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records
2026
[j7]
Nishanth Kumar
William Shen
Fabio Ramos
Dieter Fox
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Caelan Reed Garrett
Open-World Task and Motion Planning via Vision-Language Model Generated Constraints.
IEEE Robotics Autom. Lett.
11
3366-3373
2026
2025
[j6]
Clemens Eppner
Adithyavairavan Murali
Caelan Reed Garrett
Rowland O'Flaherty
Tucker Hermans
Wei Yang
Dieter Fox
scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation.
J. Open Source Softw.
10
105
7561
2025
[c22]
Yi Li
Yuquan Deng
Jesse Zhang
Joel Jang
Marius Memmel
Caelan Reed Garrett
Fabio Ramos
Dieter Fox
Anqi Li
Abhishek Gupta
Ankit Goyal
HAMSTER: Hierarchical Action Models for Open-World Robot Manipulation.
ICLR
2025
[c21]
Zhutian Yang
Caelan Reed Garrett
Dieter Fox
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Guiding Long-Horizon Task and Motion Planning with Vision Language Models.
ICRA
2025
16847-16853
[d1]
Clemens Eppner
Adithyavairavan Murali
Caelan Reed Garrett
Rowland O'Flaherty
Tucker Hermans
Wei Yang
Dieter Fox
scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation.
Zenodo
2025
[i34]
Yi Li
Yuquan Deng
Jesse Zhang
Joel Jang
Marius Memmel
Raymond Yu
Caelan Reed Garrett
Fabio Ramos
Dieter Fox
Anqi Li
Abhishek Gupta
Ankit Goyal
HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation.
CoRR
abs/2502.05485
2025
[i33]
Shuo Cheng
Liqian Ma
Zhenyang Chen
Ajay Mandlekar
Caelan Reed Garrett
Danfei Xu
Generalizable Domain Adaptation for Sim-and-Real Policy Co-Training.
CoRR
abs/2509.18631
2025
[i32]
Elie Aljalbout
Jiaxu Xing
Angel Romero
Iretiayo Akinola
Caelan Reed Garrett
Eric Heiden
Abhishek Gupta
Tucker Hermans
Yashraj Narang
Dieter Fox
Davide Scaramuzza
Fabio Ramos
The Reality Gap in Robotics: Challenges, Solutions, and Best Practices.
CoRR
abs/2510.20808
2025
[i31]
Weikang Wan
Fabio Ramos
Xuning Yang
Caelan Reed Garrett
Learning to Plan & Schedule with Reinforcement-Learned Bimanual Robot Skills.
CoRR
abs/2510.25634
2025
[i30]
Caelan Reed Garrett
Fabio Ramos
ScheduleStream: Temporal Planning with Samplers for GPU-Accelerated Multi-Arm Task and Motion Planning & Scheduling.
CoRR
abs/2511.04758
2025
[i29]
Zihan Zhou
Animesh Garg
Ajay Mandlekar
Caelan Reed Garrett
ReinforceGen: Hybrid Skill Policies with Automated Data Generation and Reinforcement Learning.
CoRR
abs/2512.16861
2025
2024
[c20]
Shuo Cheng
Caelan Reed Garrett
Ajay Mandlekar
Danfei Xu
NOD-TAMP: Generalizable Long-Horizon Planning with Neural Object Descriptors.
CoRL
2024
1310-1339
[c19]
Zihan Zhou
Animesh Garg
Dieter Fox
Caelan Reed Garrett
Ajay Mandlekar
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation.
CoRL
2024
2347-2371
[c18]
Caelan Reed Garrett
Ajay Mandlekar
Bowen Wen
Dieter Fox
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment.
CoRL
2024
2750-2790
[c17]
Xiaolin Fang
Caelan Reed Garrett
Clemens Eppner
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Dieter Fox
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability.
IROS
2024
1412-1419
[c16]
Ryan Hoque
Ajay Mandlekar
Caelan Reed Garrett
Ken Goldberg
Dieter Fox
IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning.
