{"id":"https://openalex.org/W7224667343","doi":"https://doi.org/10.1145/3860630","title":"CoFrame: A System for Training Novice Cobot Programmers","display_name":"CoFrame: A System for Training Novice Cobot Programmers","publication_year":2026,"publication_date":"2026-10-29","ids":{"openalex":"https://openalex.org/W7224667343","doi":"https://doi.org/10.1145/3860630"},"language":"en","primary_location":{"id":"doi:10.1145/3860630","doi":"https://doi.org/10.1145/3860630","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3860630","pdf_url":null,"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","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017750997","display_name":"Nathan Thomas White","orcid":"https://orcid.org/0009-0000-9414-9647","observed_orcids":["https://orcid.org/0009-0000-9414-9647"]},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nathan Thomas White","raw_affiliation_strings":["University of Wisconsin\u2014Madison, USA"],"raw_orcid":"https://orcid.org/0009-0000-9414-9647","affiliations":[{"raw_affiliation_string":"University of Wisconsin\u2014Madison, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087907210","display_name":"Andrew J. Schoen","orcid":"https://orcid.org/0000-0002-7273-9598","observed_orcids":["https://orcid.org/0000-0002-7273-9598"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andrew Schoen","raw_affiliation_strings":["Semio, USA"],"raw_orcid":"https://orcid.org/0000-0002-7273-9598","affiliations":[{"raw_affiliation_string":"Semio, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072384195","display_name":"Dakota Sullivan","orcid":"https://orcid.org/0000-0002-4901-6375","observed_orcids":["https://orcid.org/0000-0002-4901-6375"]},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dakota Sullivan","raw_affiliation_strings":["University of Wisconsin\u2014Madison, USA"],"raw_orcid":"https://orcid.org/0000-0002-4901-6375","affiliations":[{"raw_affiliation_string":"University of Wisconsin\u2014Madison, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017344436","display_name":"Bilge Mutlu","orcid":"https://orcid.org/0000-0002-9456-1495","observed_orcids":["https://orcid.org/0000-0002-9456-1495"]},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bilge Mutlu","raw_affiliation_strings":["University of Wisconsin\u2014Madison, USA"],"raw_orcid":"https://orcid.org/0000-0002-9456-1495","affiliations":[{"raw_affiliation_string":"University of Wisconsin\u2014Madison, USA","institution_ids":["https://openalex.org/I135310074"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.88306377,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.5479000210762024,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.5479000210762024,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.23579999804496765,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.1256999969482422,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collaborative-robots","display_name":"collaborative robots","score":0.9900000095367432},{"id":"https://openalex.org/keywords/novice-programmers","display_name":"novice programmers","score":0.8080000281333923},{"id":"https://openalex.org/keywords/expert-feedback","display_name":"expert feedback","score":0.5009999871253967},{"id":"https://openalex.org/keywords/troubleshooting","display_name":"troubleshooting","score":0.6000000238418579},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.6370000243186951},{"id":"https://openalex.org/keywords/user-perception","display_name":"user perception","score":0.43700000643730164}],"concepts":[{"id":"https://openalex.org/C147494362","wikidata":"https://www.wikidata.org/wiki/Q2078905","display_name":"Troubleshooting","level":2,"score":0.8913999795913696},{"id":"https://openalex.org/C58328972","wikidata":"https://www.wikidata.org/wiki/Q184609","display_name":"Expert system","level":2,"score":0.6759999990463257},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6462000012397766},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5751000046730042},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5306000113487244},{"id":"https://openalex.org/C105002631","wikidata":"https://www.wikidata.org/wiki/Q4833645","display_name":"Subject-matter expert","level":3,"score":0.5117999911308289},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5031999945640564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4715000092983246},{"id":"https://openalex.org/C56739046","wikidata":"https://www.wikidata.org/wiki/Q192060","display_name":"Knowledge