{"id":"https://openalex.org/W4221163832","doi":"https://doi.org/10.1109/icra46639.2022.9812328","title":"Synergistic Scheduling of Learning and Allocation of Tasks in Human-Robot Teams","display_name":"Synergistic Scheduling of Learning and Allocation of Tasks in Human-Robot Teams","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4221163832","doi":"https://doi.org/10.1109/icra46639.2022.9812328"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812328","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/2203.07478","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072029596","display_name":"Shivam Vats","orcid":null},"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":"Shivam Vats","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005091065","display_name":"Oliver Kroemer","orcid":"https://orcid.org/0000-0003-2007-3867"},"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":"Oliver Kroemer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087488647","display_name":"\u041c. \u0410. Likhachev","orcid":"https://orcid.org/0000-0002-4225-9884"},"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":"Maxim Likhachev","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5072029596"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.01875994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2789","last_page":"2795"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.37470000982284546,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.37470000982284546,"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":0.18709999322891235,"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/T12288","display_name":"Optimization and Search Problems","score":0.0892999991774559,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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":0.6994126439094543},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6840237379074097},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5708572864532471},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.4959157407283783},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.47782444953918457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4695604145526886},{"id":"https://openalex.org/keywords/scheduling","display_name":"Scheduling (production processes)","score":0.46181049942970276},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.43030327558517456},{"id":"https://openalex.org/keywords/delegate","display_name":"Delegate","score":0.4234042465686798},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3986748158931732},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13568171858787537},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10379022359848022},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09890419244766235}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6994126439094543},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6840237379074097},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5708572864532471},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.4959157407283783},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.47782444953918457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4695604145526886},{"id":"https://openalex.org/C206729178","wikidata":"https://www.wikidata.org/wiki/Q2271896","display_name":"Scheduling (production processes)","level":2,"score":0.46181049942970276},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.43030327558517456},{"id":"https://openalex.org/C143273055","wikidata":"https://www.wikidata.org/wiki/Q2382794","display_name":"Delegate","level":2,"score":0.4234042465686798},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3986748158931732},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13568171858787537},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10379022359848022},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09890419244766235},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra46639.2022.9812328","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812328","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:2203.07478","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.07478","pdf_url":"https://arxiv.org/pdf/2203.07478","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2203.07478","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2203.07478","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2203.07478","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.07478","pdf_url":"https://arxiv.org/pdf/2203.07478","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2637195115","display_name":null,"funder_award_id":"4-18-1-","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G5537051941","display_name":null,"funder_award_id":"N00014-18-1-2775","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G5769538083","display_name":null,"funder_award_id":"W911NF-18-2-0218","funder_id":"https://openalex.org/F4320308476","funder_display_name":"Association of Research Libraries"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320308476","display_name":"Association of Research Libraries","ror":"https://ror.org/053mpbz30"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4221163832.pdf","grobid_xml":"https://content.openalex.org/works/W4221163832.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W47895304","https://openalex.org/W1969074599","https://openalex.org/W1972063518","https://openalex.org/W1972742795","https://openalex.org/W1986014385","https://openalex.org/W2010042055","https://openalex.org/W2055053339","https://openalex.org/W2069287462","https://openalex.org/W2078158966","https://openalex.org/W2109910161","https://openalex.org/W2115584484","https://openalex.org/W2131797004","https://openalex.org/W2154018708","https://openalex.org/W2484064447","https://openalex.org/W2487255954","https://openalex.org/W2570416094","https://openalex.org/W2586616796","https://openalex.org/W2994446013","https://openalex.org/W3003852841","https://openalex.org/W4211133235","https://openalex.org/W4239127760","https://openalex.org/W4298293062","https://openalex.org/W6637129513","https://openalex.org/W6688576433","https://openalex.org/W6712173889","https://openalex.org/W6732610712","https://openalex.org/W6764969207","https://openalex.org/W6786593165","https://openalex.org/W6800973767"],"related_works":["https://openalex.org/W881173","https://openalex.org/W1333158","https://openalex.org/W251746","https://openalex.org/W603151","https://openalex.org/W14584687","https://openalex.org/W921565","https://openalex.org/W620890","https://openalex.org/W1198659","https://openalex.org/W14398778","https://openalex.org/W16010572"],"abstract_inverted_index":{"We":[0,69,141],"consider":[1],"the":[2,43,49,64,77,84,102,113,146,168,179,190],"problem":[3,75,121,147],"of":[4,8,51,170,178],"completing":[5],"a":[6,14,24,53,73,96,124,149,183],"set":[7],"<tex":[9,131],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[10,132],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$n$</tex>":[11,133],"tasks":[12,38,61,83,91,101,115,180],"with":[13,116,130,161],"human-robot":[15],"team":[16],"using":[17,158],"minimum":[18,117],"effort.":[19,118,215],"In":[20],"many":[21,37,59],"domains,":[22],"teaching":[23,52],"robot":[25,54,65,85,103],"to":[26,39,47,66,80,95,110,181],"be":[27,31,40,93,105,155],"fully":[28],"autonomous":[29],"can":[30,154],"counterproductive":[32],"if":[33],"there":[34],"are":[35],"finitely":[36],"done.":[41],"Rather,":[42],"optimal":[44],"strategy":[45],"is":[46,79,187],"weigh":[48],"cost":[50],"and":[55,99,201,208],"its":[56],"benefit-":[57],"how":[58],"new":[60],"it":[62],"allows":[63],"solve":[67],"autonomously.":[68],"formulate":[70],"this":[71,143],"as":[72,109],"planning":[74,120],"where":[76],"goal":[78],"decide":[81],"what":[82,90,100],"should":[86,92,104],"do":[87],"autonomously":[88],"(act),":[89],"delegated":[94],"human":[97,214],"(delegate)":[98],"taught":[106],"(learn)":[107],"so":[108],"complete":[111],"all":[112],"given":[114],"This":[119],"results":[122],"in":[123,206,213],"search":[125,138],"tree":[126],"that":[127,153,186],"grows":[128],"expo-nentially":[129],"-":[134],"making":[135],"standard":[136],"graph":[137],"algorithms":[139],"intractable.":[140],"address":[142],"by":[144,189],"converting":[145],"into":[148],"mixed":[150],"integer":[151],"program":[152],"solved":[156],"efficiently":[157],"off-the-shelf":[159],"solvers":[160],"bounds":[162],"on":[163,198],"solution":[164],"quality.":[165],"To":[166],"predict":[167],"benefit":[169],"learning,":[171],"we":[172,194],"use":[173],"an":[174],"approximate":[175],"simulation":[176,207],"model":[177,185],"train":[182],"precondition":[184],"parameterized":[188],"training":[191],"task.":[192],"Finally,":[193],"evaluate":[195],"our":[196],"approach":[197],"peg":[199],"insertion":[200],"Lego":[202],"stacking":[203],"tasks-":[204],"both":[205],"real-world,":[209],"showing":[210],"substantial":[211],"savings":[212]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2022-04-03T00:00:00"}