{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,4]],"date-time":"2026-02-04T18:02:26Z","timestamp":1770228146671,"version":"3.49.0"},"reference-count":35,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,5,23]],"date-time":"2022-05-23T00:00:00Z","timestamp":1653264000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"NSF","doi-asserted-by":"publisher","award":["1723381"],"award-info":[{"award-number":["1723381"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000181","name":"AFOSR","doi-asserted-by":"publisher","award":["FA9550-17-1-0165"],"award-info":[{"award-number":["FA9550-17-1-0165"]}],"id":[{"id":"10.13039\/100000181","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000006","name":"ONR","doi-asserted-by":"publisher","award":["N00014-18-1-2847"],"award-info":[{"award-number":["N00014-18-1-2847"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,5,23]]},"DOI":"10.1109\/icra46639.2022.9812057","type":"proceedings-article","created":{"date-parts":[[2022,7,12]],"date-time":"2022-07-12T19:36:40Z","timestamp":1657654600000},"page":"1940-1946","source":"Crossref","is-referenced-by-count":29,"title":["Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances"],"prefix":"10.1109","author":[{"given":"Aidan","family":"Curtis","sequence":"first","affiliation":[{"name":"CSAIL, MIT,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaolin","family":"Fang","sequence":"additional","affiliation":[{"name":"CSAIL, MIT,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Leslie Pack","family":"Kaelbling","sequence":"additional","affiliation":[{"name":"CSAIL, MIT,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tomas","family":"Lozano-Perez","sequence":"additional","affiliation":[{"name":"CSAIL, MIT,USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Caelan Reed","family":"Garrett","sequence":"additional","affiliation":[{"name":"NVIDIA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460689"},{"key":"ref32","article-title":"Mt-opt: Continuous multi-task robotic reinforcement learning at scale","author":"kalashnkov","year":"2021","journal-title":"ArXiv"},{"key":"ref31","article-title":"good robot!&#x201D;: Efficient reinforcement learning for multi-step visual tasks via reward shaping","volume":"abs 1909 11730","author":"hundt","year":"2019","journal-title":"CoRR"},{"key":"ref30","article-title":"Deep dynamics models for learning dexterous manipulation","author":"nagabandi","year":"0","journal-title":"Conference on Robot Learning (CoRL)"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3006816"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3060669"},{"key":"ref10","author":"diankov","year":"2010","journal-title":"Automated Construction of Robotic Manipulation Programs"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844730"},{"key":"ref12","article-title":"PDDLStream: Integrating symbolic planners and blackbox samplers","author":"garrett","year":"0","journal-title":"ICAPS"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980391"},{"key":"ref14","first-page":"324","article-title":"ADL: Exploring the Middle Ground Between STRIPS and the Situation Calculus","volume":"89","author":"pednault","year":"1989","journal-title":"KR"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2005.05.004"},{"key":"ref16","author":"xie","year":"2020","journal-title":"Unseen object instance segmentation for robotic environments"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v34i07.6827"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TIT.1983.1056714"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354079"},{"key":"ref4","volume":"abs 2011 8424","author":"xu","year":"2020","journal-title":"Deep affordance foresight Planning through what can be done in the future"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918761570"},{"key":"ref3","article-title":"Hierarchical planning for long-horizon manipulation with geometric and symbolic scene graphs","volume":"abs 2012 7277","author":"zhu","year":"2020","journal-title":"ArXiv"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913484072"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919887447"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197318"},{"key":"ref8","article-title":"Learning compositional models of robot skills for task and motion planning","author":"wang","year":"2020","journal-title":"IJRR"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196681"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.072"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561233"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-091420-084139"},{"key":"ref20","author":"coumans","year":"2016","journal-title":"Pybullet a python module for physics simulation for games robotics and machine learning"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759114"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1145\/2461912.2461934"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2017.322"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2019.00299"},{"key":"ref26","article-title":"Logic-geometric programming: An optimization-based approach to combined task and motion planning","author":"toussaint","year":"0","journal-title":"IJCAI"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906922"}],"event":{"name":"2022 IEEE International Conference on Robotics and Automation (ICRA)","location":"Philadelphia, PA, USA","start":{"date-parts":[[2022,5,23]]},"end":{"date-parts":[[2022,5,27]]}},"container-title":["2022 International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9811522\/9811357\/09812057.pdf?arnumber=9812057","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,11,3]],"date-time":"2022-11-03T23:07:29Z","timestamp":1667516849000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9812057\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,23]]},"references-count":35,"URL":"https:\/\/doi.org\/10.1109\/icra46639.2022.9812057","relation":{},"subject":[],"published":{"date-parts":[[2022,5,23]]}}}