{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T17:21:06Z","timestamp":1783012866263,"version":"3.54.6"},"reference-count":21,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2021,8,11]],"date-time":"2021-08-11T00:00:00Z","timestamp":1628640000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,8,11]],"date-time":"2021-08-11T00:00:00Z","timestamp":1628640000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100003662","name":"Korea Evaluation Institute of Industrial Technology","doi-asserted-by":"publisher","award":["10077538"],"award-info":[{"award-number":["10077538"]}],"id":[{"id":"10.13039\/501100003662","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"published-print":{"date-parts":[[2021,9]]},"DOI":"10.1007\/s11370-021-00377-4","type":"journal-article","created":{"date-parts":[[2021,8,11]],"date-time":"2021-08-11T22:02:24Z","timestamp":1628719344000},"page":"549-561","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Obstacle rearrangement for robotic manipulation in clutter using a deep Q-network"],"prefix":"10.1007","volume":"14","author":[{"given":"Sanghun","family":"Cheong","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Brian Y.","family":"Cho","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinhwi","family":"Lee","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jeongho","family":"Lee","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dong Hwan","family":"Kim","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Changjoo","family":"Nam","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2443-0174","authenticated-orcid":false,"given":"Chang-hwan","family":"Kim","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sung-kee","family":"Park","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,8,11]]},"reference":[{"key":"377_CR1","unstructured":"Abadi M, Agarwal A, Barham P, Brevdo E, Chen Z, Citro C, Corrado GS, Davis A, Dean J, Devin M, Ghemawat S, Goodfellow I, Harp A, Irving G, Isard M, Jia Y, Jozefowicz R, Kaiser L, Kudlur M, Levenberg J, Man\u00e9 D, Monga R, Moore S, Murray D, Olah C, Schuster M, Shlens J, Steiner B, Sutskever I, Talwar K, Tucker P, Vanhoucke V, Vasudevan V, Vi\u00e9gas F, Vinyals O, Warden P, Wattenberg M, Wicke M, Yu Y, Zheng X (2015) TensorFlow: large-scale machine learning on heterogeneous systems. http:\/\/tensorflow.org\/. Software available from tensorflow.org"},{"key":"377_CR2","doi-asserted-by":"crossref","unstructured":"Bejjani W, Dogar MR, Leonetti M (2019) Learning physics-based manipulation in clutter: combining image-based generalization and look-ahead planning. arXiv preprint arXiv:1904.02223","DOI":"10.1109\/IROS40897.2019.8967717"},{"key":"377_CR3","doi-asserted-by":"crossref","unstructured":"Bejjani W, Papallas R, Leonetti M, Dogar MR (2018) Planning with a receding horizon for manipulation in clutter using a learned value function. In: IEEE-RAS 18th international conference on humanoid robots (humanoids). IEEE, pp 1\u20139","DOI":"10.1109\/HUMANOIDS.2018.8624977"},{"key":"377_CR4","unstructured":"Cheong SH, Cho BY, Lee J, Kim C, Nam C (2020) Where to relocate?: Object rearrangement inside cluttered and confined environments for robotic manipulation. In: Accepted for presentation at IEEE international conference on robotics and automation (ICRA)"},{"issue":"1","key":"377_CR5","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1016\/S0925-7721(02)00170-0","volume":"26","author":"ED Demaine","year":"2003","unstructured":"Demaine ED, Demaine ML, Hoffmann M, O\u2019Rourke J (2003) Pushing blocks is hard. Comput Geom 26(1):21\u201336","journal-title":"Comput Geom"},{"issue":"3","key":"377_CR6","doi-asserted-by":"publisher","first-page":"217","DOI":"10.1007\/s10514-012-9306-z","volume":"33","author":"MR Dogar","year":"2012","unstructured":"Dogar MR, Srinivasa SS (2012) A planning framework for non-prehensile manipulation under clutter and uncertainty. Auton Robots 33(3):217\u2013236","journal-title":"Auton Robots"},{"key":"377_CR7","doi-asserted-by":"crossref","unstructured":"Garrett CR, Lozano-P\u00e9rez T, Kaelbling LP (2015) Backward-forward search for manipulation planning. In: Proceedings of IEEE\/RSJ international conference on intelligent robots and systems (IROS), pp 6366\u20136373","DOI":"10.1109\/IROS.2015.7354287"},{"key":"377_CR8","doi-asserted-by":"crossref","unstructured":"Hasan M, Warburton M, Agboh WC, Dogar MR, Leonetti M, Wang H, Mushtaq F, Mon-Williams M, Cohn AG (2020) Human-like planning for reaching in cluttered environments. In: IEEE international conference on robotics and automation (ICRA). IEEE, pp 7784\u20137790","DOI":"10.1109\/ICRA40945.2020.9196665"},{"key":"377_CR9","doi-asserted-by":"crossref","unstructured":"Haustein J, King J, Srinivasa S, Asfour T (2015) Kinodynamic randomized rearrangement