{"id":"https://openalex.org/W4386136919","doi":"https://doi.org/10.1145/3606931","title":"Hierarchical Planning and Control for Box Loco-Manipulation","display_name":"Hierarchical Planning and Control for Box Loco-Manipulation","publication_year":2023,"publication_date":"2023-08-16","ids":{"openalex":"https://openalex.org/W4386136919","doi":"https://doi.org/10.1145/3606931"},"language":"en","primary_location":{"id":"doi:10.1145/3606931","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3606931","pdf_url":null,"source":{"id":"https://openalex.org/S4210220973","display_name":"Proceedings of the ACM on Computer Graphics and Interactive Techniques","issn_l":"2577-6193","issn":["2577-6193"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM on Computer Graphics and Interactive Techniques","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/A5102887266","display_name":"Zhaoming Xie","orcid":"https://orcid.org/0000-0003-1948-1767"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhaoming Xie","raw_affiliation_strings":["Stanford University, USA"],"raw_orcid":"https://orcid.org/0000-0003-1948-1767","affiliations":[{"raw_affiliation_string":"Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044897110","display_name":"Jonathan Tseng","orcid":"https://orcid.org/0000-0001-8535-8324"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Tseng","raw_affiliation_strings":["Stanford University, USA"],"raw_orcid":"https://orcid.org/0000-0001-8535-8324","affiliations":[{"raw_affiliation_string":"Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102811169","display_name":"Sebastian Starke","orcid":"https://orcid.org/0000-0002-4519-4326"},"institutions":[{"id":"https://openalex.org/I4210111288","display_name":"Meta (United Kingdom)","ror":"https://ror.org/020ye1821","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210111288","https://openalex.org/I4210114444"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sebastian Starke","raw_affiliation_strings":["Meta, United Kingdom"],"raw_orcid":"https://orcid.org/0000-0002-4519-4326","affiliations":[{"raw_affiliation_string":"Meta, United Kingdom","institution_ids":["https://openalex.org/I4210111288"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052748246","display_name":"Michiel van de Panne","orcid":"https://orcid.org/0000-0002-9123-3672"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michiel van de Panne","raw_affiliation_strings":["University of British Columbia, Canada"],"raw_orcid":"https://orcid.org/0000-0002-9123-3672","affiliations":[{"raw_affiliation_string":"University of British Columbia, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048338914","display_name":"C. Karen Liu","orcid":"https://orcid.org/0000-0001-5926-0905"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. Karen Liu","raw_affiliation_strings":["Stanford University, USA"],"raw_orcid":"https://orcid.org/0000-0001-5926-0905","affiliations":[{"raw_affiliation_string":"Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5814,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.89664495,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"6","issue":"3","first_page":"1","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":1.0,"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/T12290","display_name":"Human Motion and Animation","score":1.0,"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":0.9990000128746033,"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.669079601764679},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6324071884155273},{"id":"https://openalex.org/keywords/physics-engine","display_name":"Physics engine","score":0.5916119813919067},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5848406553268433},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.5831050276756287},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5526889562606812},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.54388028383255},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5229062438011169},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5077105760574341},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5014770030975342},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4810609817504883},{"id":"https://openalex.org/keywords/virtual-actor","display_name":"Virtual actor","score":0.4518515467643738},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4295382797718048},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3215143084526062},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.25421562790870667},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13567936420440674},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08506113290786743}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.669079601764679},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6324071884155273},{"id":"https://openalex.org/C190390380","wikidata":"https://www.wikidata.org/wiki/Q62505","display_name":"Physics engine","level":2,"score":0.5916119813919067},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5848406553268433},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.5831050276756287},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5526889562606812},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.54388028383255},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5229062438011169},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5077105760574341},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5014770030975342},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4810609817504883},{"id":"https://openalex.org/C150303390","wikidata":"https://www.wikidata.org/wiki/Q1983852","display_name":"Virtual actor","level":3,"score":0.4518515467643738},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4295382797718048},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3215143084526062},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.25421562790870667},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13567936420440674},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08506113290786743},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3606931","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3606931","pdf_url":null,"source":{"id":"https://openalex.org/S4210220973","display_name":"Proceedings of the ACM on Computer Graphics and Interactive Techniques","issn_l":"2577-6193","issn":["2577-6193"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM on Computer Graphics and Interactive Techniques","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W2001849516","https://openalex.org/W2005478758","https://openalex.org/W2018571963","https://openalex.org/W2042408133","https://openalex.org/W2117425572","https://openalex.org/W2158260582","https://openalex.org/W2336236730","https://openalex.org/W2475210682","https://openalex.org/W2611706523","https://openalex.org/W2739330054","https://openalex.org/W2760103357","https://openalex.org/W2779458783","https://openalex.org/W2796290181","https://openalex.org/W2811441028","https://openalex.org/W2903416534","https://openalex.org/W2949924544","https://openalex.org/W2984579799","https://openalex.org/W2986708244","https://openalex.org/W2987886924","https://openalex.org/W3036167779","https://openalex.org/W3048550213","https://openalex.org/W3048659003","https://openalex.org/W3048665613","https://openalex.org/W3048710353","https://openalex.org/W3104515094","https://openalex.org/W3173844917","https://openalex.org/W3180898512","https://openalex.org/W3196888499","https://openalex.org/W3200311844","https://openalex.org/W4200420145","https://openalex.org/W4205985701","https://openalex.org/W4214679856","https://openalex.org/W4229044820","https://openalex.org/W4241614188","https://openalex.org/W4253948311","https://openalex.org/W4286611079","https://openalex.org/W4306177961","https://openalex.org/W4311804540","https://openalex.org/W4312457231","https://openalex.org/W6650908270","https://openalex.org/W6779823529"],"related_works":["https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2048122265","https://openalex.org/W2159202249","https://openalex.org/W4313160785"],"abstract_inverted_index":{"Humans":[0],"perform":[1],"everyday":[2],"tasks":[3],"using":[4,95],"a":[5,13,28,39,46,57,66,76,83],"combination":[6,40],"of":[7,32,41,60,72,91],"locomotion":[8],"and":[9,62,87,106,110],"manipulation":[10],"skills.":[11,43],"Building":[12],"system":[14],"that":[15],"can":[16,100],"handle":[17],"both":[18,42],"skills":[19],"is":[20,65],"essential":[21],"to":[22],"creating":[23],"virtual":[24,69],"humans.":[25],"We":[26,44],"present":[27],"physically-simulated":[29],"human":[30,70],"capable":[31,71],"solving":[33],"box":[34],"rearrangement":[35],"tasks,":[36],"which":[37],"requires":[38],"propose":[45],"hierarchical":[47],"control":[48,80,112],"architecture,":[49],"where":[50],"each":[51],"level":[52,59],"solves":[53],"the":[54,63],"task":[55],"at":[56],"different":[58],"abstraction,":[61],"result":[64],"physics-based":[67,88],"simulated":[68],"rearranging":[73],"boxes":[74],"in":[75,102],"cluttered":[77],"environment.":[78],"The":[79],"architecture":[81],"integrates":[82],"planner,":[84],"diffusion":[85],"models,":[86],"motion":[89,93],"imitation":[90],"sparse":[92],"clips":[94],"deep":[96],"reinforcement":[97],"learning.":[98],"Boxes":[99],"vary":[101],"size,":[103],"weight,":[104],"shape,":[105],"placement":[107],"height.":[108],"Code":[109],"trained":[111],"policies":[113],"are":[114],"provided.":[115]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}