{"id":"https://openalex.org/W4221153486","doi":"https://doi.org/10.1109/icra46639.2022.9812298","title":"Let's Collaborate: Regret-based Reactive Synthesis for Robotic Manipulation","display_name":"Let's Collaborate: Regret-based Reactive Synthesis for Robotic Manipulation","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4221153486","doi":"https://doi.org/10.1109/icra46639.2022.9812298"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812298","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2203.06861","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026970709","display_name":"Karan Muvvala","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Karan Muvvala","raw_affiliation_strings":["University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA"],"affiliations":[{"raw_affiliation_string":"University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089979458","display_name":"Peter Amorese","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Amorese","raw_affiliation_strings":["University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA"],"affiliations":[{"raw_affiliation_string":"University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069564559","display_name":"Morteza Lahijanian","orcid":"https://orcid.org/0000-0001-7549-4365"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Morteza Lahijanian","raw_affiliation_strings":["University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA"],"affiliations":[{"raw_affiliation_string":"University of Colorado,department of Aerospace Engineering Sciences,Boulder,CO,USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026970709"],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03336113,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4340","last_page":"4346"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.4372999966144562,"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"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.4372999966144562,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.19349999725818634,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.08839999884366989,"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/regret","display_name":"Regret","score":0.9651803970336914},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7023534178733826},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6265415549278259},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.616290807723999},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.5624919533729553},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.5515460968017578},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4783339500427246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4676370620727539},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1944093108177185},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18132731318473816},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09442764520645142}],"concepts":[{"id":"https://openalex.org/C50817715","wikidata":"https://www.wikidata.org/wiki/Q79895177","display_name":"Regret","level":2,"score":0.9651803970336914},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7023534178733826},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6265415549278259},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.616290807723999},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.5624919533729553},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.5515460968017578},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4783339500427246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4676370620727539},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1944093108177185},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18132731318473816},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09442764520645142},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra46639.2022.9812298","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812298","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2203.06861","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.06861","pdf_url":"https://arxiv.org/pdf/2203.06861","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2203.06861","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2203.06861","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2203.06861","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.06861","pdf_url":"https://arxiv.org/pdf/2203.06861","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3594199162","display_name":null,"funder_award_id":"80NSSC21K1031","funder_id":"https://openalex.org/F4320332538","funder_display_name":"University of Colorado Boulder"}],"funders":[{"id":"https://openalex.org/F4320332538","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4221153486.pdf","grobid_xml":"https://content.openalex.org/works/W4221153486.grobid-xml"},"referenced_works_count":18,"referenced_works":["https://openalex.org/W1563854815","https://openalex.org/W1700264732","https://openalex.org/W1821211846","https://openalex.org/W1964007137","https://openalex.org/W2045811332","https://openalex.org/W2146330258","https://openalex.org/W2151958719","https://openalex.org/W2228988277","https://openalex.org/W2775497185","https://openalex.org/W2906634895","https://openalex.org/W2964263597","https://openalex.org/W4288956373","https://openalex.org/W6675509861","https://openalex.org/W6736209634","https://openalex.org/W6745630456","https://openalex.org/W6787408865","https://openalex.org/W6789870773","https://openalex.org/W6802780098"],"related_works":["https://openalex.org/W620890","https://openalex.org/W11551684","https://openalex.org/W14584687","https://openalex.org/W13550320","https://openalex.org/W11975486","https://openalex.org/W7430954","https://openalex.org/W4958369","https://openalex.org/W13640490","https://openalex.org/W18216745","https://openalex.org/W18046786"],"abstract_inverted_index":{"As":[0],"robots":[1],"gain":[2],"capabilities":[3],"to":[4,68,75,108],"enter":[5],"our":[6,123],"humancentric":[7],"world,":[8],"they":[9],"require":[10,32],"formalism":[11],"and":[12,17,44,99],"algorithms":[13],"that":[14,30,50,72,104],"enable":[15],"smart":[16],"efficient":[18],"interactions.":[19],"This":[20],"is":[21,73],"challenging,":[22],"especially":[23],"for":[24,47,97],"robotic":[25],"manipulators":[26],"with":[27,34],"complex":[28],"tasks":[29],"may":[31],"collaboration":[33],"humans.":[35],"Prior":[36],"works":[37],"approach":[38],"this":[39,60,81],"problem":[40,86],"through":[41],"reactive":[42],"synthesis":[43,102],"generate":[45],"strategies":[46],"the":[48,76,85,88,106,120],"robot":[49,71,107],"guarantee":[51],"task":[52,115],"completion":[53,116],"by":[54,83],"assuming":[55],"an":[56,69,94],"adversarial":[57],"human.":[58],"While":[59],"assumption":[61,82],"gives":[62],"a":[63],"sound":[64],"solution,":[65],"it":[66],"leads":[67],"\u201cunfriendly\u201d":[70],"agnostic":[74],"human":[77],"intentions.":[78],"We":[79,92,118],"relax":[80],"formulating":[84],"using":[87],"notion":[89],"of":[90,122],"regret.":[91],"identify":[93],"appropriate":[95],"definition":[96],"regret":[98],"develop":[100],"regret-minimizing":[101],"framework":[103,124],"enables":[105],"seek":[109],"cooperation":[110],"when":[111],"possible":[112],"while":[113],"preserving":[114],"guarantees.":[117],"illus-trate":[119],"efficacy":[121],"via":[125],"various":[126],"case":[127],"studies.":[128]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2022-04-03T00:00:00"}