planning via dynamic transitions between statically stable states. In: Proceedings of IEEE international conference on robotics and automation (ICRA), pp 3075\u20133082","DOI":"10.1109\/ICRA.2015.7139621"},{"key":"377_CR10","doi-asserted-by":"crossref","unstructured":"Laskey M, Lee J, Chuck C, Gealy D, Hsieh W, Pokorny FT, Dragan AD, Goldberg K (2016) Robot grasping in clutter: using a hierarchy of supervisors for learning from demonstrations. In: IEEE international conference on automation science and engineering (CASE). IEEE, pp 827\u2013834","DOI":"10.1109\/COASE.2016.7743488"},{"key":"377_CR11","doi-asserted-by":"crossref","unstructured":"Lee J, Cho Y, Nam C, Park J, Kim C (2019) Efficient obstacle rearrangement for object manipulation tasks in cluttered environments. In: Proceedings of IEEE international conference on robotics and automation (ICRA), pp 2917\u20132924","DOI":"10.1109\/ICRA.2019.8793616"},{"key":"377_CR12","unstructured":"Mnih V, Kavukcuoglu K, Silver D, Graves A, Antonoglou I, Wierstra D, Riedmiller M (2013) Playing atari with deep reinforcement learning. arXiv preprint arXiv:1312.5602"},{"issue":"7540","key":"377_CR13","doi-asserted-by":"publisher","first-page":"529","DOI":"10.1038\/nature14236","volume":"518","author":"V Mnih","year":"2015","unstructured":"Mnih V, Kavukcuoglu K, Silver D, Rusu AA, Veness J, Bellemare MG, Graves A, Riedmiller M, Fidjeland AK, Ostrovski G et al (2015) Human-level control through deep reinforcement learning. Nature 518(7540):529","journal-title":"Nature"},{"key":"377_CR14","doi-asserted-by":"publisher","first-page":"712","DOI":"10.1109\/LRA.2017.2783445","volume":"3","author":"M Moll","year":"2018","unstructured":"Moll M, Kavraki L, Rosell J et al (2018) Randomized physics-based motion planning for grasping in cluttered and uncertain environments. IEEE Robot Autom Lett 3:712\u2013719","journal-title":"IEEE Robot Autom Lett"},{"key":"377_CR15","doi-asserted-by":"crossref","unstructured":"Nam C, Lee J, Cheong SH, Cho BY, Kim C (2020) Fast and resilient manipulation planning for target retrieval in clutter. In: Accepted for presentation at IEEE international conference on robotics and automation (ICRA)","DOI":"10.1109\/ICRA40945.2020.9196652"},{"key":"377_CR16","unstructured":"Ren S, He K, Girshick R, Sun J (2015) Faster R-CNN: towards real-time object detection with region proposal networks. In: Advances in neural information processing systems, pp 91\u201399"},{"key":"377_CR17","doi-asserted-by":"crossref","unstructured":"Sarantopoulos I, Kiatos M, Doulgeri Z, Malassiotis S (2019) Split deep q-learning for robust object singulation. arXiv preprint arXiv:1909.08105","DOI":"10.1109\/ICRA40945.2020.9196647"},{"issue":"5","key":"377_CR18","doi-asserted-by":"publisher","first-page":"1285","DOI":"10.1109\/TMI.2016.2528162","volume":"35","author":"H Shin","year":"2016","unstructured":"Shin H, Roth HR, Gao M, Lu L, Xu Z, Nogues I, Yao J, Mollura D, Summers RM (2016) Deep convolutional neural networks for computer-aided detection: CNN architectures, dataset characteristics and transfer learning. IEEE Trans Med Imaging 35(5):1285\u20131298","journal-title":"IEEE Trans Med Imaging"},{"key":"377_CR19","doi-asserted-by":"crossref","unstructured":"Ulrich I, Borenstein J (1998) VFH+: reliable obstacle avoidance for fast mobile robots. In: Proceedings of IEEE international conference on robotics and automation (ICRA), pp 1572\u20131577","DOI":"10.1109\/ROBOT.1998.677362"},{"key":"377_CR20","doi-asserted-by":"crossref","unstructured":"Van Den\u00a0Berg J, Stilman M, Kuffner J, Lin M, Manocha D (2009) Path planning among movable obstacles: a probabilistically complete approach. In: Algorithmic foundation of robotics VIII. Springer, pp 599\u2013614","DOI":"10.1007\/978-3-642-00312-7_37"},{"key":"377_CR21","unstructured":"Watkins CJCH (1989) Learning from delayed rewards. Ph.D. thesis, King\u2019s College, Cambridge"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-021-00377-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-021-00377-4\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-021-00377-4.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,7]],"date-time":"2021-10-07T11:53:45Z","timestamp":1633607625000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-021-00377-4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,8,11]]},"references-count":21,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2021,9]]}},"alternative-id":["377"],"URL":"https:\/\/doi.org\/10.1007\/s11370-021-00377-4","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,8,11]]},"assertion":[{"value":"4 December 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"8 July 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"11 August 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}