{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,17]],"date-time":"2026-06-17T16:46:14Z","timestamp":1781714774466,"version":"3.54.5"},"reference-count":49,"publisher":"IEEE","license":[{"start":{"date-parts":[[2022,10,23]],"date-time":"2022-10-23T00:00:00Z","timestamp":1666483200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,10,23]],"date-time":"2022-10-23T00:00:00Z","timestamp":1666483200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,10,23]]},"DOI":"10.1109\/iros47612.2022.9981264","type":"proceedings-article","created":{"date-parts":[[2022,12,26]],"date-time":"2022-12-26T19:38:15Z","timestamp":1672083495000},"page":"7672-7679","source":"Crossref","is-referenced-by-count":20,"title":["Learning Implicit Priors for Motion Optimization"],"prefix":"10.1109","author":[{"given":"Julen","family":"Urain","sequence":"first","affiliation":[{"name":"Technische Universitat Darmstadt (Germany),Intelligent Autonomous Systems Lab"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"An T.","family":"Le","sequence":"additional","affiliation":[{"name":"Technische Universitat Darmstadt (Germany),Intelligent Autonomous Systems Lab"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alexander","family":"Lambert","sequence":"additional","affiliation":[{"name":"University of Washington (USA),School of Computer Science and Engineering (CSE)"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Georgia","family":"Chalvatzaki","sequence":"additional","affiliation":[{"name":"Technische Universitat Darmstadt (Germany),Intelligent Autonomous Systems Lab"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Byron","family":"Boots","sequence":"additional","affiliation":[{"name":"University of Washington (USA),School of Computer Science and Engineering (CSE)"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jan","family":"Peters","sequence":"additional","affiliation":[{"name":"Technische Universitat Darmstadt (Germany),Intelligent Autonomous Systems Lab"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844730"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/70.508439"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152817"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980280"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914528132"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918790369"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341035"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803324"},{"key":"ref9","article-title":"Towards robust skill generalization: Unifying learning from demonstration and motion planning","author":"Rana","year":"2017","journal-title":"CoRL"},{"key":"ref10","article-title":"Implicit generation and generalization in energy-based models","author":"Du","year":"2019","journal-title":"arXiv preprint"},{"key":"ref11","article-title":"A tutorial on energy-based learning","author":"LeCun","year":"2006","journal-title":"Predicting structured data"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.052"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2013.7029993"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907818"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2016.XII.046"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913495721"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920987859"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1561\/9781680834116"},{"key":"ref19","article-title":"Behavioral cloning from obser-vation","volume-title":"Proceedings of the 27th IJCAI","author":"Torabi","year":"2018"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8461249"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460730"},{"key":"ref22","article-title":"Structured deep generative models for sampling on constraint manifolds in sequential manipulation","author":"Ortiz-Haro","year":"2022","journal-title":"CoRL"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561104"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3006716"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341245"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919868530"},{"key":"ref27","article-title":"Continuous inverse optimal control with locally optimal examples","author":"Levine","year":"2012","journal-title":"arXiv preprint"},{"key":"ref28","article-title":"Guided cost learning: Deep inverse optimal control via policy optimization","volume-title":"International conference on machine learning","author":"Finn"},{"key":"ref29","article-title":"Algorithms for inverse reinforcement learning","author":"Ng","year":"2000","journal-title":"ICML"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1145\/1015330.1015430"},{"key":"ref31","article-title":"Maximum entropy inverse reinforcement learning","author":"Ziebart","year":"2008","journal-title":"AAAI"},{"key":"ref32","article-title":"How to train your energy-based models","author":"Song","year":"2021","journal-title":"arXiv preprint"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1162\/089976602760128018"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1016\/0550-3213(81)90056-0"},{"key":"ref35","article-title":"Max-imum entropy generators for energy-based models","author":"Kumar","year":"2019","journal-title":"arXiv preprint"},{"key":"ref36","article-title":"No mcmc for me: Amortized sampling for fast and stable training of energy-based models","author":"Grathowhl","year":"2020","journal-title":"arXiv preprint"},{"key":"ref37","article-title":"Generative adversarial nets","author":"Goodfellow","year":"2014","journal-title":"NeurIPS"},{"key":"ref38","article-title":"Auto-encoding variational bayes","author":"Kingma","year":"2014","journal-title":"ICLR"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.2307\/2347565"},{"key":"ref40","doi-asserted-by":"crossref","DOI":"10.1023\/A:1020281327116","article-title":"An intro-duction to mcmc for machine learning","author":"Andrieu","year":"2003","journal-title":"Machine learning"},{"key":"ref41","article-title":"Newton methods for k-order markov constrained motion problems","author":"Toussaint","year":"2014","journal-title":"arXiv preprint"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1016\/b978-0-444-53859-8.00003-5"},{"key":"ref43","article-title":"Storm: An integrated framework for fast joint-space model-predictive control for reactive manipulation","author":"Bhardwaj","year":"2022","journal-title":"CoRL"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1145\/1553374.1553508"},{"key":"ref45","article-title":"Reinforcement learning and control as probabilistic infer-ence: Tutorial and review","author":"Levine","year":"2018","journal-title":"arXiv preprint"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1162\/NECO_a_00142"},{"key":"ref47","article-title":"Score-based generative modeling through stochastic differential equations","author":"Song","year":"2021","journal-title":"ICLR"},{"key":"ref48","article-title":"Entropy regularized motion planning via stein variational inference","volume-title":"RSS Workshop on Integrating Planning and Learning","author":"Lambert","year":"2021"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636064"}],"event":{"name":"2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Kyoto, Japan","start":{"date-parts":[[2022,10,23]]},"end":{"date-parts":[[2022,10,27]]}},"container-title":["2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9981026\/9981028\/09981264.pdf?arnumber=9981264","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,3,14]],"date-time":"2024-03-14T04:11:11Z","timestamp":1710389471000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9981264\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10,23]]},"references-count":49,"URL":"https:\/\/doi.org\/10.1109\/iros47612.2022.9981264","relation":{},"subject":[],"published":{"date-parts":[[2022,10,23]]}}}