{"id":"https://openalex.org/W2964333534","doi":"https://doi.org/10.1109/icra.2017.7989155","title":"Plan explicability and predictability for robot task planning","display_name":"Plan explicability and predictability for robot task planning","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2964333534","doi":"https://doi.org/10.1109/icra.2017.7989155","mag":"2964333534"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989155","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5100433691","display_name":"Yu Zhang","orcid":"https://orcid.org/0000-0003-1100-4835"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yu Zhang","raw_affiliation_strings":["Computer Science and Engineering Department, Arizona State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, Arizona State University","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028325441","display_name":"Sarath Sreedharan","orcid":"https://orcid.org/0000-0002-2299-0178"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sarath Sreedharan","raw_affiliation_strings":["Computer Science and Engineering Department, Arizona State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, Arizona State University","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020208493","display_name":"Anagha Kulkarni","orcid":"https://orcid.org/0000-0002-1442-9153"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anagha Kulkarni","raw_affiliation_strings":["Computer Science and Engineering Department, Arizona State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, Arizona State University","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003213012","display_name":"Tathagata\ufeff Chakraborti","orcid":"https://orcid.org/0000-0003-2905-5454"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tathagata Chakraborti","raw_affiliation_strings":["Computer Science and Engineering Department, Arizona State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, Arizona State University","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017811036","display_name":"Hankz Hankui Zhuo","orcid":"https://orcid.org/0000-0002-3396-2578"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]}],"countries":["CN","FR"],"is_corresponding":false,"raw_author_name":"Hankz Hankui Zhuo","raw_affiliation_strings":["Computer Science Department, Sun Yat-sen University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, Sun Yat-sen University","institution_ids":["https://openalex.org/I157773358","https://openalex.org/I4210156583"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023323170","display_name":"Subbarao Kambhampati","orcid":"https://orcid.org/0000-0002-9069-0265"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Subbarao Kambhampati","raw_affiliation_strings":["Computer Science and Engineering Department, Arizona State University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering Department, Arizona State University","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":136,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1313","last_page":"1320"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9994999766349792,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9994999766349792,"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":0.9952999949455261,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9869999885559082,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/predictability","display_name":"Predictability","score":0.8159619569778442},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.7051374316215515},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6847045421600342},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6633223295211792},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5913879871368408},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3578328788280487},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28165119886398315},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1366559863090515},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.1341019570827484},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06045413017272949}],"concepts":[{"id":"https://openalex.org/C197640229","wikidata":"https://www.wikidata.org/wiki/Q2534066","display_name":"Predictability","level":2,"score":0.8159619569778442},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.7051374316215515},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6847045421600342},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6633223295211792},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5913879871368408},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3578328788280487},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28165119886398315},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1366559863090515},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.1341019570827484},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06045413017272949},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"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/icra.2017.7989155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989155","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W94200858","https://openalex.org/W1497716120","https://openalex.org/W1545688112","https://openalex.org/W1572384134","https://openalex.org/W1981791873","https://openalex.org/W1986014385","https://openalex.org/W1999874108","https://openalex.org/W2004669996","https://openalex.org/W2011375074","https://openalex.org/W2018112208","https://openalex.org/W2046213647","https://openalex.org/W2053410861","https://openalex.org/W2065804258","https://openalex.org/W2084856978","https://openalex.org/W2097679245","https://openalex.org/W2099019320","https://openalex.org/W2104980847","https://openalex.org/W2107530627","https://openalex.org/W2118911116","https://openalex.org/W2119709400","https://openalex.org/W2130766754","https://openalex.org/W2147880316","https://openalex.org/W2149280200","https://openalex.org/W2161103575","https://openalex.org/W2170403483","https://openalex.org/W2202016973","https://openalex.org/W2395585410","https://openalex.org/W2402351328","https://openalex.org/W3217467301","https://openalex.org/W4205882492","https://openalex.org/W6603855062","https://openalex.org/W6632776922","https://openalex.org/W6674706655","https://openalex.org/W6675616309","https://openalex.org/W6677503784","https://openalex.org/W6677844798","https://openalex.org/W6679568601","https://openalex.org/W6682082992","https://openalex.org/W6682328223","https://openalex.org/W6713352284"],"related_works":["https://openalex.org/W2726467123","https://openalex.org/W2064726690","https://openalex.org/W4252678288","https://openalex.org/W4254065731","https://openalex.org/W1607297154","https://openalex.org/W4210820789","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"Intelligent":[0],"robots":[1,81],"and":[2,36,89,117,179,199,210],"machines":[3],"are":[4,196],"becoming":[5],"pervasive":[6],"in":[7,46,86],"human":[8],"populated":[9],"environments.":[10],"A":[11],"desirable":[12],"capability":[13],"of":[14,114,151,219],"these":[15,121],"agents":[16,44,52,187],"is":[17,59,97],"to":[18,20,41,53,62,170,175,188,201,215],"respond":[19],"goal-oriented":[21],"commands":[22],"by":[23,70,131,186],"autonomously":[24],"constructing":[25],"task":[26,104],"plans.":[27],"However,":[28],"such":[29,51],"autonomy":[30],"can":[31,66,139,183],"add":[32],"significant":[33],"cognitive":[34],"load":[35],"potentially":[37],"introduce":[38,111],"safety":[39],"risks":[40],"humans":[42,85,127,152],"when":[43],"behave":[45],"unexpected":[47],"ways.":[48],"Hence,":[49],"for":[50,60,101,153],"be":[54,67,140,184],"helpful,":[55],"one":[56],"important":[57],"requirement":[58],"them":[61],"synthesize":[63,193],"plans":[64,130,155,194],"that":[65,77,82,91,126,195],"easily":[68],"understood":[69],"humans.":[71,202],"While":[72],"there":[73,96],"exists":[74],"previous":[75],"work":[76,90],"studied":[78],"socially":[79],"acceptable":[80],"interact":[83],"with":[84,135,211],"\u201cnatural":[87],"ways\u201d,":[88],"investigated":[92],"legible":[93],"motion":[94],"planning,":[95],"no":[98],"general":[99],"solution":[100],"high":[102],"level":[103],"planning.":[105],"To":[106,119],"address":[107],"this":[108],"issue,":[109],"we":[110,124,165],"the":[112,148,167,217],"notions":[113],"plan":[115,174],"explicability":[116,178],"predictability.":[118,180],"compute":[120,176],"measures,":[122],"first,":[123],"postulate":[125],"understand":[128],"agent":[129,136,154],"associating":[132],"abstract":[133],"tasks":[134],"actions,":[137],"which":[138],"considered":[141],"as":[142],"a":[143,172,207,212],"labeling":[144,149],"process.":[145],"We":[146,203],"learn":[147],"scheme":[150],"from":[156],"training":[157],"examples":[158],"using":[159],"conditional":[160],"random":[161],"fields":[162],"(CRFs).":[163],"Then,":[164],"use":[166],"learned":[168],"model":[169],"label":[171],"new":[173],"its":[177],"These":[181],"measures":[182],"used":[185],"proactively":[189],"choose":[190],"or":[191],"directly":[192],"more":[197],"explicable":[198],"predictable":[200],"provide":[204],"evaluations":[205],"on":[206],"synthetic":[208],"domain":[209],"physical":[213],"robot":[214],"demonstrate":[216],"effectiveness":[218],"our":[220],"approach.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":28},{"year":2020,"cited_by_count":26},{"year":2019,"cited_by_count":24},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}