IROS
2024
2840-2846
[i28]
Ryan Hoque
Ajay Mandlekar
Caelan Reed Garrett
Ken Goldberg
Dieter Fox
IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning.
CoRR
abs/2405.01472
2024
[i27]
Zhutian Yang
Caelan Reed Garrett
Dieter Fox
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Guiding Long-Horizon Task and Motion Planning with Vision Language Models.
CoRR
abs/2410.02193
2024
[i26]
Zihan Zhou
Animesh Garg
Dieter Fox
Caelan Reed Garrett
Ajay Mandlekar
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation.
CoRR
abs/2410.18065
2024
[i25]
Caelan Reed Garrett
Ajay Mandlekar
Bowen Wen
Dieter Fox
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment.
CoRR
abs/2410.18907
2024
[i24]
Nishanth Kumar
Fabio Ramos
Dieter Fox
Caelan Reed Garrett
Open-World Task and Motion Planning via Vision-Language Model Inferred Constraints.
CoRR
abs/2411.08253
2024
[i23]
William Shen
Caelan Reed Garrett
Ankit Goyal
Tucker Hermans
Fabio Ramos
Differentiable GPU-Parallelized Task and Motion Planning.
CoRR
abs/2411.11833
2024
2023
[c15]
Murtaza Dalal
Ajay Mandlekar
Caelan Reed Garrett
Ankur Handa
Ruslan Salakhutdinov
Dieter Fox
Imitating Task and Motion Planning with Visuomotor Transformers.
CoRL
2023
2565-2593
[c14]
Ajay Mandlekar
Caelan Reed Garrett
Danfei Xu
Dieter Fox
Human-in-the-Loop Task and Motion Planning for Imitation Learning.
CoRL
2023
3030-3060
[c13]
Balakumar Sundaralingam
Siva Kumar Sastry Hari
Adam Fishman
Caelan Reed Garrett
Karl Van Wyk
Valts Blukis
Alexander Millane
Helen Oleynikova
Ankur Handa
Fabio Ramos
Nathan D. Ratliff
Dieter Fox
CuRobo: Parallelized Collision-Free Robot Motion Generation.
ICRA
2023
8112-8119
[c12]
Zhutian Yang
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Dieter Fox
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning.
Robotics: Science and Systems
2023
[i22]
Murtaza Dalal
Ajay Mandlekar
Caelan Reed Garrett
Ankur Handa
Ruslan Salakhutdinov
Dieter Fox
Imitating Task and Motion Planning with Visuomotor Transformers.
CoRR
abs/2305.16309
2023
[i21]
Xiaolin Fang
Caelan Reed Garrett
Clemens Eppner
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Dieter Fox
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability.
CoRR
abs/2306.13196
2023
[i20]
Constantinos Chamzas
Caelan Reed Garrett
Balakumar Sundaralingam
Lydia E. Kavraki
Dieter Fox
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation.
CoRR
abs/2307.04040
2023
[i19]
Ajay Mandlekar
Caelan Reed Garrett
Danfei Xu
Dieter Fox
Human-in-the-Loop Task and Motion Planning for Imitation Learning.
CoRR
abs/2310.16014
2023
[i18]
Balakumar Sundaralingam
Siva Kumar Sastry Hari
Adam Fishman
Caelan Reed Garrett
Karl Van Wyk
Valts Blukis
Alexander Millane
Helen Oleynikova
Ankur Handa
Fabio Ramos
Nathan D. Ratliff
Dieter Fox
CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation.
CoRR
abs/2310.17274
2023
[i17]
Shuo Cheng
Caelan Reed Garrett
Ajay Mandlekar
Danfei Xu
NOD-TAMP: Multi-Step Manipulation Planning with Neural Object Descriptors.
CoRR
abs/2311.01530
2023
2022
[c11]
Aidan Curtis
Xiaolin Fang
Leslie Pack Kaelbling
Tomás Lozano-Pérez
Caelan Reed Garrett
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances.
