{"id":"https://openalex.org/W1528650983","doi":"https://doi.org/10.1109/icra.2015.7139646","title":"Plan execution monitoring through detection of unmet expectations about action outcomes","display_name":"Plan execution monitoring through detection of unmet expectations about action outcomes","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1528650983","doi":"https://doi.org/10.1109/icra.2015.7139646","mag":"1528650983"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5101932450","display_name":"Juan Pablo Mendoza","orcid":"https://orcid.org/0000-0002-7002-7415"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Juan Pablo Mendoza","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088276691","display_name":"Manuela Veloso","orcid":"https://orcid.org/0000-0001-6738-238X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manuela Veloso","raw_affiliation_strings":["Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, USA","Computer Science Department, Carnegie Mellon University,#N#Pittsburgh, PA 15213, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Computer Science Department, Carnegie Mellon University,#N#Pittsburgh, PA 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064960456","display_name":"Reid Simmons","orcid":"https://orcid.org/0000-0003-3153-0453"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reid Simmons","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101932450"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":2.2241,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.8996434,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3247","last_page":"3252"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9983999729156494,"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"}},"topics":[{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9983999729156494,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9926000237464905,"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/T12205","display_name":"Time Series Analysis and Forecasting","score":0.9743000268936157,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/outcome","display_name":"Outcome (game theory)","score":0.8194625377655029},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7121293544769287},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6351428627967834},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6031737923622131},{"id":"https://openalex.org/keywords/interception","display_name":"Interception","score":0.5801262855529785},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.553235650062561},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5296818017959595},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5193504095077515},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5091974139213562},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4812473952770233},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45350977778434753},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13521966338157654}],"concepts":[{"id":"https://openalex.org/C148220186","wikidata":"https://www.wikidata.org/wiki/Q7111912","display_name":"Outcome (game theory)","level":2,"score":0.8194625377655029},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7121293544769287},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6351428627967834},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6031737923622131},{"id":"https://openalex.org/C61270487","wikidata":"https://www.wikidata.org/wiki/Q476843","display_name":"Interception","level":2,"score":0.5801262855529785},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.553235650062561},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5296818017959595},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5193504095077515},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5091974139213562},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4812473952770233},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45350977778434753},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13521966338157654},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"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/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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":5,"locations":[{"id":"doi:10.1109/icra.2015.7139646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.cmu.edu:compsci-3799","is_oa":false,"landing_page_url":"http://repository.cmu.edu/compsci/2769","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Computer Science Department","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6608423","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.696.6727","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.696.6727","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/%7Ejmendoza/papers/jpmendoza_icra15.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.698.9757","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.698.9757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/%7Emmv/papers/15icra-MendozaVelosoSimmons.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1520214770","https://openalex.org/W1577352482","https://openalex.org/W1997269367","https://openalex.org/W2002151188","https://openalex.org/W2065227239","https://openalex.org/W2105510466","https://openalex.org/W2106766971","https://openalex.org/W2107726111","https://openalex.org/W2117629901","https://openalex.org/W2122646361","https://openalex.org/W2147209811","https://openalex.org/W2155027007","https://openalex.org/W2160279936","https://openalex.org/W2214453509","https://openalex.org/W6675810184","https://openalex.org/W6681433076","https://openalex.org/W6683204974","https://openalex.org/W6683508713","https://openalex.org/W6688012210"],"related_works":["https://openalex.org/W3195930518","https://openalex.org/W2062865444","https://openalex.org/W2364281429","https://openalex.org/W2056722352","https://openalex.org/W2152932590","https://openalex.org/W2362011097","https://openalex.org/W2359338200","https://openalex.org/W2611086060","https://openalex.org/W2377182954","https://openalex.org/W4233688364"],"abstract_inverted_index":{"Modeling":[0],"the":[1,7,10,41,45,57,66,74,93,104,121,136,143,154,163,174,178,188],"effects":[2],"of":[3,9,48,76,87,120,142,148,157,191,199,209],"actions":[4],"based":[5,116],"on":[6,117,187],"state":[8],"world":[11,67,105,122,180],"enables":[12],"robots":[13],"to":[14,26,103,107,172,176,203,205],"make":[15,170],"intelligent":[16],"decisions":[17],"in":[18,71,95,152],"different":[19],"situations.":[20],"However,":[21],"it":[22],"is":[23,33,124],"often":[24,34,69],"infeasible":[25],"have":[27],"globally":[28],"accurate":[29],"models.":[30],"Task":[31],"performance":[32,198],"hindered":[35],"by":[36],"discrepancies":[37,78],"between":[38],"models":[39],"and":[40,99,130],"real":[42,179],"world,":[43,144],"since":[44],"true":[46],"outcome":[47,59,156],"executing":[49],"a":[50,118,149,158],"plan":[51,159],"may":[52,168],"be":[53],"significantly":[54,161],"worse":[55],"than":[56],"expected":[58],"used":[60],"during":[61],"planning.":[62],"Furthermore,":[63],"expectations":[64],"about":[65],"are":[68,114],"stochastic":[70],"robotics,":[72],"making":[73,100],"discovery":[75],"model-world":[77],"non-trivial.":[79],"We":[80,183],"present":[81],"an":[82],"execution":[83],"monitoring":[84],"framework":[85],"capable":[86],"finding":[88],"statistically":[89],"significant":[90],"discrepancies,":[91],"determining":[92],"situations":[94],"which":[96,153],"they":[97],"occur,":[98],"simple":[101],"corrections":[102],"model":[106,119,175],"improve":[108],"performance.":[109,215],"In":[110],"our":[111],"approach,":[112],"plans":[113],"initially":[115],"that":[123,211],"only":[125],"as":[126,128,146],"faithful":[127],"computational":[129],"algorithmic":[131],"limitations":[132],"allow.":[133],"Through":[134],"experience,":[135],"monitor":[137,167,195],"discovers":[138],"previously":[139],"unmodeled":[140],"modes":[141,208],"defined":[145],"regions":[147],"feature":[150],"space":[151],"experienced":[155],"deviates":[160],"from":[162],"predicted":[164],"outcome.":[165],"The":[166],"then":[169],"suggestions":[171],"change":[173],"match":[177],"more":[181],"accurately.":[182],"demonstrate":[184],"this":[185],"approach":[186],"adversarial":[189],"domain":[190],"robot":[192],"soccer:":[193],"we":[194],"pass":[196],"interception":[197,214],"potentially":[200],"unknown":[201],"opponents":[202],"try":[204],"find":[206],"unforeseen":[207],"behavior":[210],"affect":[212],"their":[213]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
