org/W6861392586","https://openalex.org/W6869853401"],"related_works":["https://openalex.org/W2171218219","https://openalex.org/W1972271943","https://openalex.org/W2150410159","https://openalex.org/W4327525404","https://openalex.org/W4287185323","https://openalex.org/W3150905897","https://openalex.org/W2883195674","https://openalex.org/W2072736607","https://openalex.org/W3080374445","https://openalex.org/W2964790801"],"abstract_inverted_index":{"Designing":[0],"a":[1,15,99,105,136,149,194],"universal":[2,195],"policy":[3],"architecture":[4],"that":[5,191],"performs":[6],"well":[7],"across":[8,119,179],"diverse":[9,120,180],"robots":[10],"and":[11,31,64,76,133,147,187,189,213],"task":[12],"configurations":[13],"remains":[14],"key":[16],"challenge.":[17],"In":[18],"this":[19,23,88],"work,":[20],"we":[21,90,160],"address":[22],"by":[24,128,141,171],"representing":[25],"robot":[26,60],"actions":[27,33,61,146],"as":[28,45,70,193],"sequential":[29],"data":[30],"generating":[32,172],"through":[34,108],"autoregressive":[35,39],"sequence":[36,139],"modeling.":[37,85],"Existing":[38],"architectures":[40],"generate":[41],"end-effector":[42,77],"waypoints":[43],"sequentially":[44],"word":[46],"tokens":[47,103],"in":[48,104,203,211],"language":[49],"modeling,":[50],"which":[51,167],"are":[52,62,79],"limited":[53],"to":[54,96,135],"low-frequency":[55],"control":[56,124],"tasks.":[57],"Unlike":[58],"language,":[59],"heterogeneous":[63],"often":[65],"include":[66],"high-frequency":[67],"continuous":[68],"values\u2014such":[69],"joint":[71],"positions,":[72],"2D":[73],"pixel":[74],"coordinates,":[75],"poses\u2014which":[78],"not":[80],"easily":[81],"suited":[82],"for":[83,153],"language-based":[84],"Based":[86,157],"on":[87,158],"insight,":[89],"extend":[91],"causal":[92],"transformers'":[93],"single-token":[94],"prediction":[95],"support":[97],"predicting":[98],"variable":[100],"number":[101],"of":[102,122,145],"single":[106],"step":[107],"our":[109],"Chunking":[110],"Causal":[111],"Transformer":[112],"(CCT).":[113],"This":[114],"enhancement":[115],"enables":[116],"robust":[117],"performance":[118],"tasks":[121,170],"various":[123],"frequencies,":[125],"greater":[126],"efficiency":[127],"having":[129],"fewer":[130],"autoregression":[131],"steps,":[132],"lead":[134],"hybrid":[137,173],"action":[138,155,174],"design":[140],"mixing":[142],"different":[143,150],"types":[144],"using":[148],"chunk":[151],"size":[152],"each":[154],"type.":[156],"CCT,":[159],"propose":[161],"the":[162,200],"Autoregressive":[163],"Policy":[164],"(ARP)":[165],"architecture,":[166,196],"solves":[168],"manipulation":[169,182],"sequences.":[175],"We":[176],"evaluate":[177],"ARP":[178],"robotic":[181],"environments,":[183],"including":[184],"Push-T,":[185],"ALOHA,":[186],"RLBench,":[188],"show":[190],"ARP,":[192],"matches":[197],"or":[198],"outperforms":[199],"environment-specific":[201],"state-of-the-art":[202],"all":[204],"tested":[205],"benchmarks,":[206],"while":[207],"being":[208],"more":[209],"efficient":[210],"computation":[212],"parameter":[214],"sizes.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}