{"id":"https://openalex.org/W2409715576","doi":"https://doi.org/10.1109/icra.2016.7487760","title":"Autonomously constructing hierarchical task networks for planning and human-robot collaboration","display_name":"Autonomously constructing hierarchical task networks for planning and human-robot collaboration","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2409715576","doi":"https://doi.org/10.1109/icra.2016.7487760","mag":"2409715576"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5034950112","display_name":"Bradley Hayes","orcid":"https://orcid.org/0000-0002-0723-1085"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bradley Hayes","raw_affiliation_strings":["Department of Computer Science, Yale University, New Haven, CT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027635705","display_name":"Brian Scassellati","orcid":"https://orcid.org/0000-0002-7671-7759"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brian Scassellati","raw_affiliation_strings":["Yale University, New Haven, CT, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yale University, New Haven, CT, US","institution_ids":["https://openalex.org/I32971472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I32971472"],"apc_list":null,"apc_paid":null,"fwci":12.3303,"has_fulltext":false,"cited_by_count":96,"citation_normalized_percentile":{"value":0.99618608,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5469","last_page":"5476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9980999827384949,"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":0.9980999827384949,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9955000281333923,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9786999821662903,"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/computer-science","display_name":"Computer science","score":0.7794508934020996},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7505007982254028},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7234222292900085},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6790940761566162},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.6282541751861572},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5972439050674438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5319984555244446},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5246018171310425},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.46162939071655273},{"id":"https://openalex.org/keywords/graphical-model","display_name":"Graphical model","score":0.44384145736694336},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36636701226234436},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0913190245628357}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7794508934020996},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7505007982254028},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7234222292900085},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6790940761566162},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.6282541751861572},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5972439050674438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5319984555244446},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5246018171310425},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.46162939071655273},{"id":"https://openalex.org/C155846161","wikidata":"https://www.wikidata.org/wiki/Q1143367","display_name":"Graphical model","level":2,"score":0.44384145736694336},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36636701226234436},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0913190245628357},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W59183349","https://openalex.org/W87187586","https://openalex.org/W125130877","https://openalex.org/W1485742133","https://openalex.org/W1524157496","https://openalex.org/W1536990779","https://openalex.org/W1558068925","https://openalex.org/W1852202999","https://openalex.org/W1969897050","https://openalex.org/W1994442991","https://openalex.org/W1999874108","https://openalex.org/W2004669996","https://openalex.org/W2017611213","https://openalex.org/W2027669064","https://openalex.org/W2045225768","https://openalex.org/W2051722759","https://openalex.org/W2061562262","https://openalex.org/W2063471043","https://openalex.org/W2078158966","https://openalex.org/W2081034428","https://openalex.org/W2100988719","https://openalex.org/W2101767921","https://openalex.org/W2109910161","https://openalex.org/W2147357263","https://openalex.org/W2151645094","https://openalex.org/W2161252410","https://openalex.org/W2161874168","https://openalex.org/W2162227979","https://openalex.org/W2170370992","https://openalex.org/W2203521679","https://openalex.org/W2212535562","https://openalex.org/W2337392266","https://openalex.org/W2571329707","https://openalex.org/W4285719527","https://openalex.org/W6603590954","https://openalex.org/W6605075745","https://openalex.org/W6639173921","https://openalex.org/W6666542049","https://openalex.org/W6675301218"],"related_works":["https://openalex.org/W2032233321","https://openalex.org/W3121970507","https://openalex.org/W2110028391","https://openalex.org/W54497855","https://openalex.org/W2109986081","https://openalex.org/W217960748","https://openalex.org/W3125814499","https://openalex.org/W2090827041","https://openalex.org/W2776613281","https://openalex.org/W2967461658"],"abstract_inverted_index":{"Collaboration":[0],"between":[1],"humans":[2],"and":[3,18,122],"robots":[4],"requires":[5],"solutions":[6,25],"to":[7,102,110],"an":[8,58],"array":[9],"of":[10,28,47,80,90,106,130],"challenging":[11],"problems,":[12],"including":[13],"multi-agent":[14],"planning,":[15],"state":[16],"estimation,":[17],"goal":[19,119],"inference.":[20],"There":[21],"already":[22],"exist":[23],"feasible":[24],"for":[26,60],"many":[27],"these":[29],"challenges,":[30],"but":[31],"they":[32],"depend":[33],"upon":[34],"having":[35],"rich":[36],"task":[37,70,82,121],"models.":[38],"In":[39],"this":[40],"work":[41,85],"we":[42,51],"detail":[43],"a":[44,53,103,117,123],"novel":[45],"type":[46,89],"Hierarchical":[48],"Task":[49],"Network":[50],"call":[52],"Clique/Chain":[54],"HTN":[55],"(CC-HTN),":[56],"alongside":[57],"algorithm":[59],"autonomously":[61],"constructing":[62],"them":[63],"from":[64,68],"topological":[65],"properties":[66],"derived":[67],"graphical":[69],"representations.":[71],"As":[72],"the":[73,78,81,128],"presented":[74],"method":[75],"relies":[76],"on":[77],"structure":[79],"itself,":[83],"our":[84,131],"imposes":[86],"no":[87],"particular":[88],"symbolic":[91],"insight":[92],"into":[93],"motor":[94],"primitives":[95],"or":[96],"environmental":[97],"representation,":[98],"making":[99],"it":[100],"applicable":[101],"wide":[104],"variety":[105],"use":[107],"cases":[108],"critical":[109],"human-robot":[111],"interaction.":[112],"We":[113],"present":[114],"evaluations":[115],"within":[116],"multi-resolution":[118],"inference":[120],"transfer":[124],"learning":[125],"application":[126],"showing":[127],"utility":[129],"approach.":[132]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":8},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}