{"id":"https://openalex.org/W3179213596","doi":"https://doi.org/10.1145/3461781","title":"The Perceptual Belief Problem","display_name":"The Perceptual Belief Problem","publication_year":2021,"publication_date":"2021-07-11","ids":{"openalex":"https://openalex.org/W3179213596","doi":"https://doi.org/10.1145/3461781","mag":"3179213596"},"language":"en","primary_location":{"id":"doi:10.1145/3461781","doi":"https://doi.org/10.1145/3461781","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3461781","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3461781","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-c","cwts-core","dongbi-c","jufo-1","norway-1","poland-20","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3461781","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071084962","display_name":"Sam Thellman","orcid":"https://orcid.org/0000-0003-0098-5391","observed_orcids":["https://orcid.org/0000-0003-0098-5391"]},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Sam Thellman","raw_affiliation_strings":["Link\u00f6ping University, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Link\u00f6ping University, Sweden","institution_ids":["https://openalex.org/I102134673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001467069","display_name":"Tom Ziemke","orcid":"https://orcid.org/0000-0001-6883-2450","observed_orcids":["https://orcid.org/0000-0001-6883-2450"]},"institutions":[{"id":"https://openalex.org/I102134673","display_name":"Link\u00f6ping University","ror":"https://ror.org/05ynxx418","country_code":"SE","type":"education","lineage":["https://openalex.org/I102134673"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Tom Ziemke","raw_affiliation_strings":["Link\u00f6ping University, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Link\u00f6ping University, Sweden","institution_ids":["https://openalex.org/I102134673"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102134673"],"apc_list":null,"apc_paid":null,"fwci":4.8794,"has_fulltext":true,"cited_by_count":45,"citation_normalized_percentile":{"value":0.95455412,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":92,"max":99},"biblio":{"volume":"10","issue":"3","first_page":"1","last_page":"15"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10656","display_name":"Child and Animal Learning Development","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/3204","display_name":"Developmental and Educational Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.0,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/social-robotics","display_name":"social robotics","score":0.828000009059906},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.9599999785423279},{"id":"https://openalex.org/keywords/robot-perception","display_name":"robot perception","score":0.7250000238418579},{"id":"https://openalex.org/keywords/robot-cognition","display_name":"robot cognition","score":0.6639999747276306}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8192721605300903},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.799512505531311},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6298597455024719},{"id":"https://openalex.org/C143299363","wikidata":"https://www.wikidata.org/wiki/Q900584","display_name":"Attribution","level":2,"score":0.5796142220497131},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.5116239190101624},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.508155345916748},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4627755880355835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4530446529388428},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.4226214587688446},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.4194068908691406},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.40210503339767456},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.33110326528549194},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.20232295989990234},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.1575632095336914},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14445939660072327},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3461781","doi":"https://doi.org/10.1145/3461781","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3461781","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3461781","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-c","cwts-core","dongbi-c","jufo-1","norway-1","poland-20","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1145/3461781","doi":"https://doi.org/10.1145/3461781","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3461781","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3461781","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["ccf-c","cwts-core","dongbi-c","jufo-1","norway-1","poland-20","russia-white-list-1"],"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F1565793694","display_name":"Excellence Center at Link\u00f6ping \u2013 Lund in Information