{"id":"https://openalex.org/W7133232890","doi":"https://doi.org/10.48550/arxiv.2602.24121","title":"Planning from Observation and Interaction","display_name":"Planning from Observation and Interaction","publication_year":2026,"publication_date":"2026-02-27","ids":{"openalex":"https://openalex.org/W7133232890","doi":"https://doi.org/10.48550/arxiv.2602.24121"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.24121","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113052565","display_name":"Tyler Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Han, Tyler","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127806256","display_name":"Siyang Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Siyang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044639118","display_name":"Rohan Baijal","orcid":"https://orcid.org/0000-0002-8516-229X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Baijal, Rohan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127812408","display_name":"Harine Ravichandiran","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ravichandiran, Harine","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127815556","display_name":"Bat Nemekhbold","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nemekhbold, Bat","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127819198","display_name":"Kevin Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Kevin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127779485","display_name":"Sanghun Jung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jung, Sanghun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5125142117","display_name":"Byron Boots","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Boots, Byron","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5113052565"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.661300003528595,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.661300003528595,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.2085999995470047,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.039799999445676804,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6883000135421753},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5408999919891357},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5044999718666077},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.444599986076355},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.41510000824928284},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.4027000069618225},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.3991999924182892},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3698999881744385}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6883000135421753},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6657999753952026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5982999801635742},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5408999919891357},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5044999718666077},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45190000534057617},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.44760000705718994},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.444599986076355},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.41510000824928284},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4027000069618225},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3991999924182892},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3698999881744385},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.36959999799728394},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.35120001435279846},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34360000491142273},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3395000100135803},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.3091999888420105},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.29739999771118164},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2904999852180481},{"id":"https://openalex.org/C28006648","wikidata":"https://www.wikidata.org/wiki/Q6934509","display_name":"Multi-task learning","level":3,"score":0.2736000120639801},{"id":"https://openalex.org/C102483320","wikidata":"https://www.wikidata.org/wiki/Q1143725","display_name":"Observational learning","level":3,"score":0.2711000144481659},{"id":"https://openalex.org/C34585555","wikidata":"https://www.wikidata.org/wiki/Q1368723","display_name":"Learning curve","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C2780490138","wikidata":"https://www.wikidata.org/wiki/Q7079636","display_name":"Offline learning","level":3,"score":0.2662999927997589}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.24121","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.24121","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.24121","pdf_url":null,"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","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.24121","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Observational":[0],"learning":[1,28,76,114],"requires":[2],"an":[3,84],"agent":[4],"to":[5,7,31,122],"learn":[6],"perform":[8],"a":[9,48,149],"task":[10,97],"by":[11],"referencing":[12],"only":[13],"observations":[14],"of":[15,93,111],"the":[16,22,67,104,116,137],"performed":[17],"task.":[18],"This":[19],"work":[20,46,101],"investigates":[21],"equivalent":[23],"setting":[24],"in":[25,66,82,115],"real-world":[26,68,117],"robot":[27],"where":[29],"access":[30],"hand-designed":[32],"rewards":[33],"and":[34,60,128,145,157,161,164],"demonstrator":[35],"actions":[36],"are":[37],"not":[38],"assumed.":[39],"To":[40],"address":[41],"this":[42,45,71,100],"data-constrained":[43],"setting,":[44],"presents":[47],"planning-based":[49],"Inverse":[50],"Reinforcement":[51],"Learning":[52],"(IRL)":[53],"algorithm":[54],"for":[55,75,153],"world":[56,106,155],"modeling":[57,156],"from":[58,80,118,159],"observation":[59,160],"interaction":[61],"alone.":[62],"Experiments":[63],"conducted":[64],"entirely":[65],"demonstrate":[69],"that":[70,103],"paradigm":[72],"is":[73,109],"effective":[74],"image-based":[77],"manipulation":[78],"tasks":[79],"scratch":[81],"under":[83],"hour,":[85],"without":[86],"assuming":[87],"prior":[88],"knowledge,":[89],"pre-training,":[90],"or":[91],"data":[92],"any":[94],"kind":[95],"beyond":[96],"observations.":[98],"Moreover,":[99],"demonstrates":[102,140],"learned":[105],"model":[107],"representation":[108],"capable":[110],"online":[112,154],"transfer":[113],"scratch.":[119],"In":[120],"comparison":[121],"existing":[123],"approaches,":[124],"including":[125],"IRL,":[126],"RL,":[127],"Behavior":[129],"Cloning":[130],"(BC),":[131],"which":[132],"have":[133],"more":[134,165],"restrictive":[135],"assumptions,":[136],"proposed":[138],"approach":[139],"significantly":[141],"greater":[142],"sample":[143],"efficiency":[144],"success":[146],"rates,":[147],"enabling":[148],"practical":[150],"path":[151],"forward":[152],"planning":[158],"interaction.":[162],"Videos":[163],"at:":[166],"https://uwrobotlearning.github.io/mpail2/.":[167]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-03T00:00:00"}
