{"id":"https://openalex.org/W4410297473","doi":"https://doi.org/10.1109/hri61500.2025.10974248","title":"NatSGLD: A Dataset with Speech, Gesture, Logic, and Demonstration for Robot Learning in Natural Human-Robot Interaction","display_name":"NatSGLD: A Dataset with Speech, Gesture, Logic, and Demonstration for Robot Learning in Natural Human-Robot Interaction","publication_year":2025,"publication_date":"2025-03-04","ids":{"openalex":"https://openalex.org/W4410297473","doi":"https://doi.org/10.1109/hri61500.2025.10974248"},"language":"en","primary_location":{"id":"doi:10.1109/hri61500.2025.10974248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hri61500.2025.10974248","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":"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/A5087584355","display_name":"Snehesh Shrestha","orcid":"https://orcid.org/0000-0002-1234-157X"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Snehesh Shrestha","raw_affiliation_strings":["University of Maryland,College Park,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018802311","display_name":"Yan Zha","orcid":"https://orcid.org/0000-0002-8713-1665"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yantian Zha","raw_affiliation_strings":["University of Maryland,College Park,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094077369","display_name":"Saketh Banagiri","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Saketh Banagiri","raw_affiliation_strings":["University of Maryland,College Park,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055694167","display_name":"Ge Gao","orcid":"https://orcid.org/0000-0003-3328-2879"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ge Gao","raw_affiliation_strings":["University of Maryland,College Park,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036912867","display_name":"Yiannis Aloimonos","orcid":"https://orcid.org/0000-0002-8152-4281"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiannis Aloimonos","raw_affiliation_strings":["University of Maryland,College Park,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105899355","display_name":"Cornelia Ferm\u00fcller","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cornelia Ferm\u00fcller","raw_affiliation_strings":["University of Maryland,College Park,USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland,College Park,USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5087584355"],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":1.2604,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.78901897,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1093","last_page":"1098"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9176999926567078,"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":0.9176999926567078,"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/T10181","display_name":"Natural Language Processing Techniques","score":0.9144999980926514,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9067999720573425,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.7132282257080078},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7097160816192627},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6661341786384583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6404111981391907},{"id":"https://openalex.org/keywords/natural","display_name":"Natural (archaeology)","score":0.6282793283462524},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5245882868766785},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49153169989585876},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.4224301874637604},{"id":"https://openalex.org/keywords/speech-recognition","display_name":"Speech recognition","score":0.41417139768600464}],"concepts":[{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.7132282257080078},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7097160816192627},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6661341786384583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6404111981391907},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.6282793283462524},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5245882868766785},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49153169989585876},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.4224301874637604},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.41417139768600464},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/hri61500.2025.10974248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hri61500.2025.10974248","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":[{"id":"https://openalex.org/G5078468750","display_name":null,"funder_award_id":"2020624","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2537963312","https://openalex.org/W2066003895","https://openalex.org/W2537762514","https://openalex.org/W2020277666","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W2955859849","https://openalex.org/W2963761716"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,150],"multimodal":[3,96,142,154],"Human-Robot":[4],"Interaction":[5],"(HRI)":[6],"datasets":[7,26],"emphasize":[8],"the":[9,69,120,133,167,172],"integration":[10],"of":[11,78,119,135],"speech":[12],"and":[13,21,35,60,99,107,137,144,159,169],"gestures,":[14],"allowing":[15],"robots":[16,55],"to":[17,40,56,90],"absorb":[18],"explicit":[19],"knowledge":[20],"tacit":[22],"understanding.":[23],"However,":[24],"existing":[25],"primarily":[27],"focus":[28],"on":[29,53],"elementary":[30],"tasks":[31,59],"like":[32],"object":[33],"pointing":[34],"pushing,":[36],"limiting":[37],"their":[38],"applicability":[39],"complex":[41],"domains.":[42],"They":[43],"prioritize":[44],"simpler":[45],"human":[46],"command":[47],"data":[48],"but":[49],"place":[50],"less":[51],"emphasis":[52],"training":[54],"correctly":[57],"interpret":[58],"respond":[61],"appropriately.":[62],"To":[63],"address":[64],"these":[65],"gaps,":[66],"we":[67],"present":[68],"NatSGLD":[70,93,147],"dataset,":[71],"which":[72],"was":[73],"collected":[74],"using":[75],"a":[76,86,104,108,116,127],"Wizard":[77],"Oz":[79],"(WoZ)":[80],"method,":[81],"where":[82],"participants":[83],"interacted":[84],"with":[85,103],"robot":[87],"they":[88],"believed":[89],"be":[91],"autonomous.":[92],"records":[94],"humans'":[95],"commands":[97],"(speech":[98],"gestures),":[100],"each":[101],"paired":[102],"demonstration":[105],"trajectory":[106],"Linear":[109],"Temporal":[110],"Logic":[111],"(LTL)":[112],"formula":[113],"that":[114],"provides":[115],"ground-truth":[117],"interpretation":[118],"commanded":[121],"tasks.":[122],"This":[123],"dataset":[124,168],"serves":[125],"as":[126,153],"foundational":[128],"resource":[129],"for":[130],"research":[131],"at":[132,175],"intersection":[134],"HRI":[136,179],"machine":[138],"learning.":[139],"By":[140],"providing":[141],"inputs":[143],"detailed":[145],"annotations,":[146],"enables":[148],"exploration":[149],"areas":[151],"such":[152],"instruction":[155],"following,":[156],"plan":[157],"recognition,":[158],"human-advisable":[160],"reinforcement":[161],"learning":[162],"from":[163],"demonstrations.":[164],"We":[165],"release":[166],"code":[170],"under":[171],"MIT":[173],"License":[174],"https://www.snehesh.com/natsgld/to":[176],"support":[177],"future":[178],"research.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