management","level":1,"score":0.43070000410079956},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.42719998955726624},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.41929998993873596},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.41350001096725464},{"id":"https://openalex.org/C207685749","wikidata":"https://www.wikidata.org/wiki/Q2088941","display_name":"Domain knowledge","level":2,"score":0.33309999108314514},{"id":"https://openalex.org/C102600418","wikidata":"https://www.wikidata.org/wiki/Q6517507","display_name":"Legal expert system","level":3,"score":0.32260000705718994},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.3224000036716461},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.3151000142097473},{"id":"https://openalex.org/C195094911","wikidata":"https://www.wikidata.org/wiki/Q14167904","display_name":"Process management","level":1,"score":0.2874999940395355},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27469998598098755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2745000123977661},{"id":"https://openalex.org/C2777220311","wikidata":"https://www.wikidata.org/wiki/Q6423340","display_name":"Knowledge acquisition","level":2,"score":0.25949999690055847},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25099998712539673},{"id":"https://openalex.org/C110354214","wikidata":"https://www.wikidata.org/wiki/Q6314146","display_name":"Engineering management","level":1,"score":0.25}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3860630","doi":"https://doi.org/10.1145/3860630","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3860630","pdf_url":null,"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":null,"sustainable_development_goals":[{"display_name":"Quality education","id":"https://metadata.un.org/sdg/4","score":0.4253999888896942}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1965024948","https://openalex.org/W2007706151","https://openalex.org/W2065557762","https://openalex.org/W2084944215","https://openalex.org/W2086113803","https://openalex.org/W2473991657","https://openalex.org/W2565206647","https://openalex.org/W2569468675","https://openalex.org/W2748254095","https://openalex.org/W2788226937","https://openalex.org/W2922464707","https://openalex.org/W2944016037","https://openalex.org/W2954257014","https://openalex.org/W2957829502","https://openalex.org/W3033233354","https://openalex.org/W3039661552","https://openalex.org/W3045522824","https://openalex.org/W3112511644","https://openalex.org/W4399146400"],"related_works":["https://openalex.org/W3029326580","https://openalex.org/W4399146400","https://openalex.org/W4306747120","https://openalex.org/W2753279079","https://openalex.org/W3129076508","https://openalex.org/W4214936875","https://openalex.org/W2625665266","https://openalex.org/W3195304184","https://openalex.org/W4401888211","https://openalex.org/W4411671991"],"abstract_inverted_index":{"The":[0],"introduction":[1],"of":[2,54,89,102],"collaborative":[3,67,94],"robots":[4],"(cobots)":[5],"into":[6,72,114],"the":[7,28,41,59,73,93],"workplace":[8],"has":[9,24],"presented":[10],"both":[11],"opportunities":[12],"and":[13,40,75,109,118,121,130,139,146],"challenges":[14],"for":[15,148],"those":[16,38],"seeking":[17],"to":[18,51,79,142],"utilize":[19],"their":[20,144],"functionality.":[21],"Prior":[22],"research":[23],"shown":[25],"that":[26],"despite":[27],"capabilities":[29,39],"afforded":[30],"by":[31],"cobots,":[32],"there":[33],"is":[34],"a":[35,52,100,115],"disconnect":[36],"between":[37],"applications":[42],"in":[43,58,92],"which":[44],"they":[45,77],"are":[46],"currently":[47],"deployed,":[48],"partially":[49],"due":[50],"lack":[53],"effective":[55],"cobot-focused":[56],"instruction":[57],"field.":[60],"Experts":[61],"who":[62],"work":[63],"successfully":[64],"within":[65],"this":[66,83],"domain":[68],"could":[69],"offer":[70],"insight":[71],"considerations":[74],"processes":[76],"use":[78],"more":[80],"effectively":[81],"capture":[82],"cobot":[84],"capability.":[85],"Using":[86],"an":[87],"analysis":[88],"expert":[90,125,140],"insights":[91,108],"interaction":[95],"design":[96],"space,":[97],"we":[98],"developed":[99],"set":[101],"Expert":[103,112],"Frames":[104,113],"based":[105],"on":[106],"these":[107,111],"integrated":[110],"new":[116],"training":[117],"programming":[119],"system":[120,136],"evaluated":[122,134],"how":[123],"automated":[124],"feedback":[126],"supports":[127],"novice":[128,138],"troubleshooting":[129],"user":[131],"perception.":[132],"We":[133],"our":[135],"with":[137],"users":[141],"understand":[143],"experience":[145],"expectations":[147],"robot":[149],"programming.":[150]},"counts_by_year":[],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2026-10-30T00:00:00"}