{"id":"https://openalex.org/W4407403413","doi":"https://doi.org/10.1109/sii59315.2025.10870896","title":"Practical Task and Motion Planning for Robotic Food Preparation","display_name":"Practical Task and Motion Planning for Robotic Food Preparation","publication_year":2025,"publication_date":"2025-01-21","ids":{"openalex":"https://openalex.org/W4407403413","doi":"https://doi.org/10.1109/sii59315.2025.10870896"},"language":"en","primary_location":{"id":"doi:10.1109/sii59315.2025.10870896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10870896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5116241545","display_name":"Jeremy Siburian","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jeremy Siburian","raw_affiliation_strings":["Waseda University,Tokyo,Japan,169-8555"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University,Tokyo,Japan,169-8555","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001592945","display_name":"Cristian C. Beltran-Hernandez","orcid":"https://orcid.org/0000-0002-1134-009X"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Cristian C. Beltran-Hernandez","raw_affiliation_strings":["OMRON SINIC X Corporation,Tokyo,Japan,113-0033"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation,Tokyo,Japan,113-0033","institution_ids":["https://openalex.org/I146230289"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034718334","display_name":"Masashi Hamaya","orcid":"https://orcid.org/0000-0003-4189-8219"},"institutions":[{"id":"https://openalex.org/I146230289","display_name":"Omron (Japan)","ror":"https://ror.org/00q0w1h45","country_code":"JP","type":"company","lineage":["https://openalex.org/I146230289"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Hamaya","raw_affiliation_strings":["OMRON SINIC X Corporation,Tokyo,Japan,113-0033"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"OMRON SINIC X Corporation,Tokyo,Japan,113-0033","institution_ids":["https://openalex.org/I146230289"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.2561,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.93213247,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1229","last_page":"1234"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.7954999804496765,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.7954999804496765,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.7541000247001648,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13382","display_name":"Robotics and Automated Systems","score":0.7486000061035156,"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/computer-science","display_name":"Computer science","score":0.6658015251159668},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6360915303230286},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6164788603782654},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5089528560638428},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4422071576118469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3955591320991516},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37246575951576233},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3263259530067444},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17528164386749268},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.15144619345664978}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6658015251159668},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6360915303230286},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6164788603782654},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5089528560638428},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4422071576118469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3955591320991516},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37246575951576233},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3263259530067444},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17528164386749268},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.15144619345664978}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii59315.2025.10870896","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10870896","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2119709400","https://openalex.org/W2794663059","https://openalex.org/W3001865277","https://openalex.org/W3089355520","https://openalex.org/W3128894241","https://openalex.org/W4309471298","https://openalex.org/W4323663312","https://openalex.org/W4383097603","https://openalex.org/W4389242803","https://openalex.org/W4401413937","https://openalex.org/W4401415710","https://openalex.org/W6636808768","https://openalex.org/W6847015891","https://openalex.org/W6860060064"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W8302103","https://openalex.org/W2111158727","https://openalex.org/W1809059965","https://openalex.org/W2024668666","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"To":[0],"fully":[1],"integrate":[2],"robots":[3],"into":[4],"household":[5],"settings,":[6],"they":[7],"must":[8],"be":[9],"capable":[10],"of":[11,116],"autonomously":[12],"planning":[13,22,48,82],"and":[14,20,46,100,124,137],"executing":[15],"diverse":[16],"tasks.":[17,85],"However,":[18],"task":[19,45,115],"motion":[21,47,81],"for":[23,34,52,83],"multistep":[24],"manipulation":[25,76],"tasks":[26,36,55],"remains":[27],"an":[28,43,65],"open":[29],"challenge":[30],"in":[31,37],"robotics,":[32],"especially":[33],"long-horizon":[35,84,114],"dynamic":[38],"environments.":[39],"This":[40],"study":[41],"presents":[42],"integrated":[44],"(TAMP)":[49],"robotic":[50,59],"framework":[51,62,89,133],"real-world":[53],"cooking":[54],"using":[56,102],"a":[57,74,107,118,128],"dualarm":[58],"system.":[60],"Our":[61],"combines":[63],"PDDLStream,":[64],"existing":[66],"TAMP":[67],"framework,":[68],"with":[69,90],"the":[70,113],"MoveIt":[71],"Task":[72],"Constructor,":[73],"multi-stage":[75],"planner,":[77],"to":[78],"improve":[79],"multi-step":[80],"We":[86,130],"enhance":[87],"our":[88,132],"various":[91],"cooking-related":[92],"skills,":[93],"including":[94],"object":[95],"fixturing,":[96],"force-based":[97],"tip":[98],"detection,":[99],"slicing":[101,123],"Reinforcement":[103],"Learning":[104],"(RL).":[105],"As":[106],"motivating":[108],"case":[109],"study,":[110],"we":[111],"address":[112],"preparing":[117],"simple":[119],"cucumber":[120],"salad,":[121],"involving":[122],"serving":[125],"it":[126],"on":[127],"plate.":[129],"showcase":[131],"through":[134],"both":[135],"simulation":[136],"real":[138],"robot":[139],"demonstration.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
