{"id":"https://openalex.org/W2990477050","doi":"https://doi.org/10.1109/smc.2019.8914278","title":"Robot Task Planning via Deep Reinforcement Learning: a Tabletop Object Sorting Application","display_name":"Robot Task Planning via Deep Reinforcement Learning: a Tabletop Object Sorting Application","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2990477050","doi":"https://doi.org/10.1109/smc.2019.8914278","mag":"2990477050"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2019.8914278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8914278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","raw_type":"proceedings-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/A5031347089","display_name":"Federico Ceola","orcid":"https://orcid.org/0000-0002-2356-0946"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Federico Ceola","raw_affiliation_strings":["Intelligent Autonomous Systems Laboratory (IAS-Lab), University of Padova, Via Gradenigo 6/B, Padova, Italy"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Laboratory (IAS-Lab), University of Padova, Via Gradenigo 6/B, Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035238857","display_name":"Elisa Tosello","orcid":"https://orcid.org/0000-0003-4692-4279"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elisa Tosello","raw_affiliation_strings":["Intelligent Autonomous Systems Laboratory (IAS-Lab), University of Padova, Via Gradenigo 6/B, Padova, Italy"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Laboratory (IAS-Lab), University of Padova, Via Gradenigo 6/B, Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065195846","display_name":"Luca Tagliapietra","orcid":"https://orcid.org/0000-0002-8636-167X"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Tagliapietra","raw_affiliation_strings":["Intelligent Autonomous Systems Laboratory (IAS-Lab), University of Padova, Via Gradenigo 6/B, Padova, Italy"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Laboratory (IAS-Lab), University of Padova, Via Gradenigo 6/B, Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062825418","display_name":"Giorgio Nicola","orcid":"https://orcid.org/0000-0001-8173-0707"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Nicola","raw_affiliation_strings":["Intelligent Autonomous Systems Laboratory (IAS-Lab), University of Padova, Via Gradenigo 6/B, Padova, Italy"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Laboratory (IAS-Lab), University of Padova, Via Gradenigo 6/B, Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046852066","display_name":"Stefano Ghidoni","orcid":"https://orcid.org/0000-0003-3406-8719"},"institutions":[{"id":"https://openalex.org/I138689650","display_name":"University of Padua","ror":"https://ror.org/00240q980","country_code":"IT","type":"education","lineage":["https://openalex.org/I138689650"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Ghidoni","raw_affiliation_strings":["Intelligent Autonomous Systems Laboratory (IAS-Lab), University of Padova, Via Gradenigo 6/B, Padova, Italy"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Laboratory (IAS-Lab), University of Padova, Via Gradenigo 6/B, Padova, Italy","institution_ids":["https://openalex.org/I138689650"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5031347089"],"corresponding_institution_ids":["https://openalex.org/I138689650"],"apc_list":null,"apc_paid":null,"fwci":0.819,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.78034582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"486","last_page":"492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9986000061035156,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.9986000061035156,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9976999759674072,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9975000023841858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8251616954803467},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7144066691398621},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.695403516292572},{"id":"https://openalex.org/keywords/sorting","display_name":"Sorting","score":0.6000185608863831},{"id":"https://openalex.org/keywords/sort","display_name":"sort","score":0.5797064304351807},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.574310839176178},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.525665819644928},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48642659187316895},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.47642216086387634},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.46675992012023926},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4540080726146698},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.44699394702911377},{"id":"https://openalex.org/keywords/cognitive-neuroscience-of-visual-object-recognition","display_name":"Cognitive neuroscience of visual object