ICRA
2022
1940-1946
[i16]
Jingkai Chen
Jiaoyang Li
Yijiang Huang
Caelan Reed Garrett
Dawei Sun
Chuchu Fan
Andreas G. Hofmann
Caitlin Mueller
Sven Koenig
Brian C. Williams
Cooperative Task and Motion Planning for Multi-Arm Assembly Systems.
CoRR
abs/2203.02475
2022
[i15]
Zhutian Yang
Caelan Reed Garrett
Dieter Fox
Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planning.
CoRR
abs/2211.01576
2022
2021
[b1]
Caelan Reed Garrett
Sampling-Based Robot Task and Motion Planning in the Real World.
Massachusetts Institute of Technology, USA,
2021
[j5]
Caelan Reed Garrett
Rohan Chitnis
Rachel M. Holladay
Beomjoon Kim
Tom Silver
Leslie Pack Kaelbling
Tomás Lozano-Pérez
Integrated Task and Motion Planning.
Annu. Rev. Control. Robotics Auton. Syst.
265-293
2021
[j4]
Zi Wang
Caelan Reed Garrett
Leslie Pack Kaelbling
Tomás Lozano-Pérez
Learning compositional models of robot skills for task and motion planning.
Int. J. Robotics Res.
40
6-7
2021
[c10]
Yijiang Huang
Pok Yin Victor Leung
Caelan Reed Garrett
Fabio Gramazio
Matthias Kohler
Caitlin Mueller
The new analog: A protocol for linking design and construction intent with algorithmic planning for robotic assembly of complex structures.
SCF
2021
9:1-9:17
[i14]
Yijiang Huang
Caelan Reed Garrett
Ian Ting
Stefana Parascho
Caitlin Mueller
Robotic additive construction of bar structures: Unified sequence and motion planning.
CoRR
abs/2105.11438
2021
[i13]
Aidan Curtis
Xiaolin Fang
Leslie Pack Kaelbling
Tomás Lozano-Pérez
Caelan Reed Garrett
Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordances.
CoRR
abs/2108.04145
2021
2020
[c9]
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planning.
ICAPS
2020
440-448
[c8]
Caelan Reed Garrett
Chris Paxton
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Dieter Fox
Online Replanning in Belief Space for Partially Observable Task and Motion Problems.
ICRA
2020
5678-5684
[c7]
Caelan Reed Garrett
Yijiang Huang
Tomás Lozano-Pérez
Caitlin Mueller
Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion.
Robotics: Science and Systems
2020
[i12]
Caelan Reed Garrett
Yijiang Huang
Tomás Lozano-Pérez
Caitlin Tobin Mueller
Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion.
CoRR
abs/2002.02360
2020
[i11]
Zi Wang
Caelan Reed Garrett
Leslie Pack Kaelbling
Tomás Lozano-Pérez
Learning compositional models of robot skills for task and motion planning.
CoRR
abs/2006.06444
2020
[i10]
Caelan Reed Garrett
Rohan Chitnis
Rachel M. Holladay
Beomjoon Kim
Tom Silver
Leslie Pack Kaelbling
Tomás Lozano-Pérez
Integrated Task and Motion Planning.
CoRR
abs/2010.01083
2020
2019
[i9]
Caelan Reed Garrett
Chris Paxton
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Dieter Fox
Online Replanning in Belief Space for Partially Observable Task and Motion Problems.
CoRR
abs/1911.04577
2019
2018
[j3]
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
FFRob: Leveraging symbolic planning for efficient task and motion planning.
Int. J. Robotics Res.
37
104-136
2018
[j2]
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Sampling-based methods for factored task and motion planning.
Int. J. Robotics Res.
37
13-14
2018
[j1]
Fabien Lagriffoul
Neil T. Dantam
Caelan Reed Garrett
Aliakbar Akbari
Siddharth Srivastava
Lydia E. Kavraki
Platform-Independent Benchmarks for Task and Motion Planning.
IEEE Robotics Autom. Lett.
3765-3772
2018
[c6]
Zi Wang
Caelan Reed Garrett
Leslie Pack Kaelbling
Tomás Lozano-Pérez
Active Model Learning and Diverse Action Sampling for Task and Motion Planning.
