{"id":"https://openalex.org/W3112437495","doi":"https://doi.org/10.1109/icdl-epirob48136.2020.9278084","title":"From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues","display_name":"From human action understanding to robot action execution: how the physical properties of handled objects modulate non-verbal cues","publication_year":2020,"publication_date":"2020-10-26","ids":{"openalex":"https://openalex.org/W3112437495","doi":"https://doi.org/10.1109/icdl-epirob48136.2020.9278084","mag":"3112437495"},"language":"en","primary_location":{"id":"doi:10.1109/icdl-epirob48136.2020.9278084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icdl-epirob48136.2020.9278084","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 Joint IEEE 10th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/284673","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022643625","display_name":"Nuno Ferreira Duarte","orcid":"https://orcid.org/0000-0002-1396-6774"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nuno Ferreira Duarte","raw_affiliation_strings":["Vislab Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vislab Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048630321","display_name":"Konstantinos Chatzilygeroudis","orcid":"https://orcid.org/0000-0003-3585-1027"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Konstantinos Chatzilygeroudis","raw_affiliation_strings":["LASA, Swiss Federal Institute of Technology, Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASA, Swiss Federal Institute of Technology, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037378255","display_name":"Jos\u00e9 Santos-Victor","orcid":"https://orcid.org/0000-0002-9036-1728"},"institutions":[{"id":"https://openalex.org/I141596103","display_name":"University of Lisbon","ror":"https://ror.org/01c27hj86","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jose Santos-Victor","raw_affiliation_strings":["Vislab Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vislab Institute for Systems and Robotics, Instituto Superior T\u00e9cnico, Universidade de Lisboa, Portugal","institution_ids":["https://openalex.org/I141596103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["LASA, Swiss Federal Institute of Technology, Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASA, Swiss Federal Institute of Technology, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T11431","display_name":"Action Observation and Synchronization","score":0.9991999864578247,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9952999949455261,"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/computer-science","display_name":"Computer science","score":0.7618044018745422},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.611190676689148},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5943233966827393},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5860458612442017},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5068369507789612},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.4946601092815399},{"id":"https://openalex.org/keywords/action-selection","display_name":"Action selection","score":0.45441991090774536},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.44802340865135193},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42358678579330444},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4170338213443756},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3436047434806824},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.25596725940704346},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.18013566732406616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09773164987564087}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7618044018745422},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.611190676689148},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5943233966827393},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5860458612442017},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5068369507789612},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.4946601092815399},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.45441991090774536},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.44802340865135193},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42358678579330444},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4170338213443756},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3436047434806824},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.25596725940704346},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.18013566732406616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09773164987564087},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icdl-epirob48136.2020.9278084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icdl-epirob48136.2020.9278084","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 Joint IEEE 10th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:284673","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/284673","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:284673","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/284673","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G4279572081","display_name":null,"funder_award_id":"643950,H2020,741945-SAHR,ERC-H2020","funder_id":"https://openalex.org/F4320338463","funder_display_name":"CHIST-ERA"},{"id":"https://openalex.org/G6652190306","display_name":"Collaborative object recognition, shared manipulation and learning","funder_award_id":"ANR-18-CHR3-0006","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320314628","display_name":"Society for Army Historical Research","ror":null},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320338463","display_name":"CHIST-ERA","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1999657641","https://openalex.org/W2009767082","https://openalex.org/W2047824624","https://openalex.org/W2050176043","https://openalex.org/W2085790391","https://openalex.org/W2095436958","https://openalex.org/W2118391904","https://openalex.org/W2128428510","https://openalex.org/W2129202194","https://openalex.org/W2130090625","https://openalex.org/W2135036523","https://openalex.org/W2149173366","https://openalex.org/W2215238295","https://openalex.org/W2234739997","https://openalex.org/W2274524839","https://openalex.org/W2344282382","https://openalex.org/W2500440871","https://openalex.org/W2569141289","https://openalex.org/W2786544172","https://openalex.org/W2792021648","https://openalex.org/W2796334795","https://openalex.org/W2799280697","https://openalex.org/W2884100062","https://openalex.org/W2913919845","https://openalex.org/W2962745199","https://openalex.org/W2986174787","https://openalex.org/W3012483743","https://openalex.org/W3099484381","https://openalex.org/W3106073779","https://openalex.org/W4256093082"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2737719445","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W2064245428","https://openalex.org/W2674584172","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"Humans":[0],"manage":[1],"to":[2,20,41,48,108,143],"communicate":[3],"action":[4,106,110],"intentions":[5],"in":[6,155],"a":[7,23,27,63,129,133],"non-verbal":[8,29],"way,":[9],"through":[10],"body":[11],"posture":[12],"and":[13,115,123,158],"movement.":[14,100],"We":[15,54,77,101],"start":[16],"from":[17,105],"this":[18],"observation":[19],"investigate":[21],"how":[22],"robot":[24,109],"can":[25],"decode":[26],"human's":[28],"cues":[30],"during":[31,151],"the":[32,43,59,83,91,97,103,120,125,146,156,166],"manipulation":[33],"of":[34,46,58,68,75,85,93,149,165],"an":[35,86,113],"object,":[36],"with":[37,72,112,132],"specific":[38],"physical":[39],"properties,":[40],"learn":[42],"adequate":[44],"level":[45],"\u201ccarefulness\u201d":[47,147],"use":[49],"when":[50],"handling":[51],"that":[52,89,139,161],"object.":[53],"construct":[55],"dynamical":[56],"models":[57,81],"human":[60,98],"behaviour":[61,148],"using":[62],"human-to-human":[64],"handover":[65],"dataset":[66],"consisting":[67],"3":[69],"different":[70,73],"cups":[71],"levels":[74],"fillings.":[76],"then":[78],"included":[79],"these":[80],"into":[82],"design":[84],"online":[87],"classifier":[88],"identifies":[90],"type":[92],"action,":[94],"based":[95,118],"on":[96,119,128],"wrist":[99],"close":[102],"loop":[104],"understanding":[107],"execution":[111],"adaptive":[114],"robust":[116],"controller":[117],"learned":[121],"classifier,":[122],"evaluate":[124],"entire":[126],"pipeline":[127],"collaborative":[130],"task":[131],"7-DOF":[134],"manipulator.":[135],"Our":[136],"results":[137],"show":[138],"it":[140],"is":[141],"possible":[142],"correctly":[144],"understand":[145],"humans":[150],"object":[152],"manipulation,":[153],"even":[154],"pick":[157],"place":[159],"scenario,":[160],"was":[162],"not":[163],"part":[164],"training":[167],"set.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}