Technology","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3179213596.pdf","grobid_xml":"https://content.openalex.org/works/W3179213596.grobid-xml"},"referenced_works_count":70,"referenced_works":["https://openalex.org/W78855793","https://openalex.org/W1487719657","https://openalex.org/W1529681538","https://openalex.org/W1556096785","https://openalex.org/W1729704137","https://openalex.org/W1751198022","https://openalex.org/W1926556870","https://openalex.org/W1932591154","https://openalex.org/W1965514675","https://openalex.org/W1977655452","https://openalex.org/W1983423649","https://openalex.org/W1990114866","https://openalex.org/W1992793549","https://openalex.org/W2000179327","https://openalex.org/W2003651602","https://openalex.org/W2010060754","https://openalex.org/W2018372581","https://openalex.org/W2021641437","https://openalex.org/W2044663075","https://openalex.org/W2047057997","https://openalex.org/W2063029295","https://openalex.org/W2068398201","https://openalex.org/W2090966258","https://openalex.org/W2093410327","https://openalex.org/W2107530627","https://openalex.org/W2107849249","https://openalex.org/W2110930288","https://openalex.org/W2112065758","https://openalex.org/W2114550714","https://openalex.org/W2117707250","https://openalex.org/W2135907989","https://openalex.org/W2139188400","https://openalex.org/W2149234824","https://openalex.org/W2156311465","https://openalex.org/W2161565097","https://openalex.org/W2164558494","https://openalex.org/W2288655165","https://openalex.org/W2321972046","https://openalex.org/W2322070845","https://openalex.org/W2397253692","https://openalex.org/W2469390141","https://openalex.org/W2555647367","https://openalex.org/W2593061933","https://openalex.org/W2597001495","https://openalex.org/W2617211984","https://openalex.org/W2623660146","https://openalex.org/W2670253439","https://openalex.org/W2766038777","https://openalex.org/W2769132883","https://openalex.org/W2772522814","https://openalex.org/W2785101712","https://openalex.org/W2787690100","https://openalex.org/W2789934304","https://openalex.org/W2791083121","https://openalex.org/W2792409171","https://openalex.org/W2811094992","https://openalex.org/W2883171104","https://openalex.org/W2885800163","https://openalex.org/W2908535562","https://openalex.org/W2922896969","https://openalex.org/W2932564453","https://openalex.org/W2936359656","https://openalex.org/W2957053536","https://openalex.org/W2964333534","https://openalex.org/W3089569316","https://openalex.org/W3103355015","https://openalex.org/W4231966580","https://openalex.org/W4233208858","https://openalex.org/W4252582630","https://openalex.org/W4290377501"],"related_works":["https://openalex.org/W3089569316","https://openalex.org/W3014662300","https://openalex.org/W3014319327","https://openalex.org/W4298128178","https://openalex.org/W2792409171","https://openalex.org/W4402393519","https://openalex.org/W3114272062","https://openalex.org/W3096826169","https://openalex.org/W4388624051","https://openalex.org/W3014372482"],"abstract_inverted_index":{"The":[0,69,112],"explainability":[1],"of":[2,37,47,94,127,164,175],"robotic":[3],"systems":[4,36],"depends":[5],"on":[6,30],"people\u2019s":[7],"ability":[8],"to":[9,14,71,91,101,107,123,130,133,160,186,194],"reliably":[10],"attribute":[11],"perceptual":[12,35,128,177],"beliefs":[13,129],"robots,":[15],"i.e.,":[16],"what":[17,73,141],"robots":[18,38,131,142],"know":[19,143],"(or":[20],"believe)":[21],"about":[22,81,103,144],"objects":[23,104,145],"and":[24,63,96,146,166,178,190],"events":[25,108,147],"in":[26,66,109,148],"the":[27,34,45,82,110,149,195],"world":[28],"based":[29],"their":[31],"perception.":[32],"However,":[33],"are":[39],"not":[40,79],"necessarily":[41],"well":[42],"understood":[43],"by":[44,115],"majority":[46],"people":[48,88,139,168],"interacting":[49],"with":[50,87],"them.":[51],"In":[52],"this":[53,58,153,188],"article,":[54],"we":[55,155],"explain":[56],"why":[57,167],"is":[59,132,158],"a":[60,74,92,183],"significant,":[61],"difficult,":[62],"unique":[64],"problem":[65],"social":[67,116],"robotics.":[68],"inability":[70],"judge":[72],"robot":[75],"knows":[76],"(and":[77],"does":[78],"know)":[80],"physical":[83],"environment":[84],"it":[85,157],"shares":[86],"gives":[89],"rise":[90],"host":[93],"communicative":[95],"interactive":[97],"issues,":[98],"including":[99],"difficulties":[100],"communicate":[102],"or":[105,119,171],"adapt":[106],"environment.":[111,150],"challenge":[113],"faced":[114],"robotics":[117],"researchers":[118],"designers":[120],"who":[121],"want":[122],"facilitate":[124],"appropriate":[125],"attributions":[126],"shape":[134],"human\u2013robot":[135],"interactions":[136],"so":[137],"that":[138],"understand":[140],"To":[151],"meet":[152],"challenge,":[154],"argue,":[156],"necessary":[159],"advance":[161],"our":[162],"knowledge":[163],"when":[165],"form":[169],"incorrect":[170],"inadequate":[172],"mental":[173],"models":[174],"robots\u2019":[176],"cognitive":[179],"mechanisms.":[180],"We":[181],"outline":[182],"general":[184],"approach":[185],"studying":[187],"empirically":[189],"discuss":[191],"potential":[192],"solutions":[193],"problem.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2021-07-19T00:00:00"}