IROS
2018
4107-4114
[i8]
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Sampling-Based Methods for Factored Task and Motion Planning.
CoRR
abs/1801.00680
2018
[i7]
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
STRIPStream: Integrating Symbolic Planners and Blackbox Samplers.
CoRR
abs/1802.08705
2018
[i6]
Zi Wang
Caelan Reed Garrett
Leslie Pack Kaelbling
Tomás Lozano-Pérez
Active model learning and diverse action sampling for task and motion planning.
CoRR
abs/1803.00967
2018
[i5]
Yijiang Huang
Caelan Reed Garrett
Caitlin Tobin Mueller
Automated motion planning for robotic assembly of discrete architectural structures.
CoRR
abs/1810.00998
2018
2017
[c5]
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Sample-Based Methods for Factored Task and Motion Planning.
Robotics: Science and Systems
2017
[i4]
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
STRIPS Planning in Infinite Domains.
CoRR
abs/1701.00287
2017
2016
[c4]
Caelan Reed Garrett
Leslie Pack Kaelbling
Tomás Lozano-Pérez
Learning to Rank for Synthesizing Planning Heuristics.
IJCAI
2016
3089-3095
[c3]
Michael X. Grey
Caelan Reed Garrett
C. Karen Liu
Aaron D. Ames
Andrea Lockerd Thomaz
Humanoid manipulation planning using backward-forward search.
IROS
2016
5467-5473
[i3]
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Backward-Forward Search for Manipulation Planning.
CoRR
abs/1604.03468
2016
[i2]
Caelan Reed Garrett
Leslie Pack Kaelbling
Tomás Lozano-Pérez
Learning to Rank for Synthesizing Planning Heuristics.
CoRR
abs/1608.01302
2016
[i1]
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
FFRob: Leveraging Symbolic Planning for Efficient Task and Motion Planning.
CoRR
abs/1608.01335
2016
2015
[c2]
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Backward-forward search for manipulation planning.
IROS
2015
6366-6373
2014
[c1]
Caelan Reed Garrett
Tomás Lozano-Pérez
Leslie Pack Kaelbling
FFRob: An Efficient Heuristic for Task and Motion Planning.
WAFR
2014
179-195
Aliakbar Akbari
[j1]
Iretiayo Akinola
[i32]
Elie Aljalbout
[i32]
Aaron D. Ames
[c3]
Valts Blukis
[c13]
[i18]
Constantinos Chamzas
[i20]
Jingkai Chen
[i16]
Zhenyang Chen
[i33]
Shuo Cheng
[i33]
[c20]
[i17]
10
Rohan Chitnis
[j5]
[i10]
11
Aidan Curtis
[c11]
[i13]
12
Murtaza Dalal
[c15]
[i22]
13
Neil Dantam
aka: Neil T. Dantam
[j1]
14
Yuquan Deng
[c22]
[i34]
15
Clemens Eppner
[j6]
[d1]
[c17]
[i21]
16
Chuchu Fan
[i16]
17
Xiaolin Fang
0002
[c17]
[i21]
[c11]
[i13]
18
Adam Fishman
[c13]
[i18]
19
Dieter Fox
[j7]
[j6]
[c22]
[c21]
[d1]
[i34]
[i32]
[c19]
[c18]
[c17]
[c16]
[i28]
[i27]
[i26]
[i25]
[i24]
