{"id":"https://openalex.org/W1531267695","doi":"https://doi.org/10.1109/icra.2015.7140065","title":"A framework for end-user instruction of a robot assistant for manufacturing","display_name":"A framework for end-user instruction of a robot assistant for manufacturing","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1531267695","doi":"https://doi.org/10.1109/icra.2015.7140065","mag":"1531267695"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7140065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140065","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":"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/A5047460426","display_name":"Kelleher Guerin","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kelleher R. Guerin","raw_affiliation_strings":["Dept. of Computer Science, Johns Hopkins University, Baltimore, MD, USA","Department of Computer Science, Johns Hopkins University, Baltimore MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088537496","display_name":"Colin Lea","orcid":"https://orcid.org/0000-0001-7068-3351"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Colin Lea","raw_affiliation_strings":["Dept. of Computer Science, Johns Hopkins University, Baltimore, MD, USA","Department of Computer Science, Johns Hopkins University, Baltimore MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044926286","display_name":"Chris Paxton","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chris Paxton","raw_affiliation_strings":["Dept. of Computer Science, Johns Hopkins University, Baltimore, MD, USA","Department of Computer Science, Johns Hopkins University, Baltimore MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041383246","display_name":"Gregory D. Hager","orcid":"https://orcid.org/0000-0002-6662-9763"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory D. Hager","raw_affiliation_strings":["Dept. of Computer Science, Johns Hopkins University, Baltimore, MD, USA","Department of Computer Science, Johns Hopkins University, Baltimore MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore MD, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I145311948"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":99,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6167","last_page":"6174"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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":0.9984999895095825,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9976999759674072,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9944000244140625,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7407840490341187},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.7116408944129944},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6581448316574097},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.637809693813324},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.582493782043457},{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.516832172870636},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5072616934776306},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.4915851056575775},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4691808521747589},{"id":"https://openalex.org/keywords/smt-placement-equipment","display_name":"SMT placement equipment","score":0.4471988379955292},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.43439194560050964},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.4037987291812897},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.2627270817756653},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1981867551803589},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08998733758926392}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7407840490341187},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.7116408944129944},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6581448316574097},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.637809693813324},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.582493782043457},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.516832172870636},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5072616934776306},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.4915851056575775},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4691808521747589},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.4471988379955292},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.43439194560050964},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.4037987291812897},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.2627270817756653},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1981867551803589},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08998733758926392},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7140065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140065","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W193479296","https://openalex.org/W1487104801","https://openalex.org/W1524728167","https://openalex.org/W1954892588","https://openalex.org/W1967532588","https://openalex.org/W1994005705","https://openalex.org/W2014073163","https://openalex.org/W2017197542","https://openalex.org/W2037792107","https://openalex.org/W2062934826","https://openalex.org/W2063911805","https://openalex.org/W2080245757","https://openalex.org/W2083051008","https://openalex.org/W2084635560","https://openalex.org/W2097651961","https://openalex.org/W2117080661","https://openalex.org/W2159754437","https://openalex.org/W2171246729","https://openalex.org/W2337392266","https://openalex.org/W2554059504","https://openalex.org/W2901136733","https://openalex.org/W4232217679","https://openalex.org/W6671567704","https://openalex.org/W6730313217","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2770234245","https://openalex.org/W96612179","https://openalex.org/W4229499248","https://openalex.org/W2566006169","https://openalex.org/W1567818861","https://openalex.org/W2987774938","https://openalex.org/W4256492088","https://openalex.org/W2992534160","https://openalex.org/W1595058678","https://openalex.org/W3022812046"],"abstract_inverted_index":{"Small":[0],"Manufacturing":[1],"Entities":[2],"(SMEs)":[3],"have":[4,129],"not":[5,220],"incorporated":[6],"robotic":[7],"automation":[8],"as":[9,11,35,149],"readily":[10],"large":[12],"companies":[13],"due":[14],"to":[15,75,86,112,122,136,158],"rapidly":[16],"changing":[17],"product":[18],"lines,":[19],"complex":[20,191],"and":[21,24,40,47,79,110,119,125,177,179],"dexterous":[22],"tasks,":[23,106],"the":[25,36,63,70,143,171,203,225],"high":[26],"cost":[27],"of":[28,60,72,98,105,146,152,205],"start-up.":[29],"While":[30],"recent":[31],"low-cost":[32],"robots":[33,61],"such":[34],"Universal":[37],"Robots":[38],"UR5":[39],"Rethink":[41],"Robotics":[42],"Baxter":[43],"are":[44,156],"more":[45],"economical":[46],"feature":[48],"improved":[49],"programming":[50],"interfaces,":[51],"based":[52],"on":[53],"our":[54,206],"discussions":[55],"with":[56,183,222],"manufacturers":[57,93],"further":[58],"incorporation":[59],"into":[62],"manufacturing":[64],"work":[65],"flow":[66],"is":[67,85,107,120],"limited":[68],"by":[69],"ability":[71],"these":[73],"systems":[74],"generalize":[76],"across":[77],"tasks":[78],"handle":[80],"environmental":[81],"variation.":[82],"Our":[83],"goal":[84],"create":[87],"a":[88,96,102,147,150,190,197,214],"system":[89,144,207],"designed":[90],"for":[91,101,115,141,161,174],"small":[92],"that":[94,128,139,155,218],"contains":[95],"set":[97,151],"capabilities":[99,145],"useful":[100],"wide":[103],"range":[104],"both":[108],"powerful":[109],"easy":[111],"use,":[113],"allows":[114,140],"perceptually":[116],"grounded":[117],"actions,":[118],"able":[121],"accumulate,":[123],"abstract,":[124],"reuse":[126],"plans":[127],"been":[130],"taught.":[131],"We":[132,165,187,200],"present":[133],"an":[134,159,209],"extension":[135],"Behavior":[137],"Trees":[138],"representing":[142],"robot":[148],"generalizable":[153],"operations":[154],"exposed":[157],"end-user":[160],"creating":[162],"task":[163,195,217],"plans.":[164],"implement":[166],"this":[167],"framework":[168],"in":[169,196,208],"CoSTAR,":[170],"Collaborative":[172],"System":[173],"Task":[175],"Automation":[176],"Recognition,":[178],"demonstrate":[180],"its":[181],"effectiveness":[182],"two":[184],"case":[185],"studies.":[186],"first":[188],"perform":[189],"tool-based":[192],"object":[193],"manipulation":[194],"laboratory":[198],"setting.":[199],"then":[201],"show":[202],"deployment":[204],"SME":[210],"where":[211],"we":[212],"automate":[213],"machine":[215],"tending":[216],"was":[219],"possible":[221],"current":[223],"off":[224],"shelf":[226],"robots.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
