{"id":"https://openalex.org/W4410297722","doi":"https://doi.org/10.1109/hri61500.2025.10973863","title":"Capabilities2 for ROS2: Advanced Skill-Based Control for Human-Robot Interaction","display_name":"Capabilities2 for ROS2: Advanced Skill-Based Control for Human-Robot Interaction","publication_year":2025,"publication_date":"2025-03-04","ids":{"openalex":"https://openalex.org/W4410297722","doi":"https://doi.org/10.1109/hri61500.2025.10973863"},"language":"en","primary_location":{"id":"doi:10.1109/hri61500.2025.10973863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hri61500.2025.10973863","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5036955676","display_name":"Michael Pritchard","orcid":"https://orcid.org/0000-0003-2980-008X"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Michael Pritchard","raw_affiliation_strings":["University of Canberra,Collaborative Robotics Laboratory, Faculty of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Canberra,Collaborative Robotics Laboratory, Faculty of Science and Technology","institution_ids":["https://openalex.org/I188329596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103987532","display_name":"Kalana Ratnayake","orcid":null},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kalana Ratnayake","raw_affiliation_strings":["University of Canberra,Collaborative Robotics Laboratory, Faculty of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Canberra,Collaborative Robotics Laboratory, Faculty of Science and Technology","institution_ids":["https://openalex.org/I188329596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054810124","display_name":"Buddhi Gamage","orcid":"https://orcid.org/0009-0009-4588-4800"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Buddhi Gamage","raw_affiliation_strings":["University of Canberra,Collaborative Robotics Laboratory, Faculty of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Canberra,Collaborative Robotics Laboratory, Faculty of Science and Technology","institution_ids":["https://openalex.org/I188329596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061233956","display_name":"Maleen Jayasuriya","orcid":"https://orcid.org/0000-0002-9455-5001"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Maleen Jayasuriya","raw_affiliation_strings":["University of Canberra,Collaborative Robotics Laboratory, Faculty of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Canberra,Collaborative Robotics Laboratory, Faculty of Science and Technology","institution_ids":["https://openalex.org/I188329596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003252250","display_name":"Damith Herath","orcid":"https://orcid.org/0000-0002-7509-5265"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Damith Herath","raw_affiliation_strings":["University of Canberra,Collaborative Robotics Laboratory, Faculty of Science and Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Canberra,Collaborative Robotics Laboratory, Faculty of Science and Technology","institution_ids":["https://openalex.org/I188329596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I188329596"],"apc_list":null,"apc_paid":null,"fwci":6.7748,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.95662229,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1067","last_page":"1071"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.7990999817848206,"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"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.7990999817848206,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.7912999987602234,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.7441999912261963,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6452600359916687},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6165997385978699},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.575675368309021},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5736898183822632},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5613617897033691},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4375643730163574},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33672499656677246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26329392194747925}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6452600359916687},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6165997385978699},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.575675368309021},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5736898183822632},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5613617897033691},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4375643730163574},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33672499656677246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26329392194747925}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/hri61500.2025.10973863","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hri61500.2025.10973863","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 20th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320992","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2978665606","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W2171912896","https://openalex.org/W4366547574","https://openalex.org/W189465620","https://openalex.org/W4366818884"],"abstract_inverted_index":{"In":[0],"the":[1,5,21,24,28,49,61,71,111,174,193,196,222],"early":[2],"days":[3],"of":[4,23,113,195,209,224],"Open":[6],"Source":[7],"Robotics":[8],"Foundation,":[9],"a":[10,34,41,58,83,104,141,167],"lesser-known":[11],"project":[12],"aimed":[13],"to":[14,20,60,178,202,231],"design":[15,73],"an":[16,130,134],"\u201capp-able":[17],"robot\u201d,":[18],"leading":[19],"creation":[22],"\u201cCapabilities\u201d":[25],"package":[26,198],"for":[27,67,88,137,144,161,182],"Robot":[29],"Operating":[30],"System":[31],"(ROS).":[32],"Over":[33],"decade":[35],"later,":[36],"formulating":[37],"robot":[38,92],"capabilities":[39],"remains":[40],"significant":[42],"technical":[43],"hurdle":[44],"in":[45,77,99,117,123,199],"bringing":[46],"robots":[47,116,127],"from":[48],"lab":[50],"into":[51,96],"everyday":[52],"life.":[53],"This":[54],"paper":[55],"introduces":[56],"Capabilities2,":[57],"successor":[59],"original":[62,72],"Capabilities":[63,197],"package,":[64],"now":[65],"reimagined":[66],"ROS2.":[68],"Capabilities2":[69,120,172,219,239],"enhances":[70],"by":[74,128,214,226],"enabling":[75],"advancements":[76],"skill-based":[78,162],"control":[79],"techniques":[80,160],"and":[81,90,110,140,155,188,207,236],"offering":[82],"more":[84,233],"efficient,":[85],"extensible":[86],"framework":[87],"defining":[89],"utilising":[91],"capabilities.":[93],"We":[94,216],"delve":[95],"its":[97],"application":[98],"new":[100,210],"real-world":[101,183],"scenarios,":[102,184],"with":[103,157,229],"particular":[105],"focus":[106],"on":[107],"human-robot":[108],"interactions":[109],"deployment":[112],"collaborative":[114,126],"mobile":[115],"human-centric":[118],"environments.":[119],"addresses":[121],"challenges":[122],"implementing":[124],"intuitive,":[125],"introducing":[129],"abstracted":[131],"database":[132],"handler,":[133],"object-relational":[135],"mapping":[136],"capability":[138,145,151],"models,":[139],"plugin":[142],"architecture":[143],"execution.":[146],"These":[147],"features":[148],"support":[149,203],"dynamic":[150],"representation,":[152],"runtime":[153],"adaptability,":[154],"integration":[156,175],"modern":[158],"AI":[159],"task":[163],"planning.":[164],"By":[165],"providing":[166],"standardised":[168],"yet":[169],"flexible":[170],"framework,":[171],"reduces":[173],"effort":[176],"required":[177],"develop":[179],"top-level":[180],"controls":[181],"facilitating":[185],"rapid":[186],"development":[187],"deployment.":[189],"Our":[190],"contributions":[191],"include":[192],"reimplementation":[194],"ROS2,":[200],"enhancements":[201],"contemporary":[204],"robotic":[205],"applications,":[206],"demonstrations":[208],"use":[211],"cases":[212],"enabled":[213],"Capabilities2.":[215],"believe":[217],"that":[218],"significantly":[220],"advances":[221],"field":[223],"robotics":[225],"equipping":[227],"developers":[228],"tools":[230],"create":[232],"capable,":[234],"adaptable,":[235],"interactive":[237],"robots.":[238],"is":[240],"available":[241],"at":[242],"https://github.com/CollaborativeRoboticsLab/capabilities2":[243]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}