recognition","score":0.4153721332550049},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4013669788837433},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37837207317352295},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35308438539505005},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08497509360313416}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8251616954803467},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7144066691398621},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.695403516292572},{"id":"https://openalex.org/C111696304","wikidata":"https://www.wikidata.org/wiki/Q2303697","display_name":"Sorting","level":2,"score":0.6000185608863831},{"id":"https://openalex.org/C88548561","wikidata":"https://www.wikidata.org/wiki/Q347599","display_name":"sort","level":2,"score":0.5797064304351807},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.574310839176178},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.525665819644928},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48642659187316895},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47642216086387634},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.46675992012023926},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4540080726146698},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.44699394702911377},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.4153721332550049},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4013669788837433},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37837207317352295},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35308438539505005},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08497509360313416},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/smc.2019.8914278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2019.8914278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.research.unipd.it:11577/3334033","is_oa":false,"landing_page_url":"http://hdl.handle.net/11577/3334033","pdf_url":null,"source":{"id":"https://openalex.org/S4377196283","display_name":"Research Padua  Archive (University of Padua)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138689650","host_organization_name":"University of Padua","host_organization_lineage":["https://openalex.org/I138689650"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/15"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2064675550","https://openalex.org/W2068127265","https://openalex.org/W2097083865","https://openalex.org/W2116700377","https://openalex.org/W2125188427","https://openalex.org/W2140873064","https://openalex.org/W2143545157","https://openalex.org/W2149142912","https://openalex.org/W2155968351","https://openalex.org/W2481916066","https://openalex.org/W2601322194","https://openalex.org/W2746553466","https://openalex.org/W2884855872","https://openalex.org/W2893178414","https://openalex.org/W2901136733","https://openalex.org/W2963037989","https://openalex.org/W2963094133","https://openalex.org/W2964055695","https://openalex.org/W2964313478","https://openalex.org/W6674383371","https://openalex.org/W6735944222","https://openalex.org/W6745407062","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2361805396","https://openalex.org/W2972254340","https://openalex.org/W2095055219","https://openalex.org/W2482527088","https://openalex.org/W2362374543","https://openalex.org/W2116295091","https://openalex.org/W4319430205","https://openalex.org/W3121711078","https://openalex.org/W2085265870","https://openalex.org/W2348196682"],"abstract_inverted_index":{"This":[0,35],"paper":[1],"proposes":[2],"a":[3,20],"Deep":[4,45,96],"Reinforcement":[5],"Learning":[6],"powered":[7],"approach":[8],"for":[9],"tabletop":[10],"object":[11,168],"sorting.":[12],"Once":[13],"perceived":[14],"the":[15,17,24,27,43,52,61,67,70,89,95,101,115,130,134,147,155],"environment,":[16],"system":[18,116,135,156],"creates":[19],"semantic":[21,92],"representation":[22],"of":[23,31,50,69,91,103,121,160,167],"scene,":[25],"describing":[26],"pose":[28],"and":[29,79,108,165],"category":[30],"each":[32],"recognized":[33,128],"object.":[34],"image":[36],"is":[37,117],"then":[38],"provided":[39],"as":[40,123,127,149],"input":[41],"to":[42,55,58,77,105,140],"trained":[44],"Neural":[46,97],"Network":[47,98],"in":[48],"charge":[49],"choosing":[51],"correct":[53],"action":[54],"be":[56,106],"performed":[57],"successfully":[59],"achieve":[60],"sorting":[62,122,161],"task.":[63],"Obtained":[64],"results":[65],"prove":[66],"capability":[68],"proposed":[71],"system,":[72],"including":[73],"its":[74],"intrinsic":[75],"robustness":[76],"failures":[78],"unpredictable":[80],"interactions":[81],"with":[82],"humans":[83],"or":[84],"other":[85],"environmental":[86],"agents.":[87],"Moreover,":[88],"use":[90],"images":[93],"makes":[94],"independent":[99],"from":[100,109],"type":[102,164],"objects":[104,126,138],"sorted":[107],"their":[110],"final":[111],"placement":[112],"location.":[113],"Finally,":[114],"scalable,":[118],"being":[119],"capable":[120,159],"many":[124],"known":[125],"by":[129],"perception":[131],"system.":[132],"Currently,":[133],"can":[136],"sort":[137],"belonging":[139],"two":[141],"predefined":[142],"categories":[143],"while":[144],"treating":[145],"all":[146],"others":[148],"obstacles.":[150],"Future":[151],"works":[152],"will":[153],"extend":[154],"making":[157],"it":[158],"potentially":[162],"any":[163],"number":[166],"categories.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-04-04T08:04:53.788161","created_date":"2019-12-05T00:00:00"}