{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T07:17:04Z","timestamp":1772090224849,"version":"3.50.1"},"reference-count":37,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Karl Engver&#x0027;s Foundation"},{"name":"NSF Graduate Research Fellowship","award":["2146755"],"award-info":[{"award-number":["2146755"]}]},{"DOI":"10.13039\/100000006","name":"ONR","doi-asserted-by":"publisher","award":["N00014-23-1-2354"],"award-info":[{"award-number":["N00014-23-1-2354"]}],"id":[{"id":"10.13039\/100000006","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2026,4]]},"DOI":"10.1109\/lra.2026.3664173","type":"journal-article","created":{"date-parts":[[2026,2,12]],"date-time":"2026-02-12T21:01:29Z","timestamp":1770930089000},"page":"4377-4384","source":"Crossref","is-referenced-by-count":0,"title":["SketchPlan: Diffusion Based Drone Planning From Human Sketches"],"prefix":"10.1109","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-8987-8375","authenticated-orcid":false,"given":"Sixten","family":"Norelius","sequence":"first","affiliation":[{"name":"School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0021-0169","authenticated-orcid":false,"given":"Aaron O.","family":"Feldman","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7871-3663","authenticated-orcid":false,"given":"Mac","family":"Schwager","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Stanford University, Stanford, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","article-title":"VoxPoser: Composable 3D value maps for robotic manipulation with language models","author":"Huang","year":"2023"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2025.3552348"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2023.3295255"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2025.3577456"},{"key":"ref5","article-title":"RT-trajectory: Robotic task generalization via hindsight trajectory sketches","author":"Gu","year":"2023"},{"key":"ref6","first-page":"70","article-title":"RT-sketch: Goal-conditioned imitation learning from hand-drawn sketches","volume-title":"Proc. 8th Conf. Robot Learn.","author":"Sundaresan","year":"2024"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-025-10210-x"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1145\/3592433"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2003.1243932"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611256"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2025.XXI.151"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3518837"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11127463"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2025.3553785"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS60139.2025.11247514"},{"key":"ref16","article-title":"UAVTwin: Neural digital twins for UAVs using Gaussian splatting","author":"Choi","year":"2025"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10801715"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1177\/02783649241273668"},{"key":"ref19","first-page":"9902","article-title":"Planning with diffusion for flexible behavior synthesis","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Janner","year":"2022"},{"key":"ref20","first-page":"48","article-title":"Equivariant diffusion policy","volume-title":"Proc. Conf. Robot Learn.","author":"Wang","year":"2024"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2024.XX.067"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610665"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.028"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA55743.2025.11127931"},{"key":"ref25","article-title":"Demystifying diffusion policies: Action memorization and simple lookup table alternatives","author":"He","year":"2025"},{"key":"ref26","first-page":"3851","article-title":"Improving behavioural cloning with positive unlabeled learning","volume-title":"Proc. Conf. Robot. Learn.","author":"Wang","year":"2023"},{"key":"ref27","first-page":"42339","article-title":"Semi-supervised offline reinforcement learning with action-free trajectories","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Zheng","year":"2023"},{"key":"ref28","article-title":"SURF: Semi-supervised reward learning with data augmentation for feedback-efficient preference-based reinforcement learning","volume-title":"Proc. Int. Conf. Learn. Representation","author":"Park","year":"2022"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1145\/3477314.3507045"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV51070.2023.01804"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1145\/3588432.3591516"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1017\/cbo9780511811685"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1002\/wics.51"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v32i1.11671"},{"key":"ref35","first-page":"6105","article-title":"EfficientNet: Rethinking model scaling for convolutional neural networks","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Tan","year":"2019"},{"key":"ref36","first-page":"8489","article-title":"Reduce, reuse, recycle: Compositional generation with energy-based diffusion models and MCMC","volume-title":"Proc. Int. Conf. Mach. Learn.","author":"Du","year":"2023"},{"key":"ref37","article-title":"Much ado about noising: Dispelling the myths of generative robotic control","author":"Pan","year":"2025"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/7083369\/11400564\/11394806-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/11400564\/11394806.pdf?arnumber=11394806","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T06:46:48Z","timestamp":1772088408000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11394806\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,4]]},"references-count":37,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/lra.2026.3664173","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,4]]}}}