{"id":"https://openalex.org/W3196840597","doi":"https://doi.org/10.1007/s10514-021-10008-7","title":"Affordance-based robot object retrieval","display_name":"Affordance-based robot object retrieval","publication_year":2021,"publication_date":"2021-08-30","ids":{"openalex":"https://openalex.org/W3196840597","doi":"https://doi.org/10.1007/s10514-021-10008-7","mag":"3196840597"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-021-10008-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-021-10008-7","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"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/A5102926742","display_name":"Thao Nguyen","orcid":"https://orcid.org/0000-0002-5016-2230"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Thao Nguyen","raw_affiliation_strings":["Brown University, Providence, USA"],"raw_orcid":"https://orcid.org/0000-0002-5016-2230","affiliations":[{"raw_affiliation_string":"Brown University, Providence, USA","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089421543","display_name":"Nakul Gopalan","orcid":"https://orcid.org/0000-0002-6947-5501"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nakul Gopalan","raw_affiliation_strings":["Brown University, Providence, USA","Georgia Institute of Technology, Atlanta, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University, Providence, USA","institution_ids":["https://openalex.org/I27804330"]},{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042032005","display_name":"Roma Patel","orcid":"https://orcid.org/0000-0003-2075-2560"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roma Patel","raw_affiliation_strings":["Brown University, Providence, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University, Providence, USA","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063912971","display_name":"Matt Corsaro","orcid":null},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matt Corsaro","raw_affiliation_strings":["Brown University, Providence, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University, Providence, USA","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053850863","display_name":"Ellie Pavlick","orcid":"https://orcid.org/0000-0002-7155-5420"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ellie Pavlick","raw_affiliation_strings":["Brown University, Providence, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University, Providence, USA","institution_ids":["https://openalex.org/I27804330"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059273574","display_name":"Stefanie Tellex","orcid":"https://orcid.org/0000-0002-2905-4075"},"institutions":[{"id":"https://openalex.org/I27804330","display_name":"Brown University","ror":"https://ror.org/05gq02987","country_code":"US","type":"education","lineage":["https://openalex.org/I27804330"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefanie Tellex","raw_affiliation_strings":["Brown University, Providence, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Brown University, Providence, USA","institution_ids":["https://openalex.org/I27804330"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102926742"],"corresponding_institution_ids":["https://openalex.org/I27804330"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":0.4711,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.64364343,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"46","issue":"1","first_page":"83","last_page":"98"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.996999979019165,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9901999831199646,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/computer-science","display_name":"Computer science","score":0.864019513130188},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7419032454490662},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6651710271835327},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5219928026199341},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.5193377733230591},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.46483397483825684},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4466884732246399},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4130019545555115}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.864019513130188},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7419032454490662},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6651710271835327},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5219928026199341},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.5193377733230591},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.46483397483825684},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4466884732246399},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4130019545555115},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10514-021-10008-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-021-10008-7","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.8100000023841858}],"awards":[{"id":"https://openalex.org/G4141654143","display_name":"THE AIM OF THIS PROPOSAL IS TO TEST THE HYPOTHESIS THAT A SYSTEM CAN INCREASE SPEED AND ACCURACY AT INFERRING HUMAN INTENTIONS AND INCREASE THE NUMBER OF ROBOTS A SINGLE ASTRONAUT CAN SUPERVISE BY INFERRING A PERSON'S MENTAL STATE FROM THEIR LANGUAGE UTTERANCES  ACTIVELY ASKING QUESTIONS WHEN IT IS CONFUSED  DRIVEN BY A FORMAL MODEL OF HRI THAT LEARNS A HIERARCHICAL REPRESENTATION FOR PLANNING UNDER UNCERTAINTY  CALLED THE HUMAN-ROBOT COLLABORATIVE POMDP. THIS INFERENCE WILL ENABLE A PERSON TO EFFECTIVELY COMMUNICATE COMPLEX REQUIREMENTS AND TASKS CONSTRAINTS TO THE PERSON AT VERY ABSTRACT LEVELS (E.G.  ``INSPECT THE ISS'') AND AT VERY SPECIFIC LEVELS (E.G.  ``MOVE LEFT SIX INCHES '') AS WELL AS ASKING TARGETED QUESTIONS AT DIFFERENT LEVELS OF ABSTRACTION (E.G.  ``DO YOU MEAN THE PHILIPS SCREWDRIVER OR THE FLAT HEAD?''). THE END GOAL OF THIS PROPOSAL IS TO ACHIEVE SEAMLESS HUMAN-ROBOT COOPERATION ON COMPLEX TASKS  APPROACHING THE EASE AND ACCURACY OF HUMAN-HUMAN COLLABORATION. HUMANS COMMUNICATING WITH OTHER HUMANS USING LANGUAGE TO EXPRESS VERY ABSTRACT GOALS AS WELL AS VERY LOW-LEVEL CONCRETE COMMANDS. THIS USE OF LANGUAGE ENABLES HIGH LEVELS OF AUTONOMY BUT ALSO SUPPORTS FLEXIBLE AND FLUID CORRECTIONS AND REPLANNING. ROBOTS THAT CAN USE FLUID LANGUAGE AT MULTIPLE LEVELS OF ABSTRACTION CAN FLEXIBLY RESPOND TO A PERSON'S REQUESTS. THE ULTIMATE IMPACT IS A WORLD WHERE ROBOTS ACTIVELY INTERPRET A PERSON'S INSTRUCTIONS  ASKING QUESTIONS WHEN THEY ARE CONFUSED  AND ASKING FOR HELP WHEN THEY ENCOUNTER A PROBLEM. THIS PROPOSAL WILL ASSESS PERFORMANCE USING TWO TASKS: NATURAL LANGUAGE CONTROL OF AN AR DRONE UAV (AS A MODEL FOR ASTROBEE) AND NATURAL LANGUAGE-BASED COLLABORATIVE ASSEMBLY USING BAXTER (AS A MODEL FOR ROBONAUT). THESE TASKS WILL ASSESS THE ABILITY OF THE FRAMEWORK TO FACILITATE IMPROVED HUMAN-ROBOT COLLABORATION USING LANGUAGE-BASED INTERFACES AND DECISION-THEORETIC PLANNING.","funder_award_id":"NNX16AR61G","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W1514535095","https://openalex.org/W1524405667","https://openalex.org/W1580568969","https://openalex.org/W1861492603","https://openalex.org/W1895577753","https://openalex.org/W1900424585","https://openalex.org/W1975879668","https://openalex.org/W2070148066","https://openalex.org/W2110485445","https://openalex.org/W2117539524","https://openalex.org/W2186283982","https://openalex.org/W2194775991","https://openalex.org/W2250539671","https://openalex.org/W2604468927","https://openalex.org/W2736923367","https://openalex.org/W2803801244","https://openalex.org/W2946948417","https://openalex.org/W2950178297","https://openalex.org/W2950577311","https://openalex.org/W2962706528","https://openalex.org/W2962716343","https://openalex.org/W2962984928","https://openalex.org/W2963150697","https://openalex.org/W2963244312","https://openalex.org/W2963735856","https://openalex.org/W2964078384","https://openalex.org/W2964195418","https://openalex.org/W2964207259","https://openalex.org/W3003575346","https://openalex.org/W3037369911"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2737719445","https://openalex.org/W3171631314","https://openalex.org/W2110944602","https://openalex.org/W3213722473","https://openalex.org/W2732813147","https://openalex.org/W2143460112","https://openalex.org/W4226226396","https://openalex.org/W3153750606","https://openalex.org/W4308854837"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}