[c15]
[c14]
[c13]
[c12]
[i22]
[i21]
[i20]
[i19]
[i18]
[i15]
[c8]
[i9]
20
Animesh Garg
[i29]
[c19]
[i26]
21
Kenneth Y. Goldberg
aka: Ken Goldberg
[c16]
[i28]
22
Ankit Goyal
0001
[c22]
[i34]
[i23]
23
Fabio Gramazio
[c10]
24
Michael X. Grey
[c3]
25
Abhishek Gupta
0004
[c22]
[i34]
[i32]
26
Ankur Handa
[c15]
[c13]
[i22]
[i18]
27
Siva Kumar Sastry Hari
[c13]
[i18]
28
Eric Heiden
[i32]
29
Tucker Hermans
[j6]
[d1]
[i32]
[i23]
30
Andreas G. Hofmann
[i16]
31
Rachel M. Holladay
[j5]
[i10]
32
Ryan Hoque
[c16]
[i28]
33
Yijiang Huang
[i16]
[c10]
[i14]
[c7]
[i12]
[i5]
34
Joel Jang
[c22]
[i34]
35
Leslie Pack Kaelbling
[j7]
[c21]
[c17]
[i27]
[c12]
[i21]
[c11]
[j5]
[j4]
[i13]
[c9]
[c8]
[i11]
[i10]
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[j3]
[j2]
[c6]
[i8]
[i7]
[i6]
[c5]
[i4]
[c4]
[i3]
[i2]
[i1]
[c2]
[c1]
36
Lydia E. Kavraki
[i20]
[j1]
37
Beomjoon Kim
[j5]
[i10]
38
Sven Koenig
[i16]
39
Matthias Kohler
[c10]
40
Nishanth Kumar
[j7]
[i24]
41
Fabien Lagriffoul
[j1]
42
Pok Yin Victor Leung
[c10]
43
Anqi Li
0001
[c22]
[i34]
44
Jiaoyang Li
0001
[i16]
45
Yi Li
0038
[c22]
[i34]
46
C. Karen Liu
[c3]
47
Tomás Lozano-Pérez
[j7]
[c21]
[c17]
[i27]
[c12]
[i21]
[c11]
[j5]
[j4]
[i13]
[c9]
[c8]
[c7]
[i12]
[i11]
[i10]
[i9]
[j3]
[j2]
[c6]
[i8]
[i7]
[i6]
[c5]
[i4]
[c4]
[i3]
[i2]
[i1]
[c2]
[c1]
48
Liqian Ma
[i33]
49
Ajay Mandlekar
[i33]
[i29]
[c20]
[c19]
[c18]
[c16]
[i28]
[i26]
[i25]
[c15]
[c14]
[i22]
[i19]
[i17]
50
Marius Memmel
[c22]
[i34]
51
Alexander Millane
[c13]
[i18]
52
Caitlin Tobin Mueller
aka: Caitlin Mueller
[i16]
[c10]
[i14]
[c7]
[i12]
[i5]
53
Adithyavairavan Murali
[j6]
[d1]
54
Yashraj Narang
[i32]
55
Rowland O'Flaherty
[j6]
[d1]
56
Helen Oleynikova
[c13]
[i18]
57
Stefana Parascho
[i14]
58
Chris Paxton
0001
[c8]
[i9]
59
Fabio Ramos
0001
[j7]
[c22]
[i34]
[i32]
[i31]
[i30]
[i24]
[i23]
[c13]
[i18]
60
Nathan D. Ratliff
[c13]
[i18]
61
Angel Romero
[i32]
62
Ruslan Salakhutdinov
[c15]
[i22]
63
Davide Scaramuzza
0001
[i32]
64
William Shen
[j7]
[i23]
65
Tom Silver
[j5]
[i10]
66
Siddharth Srivastava
0001
[j1]
67
Dawei Sun
0007
[i16]
68
Balakumar Sundaralingam
[c13]
[i20]
[i18]
69
Andrea Thomaz
aka: Andrea Lockerd Thomaz
[c3]
70
Ian Ting
[i14]
71
Weikang Wan
[i31]
72
Zi Wang
0004
[j4]
[i11]
[c6]
[i6]
73
Bowen Wen
[c18]
[i25]
74
Brian C. Williams
[i16]
75
Karl Van Wyk
[c13]
[i18]
76
Jiaxu Xing
[i32]
77
Danfei Xu
[i33]
[c20]
[c14]
[i19]
[i17]
78
Wei Yang
0019
[j6]
[d1]
79
Xuning Yang
[i31]
80
Zhutian Yang
[c21]
[i27]
[c12]
[i15]
81
Raymond Yu
[i34]
82
Jesse Zhang
[c22]
[i34]
83
Zihan Zhou
[i29]
[c19]
[i26]
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