{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,21]],"date-time":"2026-05-21T14:25:54Z","timestamp":1779373554579,"version":"3.53.1"},"reference-count":96,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["FRR-2133110"],"award-info":[{"award-number":["FRR-2133110"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["FRR-2240040"],"award-info":[{"award-number":["FRR-2240040"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"name":"NSF","award":["CCF-2336612"],"award-info":[{"award-number":["CCF-2336612"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2025]]},"DOI":"10.1109\/tro.2025.3613532","type":"journal-article","created":{"date-parts":[[2025,9,23]],"date-time":"2025-09-23T17:27:28Z","timestamp":1758648448000},"page":"5761-5780","source":"Crossref","is-referenced-by-count":1,"title":["Object-Centric Kinodynamic Planning for Nonprehensile Robot Rearrangement Manipulation"],"prefix":"10.1109","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6970-2268","authenticated-orcid":false,"given":"Kejia","family":"Ren","sequence":"first","affiliation":[{"name":"Department of Computer Science, Rice University, Houston, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-6189-3873","authenticated-orcid":false,"given":"Gaotian","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Rice University, Houston, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8558-6236","authenticated-orcid":false,"given":"Andrew S.","family":"Morgan","sequence":"additional","affiliation":[{"name":"RAI Institute, Cambridge, MA, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0699-8038","authenticated-orcid":false,"given":"Lydia E.","family":"Kavraki","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Rice University, Houston, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4132-1217","authenticated-orcid":false,"given":"Kaiyu","family":"Hang","sequence":"additional","affiliation":[{"name":"Department of Computer Science, Rice University, Houston, TX, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/9481.003.0014"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793616"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843605000545"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-68405-3_6"},{"key":"ref5","first-page":"599","article-title":"Path planning among movable obstacles: A probabilistically complete approach","volume-title":"Proc. Algorithmic Found. Robot. VIII: Sel. Contributions 8th Int. Workshop Algorithmic Foundations Robot.","author":"Van Den","year":"2010"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224787"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10341853"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/CASE49439.2021.9551431"},{"key":"ref9","first-page":"251","article-title":"Habitat 2.0: Training home assistants to rearrange their habitat","volume-title":"Proc. 35th Int. Conf. Neural Inf. Process. Syst.","author":"Szot","year":"2021"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630892"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793966"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1145\/73393.73422"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904045471"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363986"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2801939"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139621"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139535"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487583"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.932818"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041499"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-00065-7_36"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793946"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161006"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561716"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1177\/02783649231178565"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2783445"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2018.8625041"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593986"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-28619-4_32"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341532"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812132"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560782"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811848"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981599"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161560"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/9816.003.0013"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812367"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811934"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811568"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922067762"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981873"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2892591"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341468"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2023.xix.045"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-43089-4_30"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161271"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811713"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196689"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197295"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197451"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561895"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918755536"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919872532"},{"key":"ref54","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919880257"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-44051-0_29"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197173"},{"key":"ref57","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920913938"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7758091"},{"key":"ref59","first-page":"336","article-title":"A data-efficient approach to precise and controlled pushing","volume-title":"Proc. Conf. Robot Learn.","author":"Bauza","year":"2018"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8593995"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967920"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920954896"},{"key":"ref63","first-page":"27","article-title":"Efficient physics-based planning: Sampling search via non-deterministic tactics and skills","volume-title":"Proc. 8th Int. Conf. Auton. Agents Multiagent Syst.","author":"Zickler","year":"2009"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385828"},{"key":"ref65","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067453"},{"key":"ref66","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.363069"},{"key":"ref67","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354805"},{"key":"ref68","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7353743"},{"key":"ref69","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2530864"},{"key":"ref70","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2018.8624977"},{"key":"ref71","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v32i1.19824"},{"key":"ref72","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811881"},{"key":"ref73","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812329"},{"key":"ref74","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918780999"},{"key":"ref75","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2980984"},{"key":"ref76","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3047472"},{"key":"ref77","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2021.3055144"},{"key":"ref78","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3191596"},{"key":"ref79","doi-asserted-by":"publisher","DOI":"10.1007\/s00454-022-00407-7"},{"key":"ref80","first-page":"726","article-title":"Transporter networks: Rearranging the visual world for robotic manipulation","volume-title":"Proc. Conf. Robot Learn.","author":"Zeng","year":"2021"},{"key":"ref81","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2021.xvii.072"},{"key":"ref82","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561516"},{"key":"ref83","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811703"},{"key":"ref84","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812055"},{"key":"ref85","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10342169"},{"key":"ref86","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2019.06.007"},{"key":"ref87","first-page":"1001","article-title":"Selective object rearrangement in clutter","volume-title":"Proc. Conf. Robot Learn.","author":"Tang","year":"2023"},{"key":"ref88","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561073"},{"key":"ref89","doi-asserted-by":"publisher","DOI":"10.1126\/science.aaz7597"},{"key":"ref90","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10802843"},{"key":"ref91","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.619371"},{"key":"ref92","doi-asserted-by":"publisher","DOI":"10.2307\/j.ctvcm4g18.8"},{"key":"ref93","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2023.3270221"},{"key":"ref94","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"ref95","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979561"},{"key":"ref96","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917700714"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/8860\/10778592\/11176447-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/10778592\/11176447.pdf?arnumber=11176447","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,20]],"date-time":"2026-01-20T23:25:47Z","timestamp":1768951547000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11176447\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":96,"URL":"https:\/\/doi.org\/10.1109\/tro.2025.3613532","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]}}}