{"id":"https://openalex.org/W7154971525","doi":"https://doi.org/10.1109/lra.2026.3685463","title":"Cross-Entropy Optimization of Physically Grounded Task and Motion Plans","display_name":"Cross-Entropy Optimization of Physically Grounded Task and Motion Plans","publication_year":2026,"publication_date":"2026-04-20","ids":{"openalex":"https://openalex.org/W7154971525","doi":"https://doi.org/10.1109/lra.2026.3685463"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3685463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3685463","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/2512.11571","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5134031336","display_name":"Andreu Matoses Gimenez","orcid":null},"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":"Andreu Matoses Gimenez","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0009-0000-2903-0834","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083082763","display_name":"Nils Wilde","orcid":"https://orcid.org/0000-0003-3238-8153"},"institutions":[{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nils Wilde","raw_affiliation_strings":["Faculty of Computer Science, Dalhousie University, Halifax, NS, Canada"],"raw_orcid":"https://orcid.org/0000-0003-3238-8153","affiliations":[{"raw_affiliation_string":"Faculty of Computer Science, Dalhousie University, Halifax, NS, Canada","institution_ids":["https://openalex.org/I129902397"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134040699","display_name":"Chris Pek","orcid":null},"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":"Chris Pek","raw_affiliation_strings":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-7461-920X","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5134047841","display_name":"Javier Alonso-Mora","orcid":null},"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":["Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0003-0058-570X","affiliations":[{"raw_affiliation_string":"Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.53009597,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"6","first_page":"7214","last_page":"7221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.7103000283241272,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.7103000283241272,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.033900000154972076,"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/T12290","display_name":"Human Motion and Animation","score":0.02199999988079071,"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/task","display_name":"Task (project management)","score":0.6129999756813049},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4959000051021576},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.39239999651908875},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.2944999933242798},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.24079999327659607}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6129999756813049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5911999940872192},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4959000051021576},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46399998664855957},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.39239999651908875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32910001277923584},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.31060001254081726},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2944999933242798},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.24079999327659607},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.23980000615119934}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2026.3685463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3685463","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:2512.11571","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2512.11571","pdf_url":"https://arxiv.org/pdf/2512.11571","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2512.11571","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2512.11571","pdf_url":"https://arxiv.org/pdf/2512.11571","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3126798405","display_name":"Intuitive interaction for robots among humans","funder_award_id":"101041863","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W2161414194","https://openalex.org/W2735300570","https://openalex.org/W2739341730","https://openalex.org/W2770616710","https://openalex.org/W2794922736","https://openalex.org/W2805883505","https://openalex.org/W3001865277","https://openalex.org/W3003318685","https://openalex.org/W3128894241","https://openalex.org/W3200832869","https://openalex.org/W4293769215","https://openalex.org/W4312760748","https://openalex.org/W4361856545","https://openalex.org/W4399951492","https://openalex.org/W4402353997","https://openalex.org/W4403123342","https://openalex.org/W4406890425","https://openalex.org/W4408468135"],"related_works":[],"abstract_inverted_index":{"Autonomously":[0],"performing":[1],"tasks":[2,161],"often":[3],"requires":[4],"robots":[5],"to":[6,15,51,60,100,130,167,172],"plan":[7,85],"high-level":[8],"discrete":[9],"actions":[10],"and":[11,37,112],"continuous":[12],"low-level":[13,77],"motions":[14],"realize":[16],"them.":[17],"Previous":[18],"TAMP":[19],"algorithms":[20],"have":[21],"focused":[22],"mainly":[23],"on":[24],"computational":[25],"performance,":[26],"completeness,":[27],"or":[28,56,83,128],"optimality":[29],"by":[30],"making":[31],"the":[32,43,46,54,63,76,88,93,116,123,126,138,142,145,150,163,169],"problem":[33],"tractable":[34],"through":[35],"simplifications":[36],"abstractions.":[38],"However,":[39],"this":[40],"comes":[41],"at":[42],"cost":[44],"of":[45,75,95,103,125,160],"resulting":[47],"plans":[48,104],"potentially":[49],"failing":[50],"account":[52],"for":[53,87,110,157],"dynamics":[55],"complex":[57],"contacts":[58,114],"necessary":[59],"reliably":[61],"perform":[62],"task":[64],"when":[65],"object":[66],"manipulation":[67],"is":[68,165],"required.":[69],"Additionally,":[70],"approaches":[71],"that":[72],"ignore":[73],"effects":[74],"controllers":[78,140],"may":[79],"not":[80],"obtain":[81,131],"optimal":[82],"feasible":[84],"realizations":[86,102],"real":[89,143],"system.":[90],"We":[91,153],"investigate":[92],"use":[94],"a":[96,158],"GPU-parallelized":[97],"physics":[98],"simulator":[99],"compute":[101],"with":[105,115],"motion":[106],"controllers,":[107,127],"explicitly":[108],"accounting":[109],"dynamics,":[111],"considering":[113],"environment.":[117],"Using":[118],"cross-entropy":[119],"optimization,":[120],"we":[121],"sample":[122],"parameters":[124],"actions,":[129],"low-cost":[132],"solutions.":[133],"Since":[134],"our":[135,155],"approach":[136,156],"uses":[137],"same":[139],"as":[141],"system,":[144],"robot":[146,164],"can":[147],"directly":[148],"execute":[149],"computed":[151],"plans.":[152],"demonstrate":[154],"set":[159],"where":[162],"able":[166],"exploit":[168],"environment's":[170],"geometry":[171],"move":[173],"an":[174],"object.":[175]},"counts_by_year":[],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2026-04-21T00:00:00"}