{"id":"https://openalex.org/W3207842966","doi":"https://doi.org/10.1109/icra48506.2021.9561463","title":"Anytime Game-Theoretic Planning with Active Reasoning About Humans\u2019 Latent States for Human-Centered Robots","display_name":"Anytime Game-Theoretic Planning with Active Reasoning About Humans\u2019 Latent States for Human-Centered Robots","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207842966","doi":"https://doi.org/10.1109/icra48506.2021.9561463","mag":"3207842966"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561463","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5042029470","display_name":"Ran Tian","orcid":"https://orcid.org/0000-0002-5679-3666"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ran Tian","raw_affiliation_strings":["UC Berkeley"],"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087667477","display_name":"Liting Sun","orcid":"https://orcid.org/0000-0002-1248-2137"},"institutions":[{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liting Sun","raw_affiliation_strings":["UC Berkeley"],"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I134446601","display_name":"Berkeley College","ror":"https://ror.org/02xewxa75","country_code":"US","type":"education","lineage":["https://openalex.org/I134446601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["UC Berkeley"],"affiliations":[{"raw_affiliation_string":"UC Berkeley","institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063634505","display_name":"David Isele","orcid":"https://orcid.org/0000-0001-9749-6951"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"David Isele","raw_affiliation_strings":["Honda Research Institute"],"affiliations":[{"raw_affiliation_string":"Honda Research Institute","institution_ids":["https://openalex.org/I1283473643"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5042029470"],"corresponding_institution_ids":["https://openalex.org/I134446601","https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":2.7193,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.91892088,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4509","last_page":"4515"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9970999956130981,"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":0.9970999956130981,"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/T11303","display_name":"Bayesian Modeling and Causal Inference","score":0.9890000224113464,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9786999821662903,"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/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.7184615135192871},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.656130850315094},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6239986419677734},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6061273813247681},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.5398269295692444},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5134986042976379},{"id":"https://openalex.org/keywords/monte-carlo-tree-search","display_name":"Monte Carlo tree search","score":0.4843624532222748},{"id":"https://openalex.org/keywords/bounded-rationality","display_name":"Bounded rationality","score":0.47634175419807434},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41828057169914246},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.39255285263061523},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3652965724468231},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35063809156417847},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.2800061106681824},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.21561306715011597},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.20794245600700378},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11654612421989441}],"concepts":[{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.7184615135192871},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.656130850315094},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6239986419677734},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6061273813247681},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.5398269295692444},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5134986042976379},{"id":"https://openalex.org/C46149586","wikidata":"https://www.wikidata.org/wiki/Q11785332","display_name":"Monte Carlo tree search","level":3,"score":0.4843624532222748},{"id":"https://openalex.org/C58694771","wikidata":"https://www.wikidata.org/wiki/Q814385","display_name":"Bounded rationality","level":2,"score":0.47634175419807434},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41828057169914246},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.39255285263061523},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3652965724468231},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35063809156417847},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.2800061106681824},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.21561306715011597},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.20794245600700378},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11654612421989441},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561463","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":55,"referenced_works":["https://openalex.org/W88520345","https://openalex.org/W1532688806","https://openalex.org/W1592601589","https://openalex.org/W1605603185","https://openalex.org/W1679855469","https://openalex.org/W1966592092","https://openalex.org/W2025400977","https://openalex.org/W2032085216","https://openalex.org/W2041404167","https://openalex.org/W2046289784","https://openalex.org/W2051483500","https://openalex.org/W2061826561","https://openalex.org/W2067778155","https://openalex.org/W2089063495","https://openalex.org/W2098774185","https://openalex.org/W2099430963","https://openalex.org/W2114765979","https://openalex.org/W2120586058","https://openalex.org/W2130074778","https://openalex.org/W2140743373","https://openalex.org/W2144088174","https://openalex.org/W2171084228","https://openalex.org/W2197494948","https://openalex.org/W2264897026","https://openalex.org/W2341171179","https://openalex.org/W2411577903","https://openalex.org/W2565370028","https://openalex.org/W2749680651","https://openalex.org/W2886902312","https://openalex.org/W2887569897","https://openalex.org/W2904410128","https://openalex.org/W2962881537","https://openalex.org/W2966967618","https://openalex.org/W2969076652","https://openalex.org/W2978725006","https://openalex.org/W2990048843","https://openalex.org/W2990116160","https://openalex.org/W2991589230","https://openalex.org/W3010924072","https://openalex.org/W3012435612","https://openalex.org/W3045534626","https://openalex.org/W3105997285","https://openalex.org/W3122099321","https://openalex.org/W3124871979","https://openalex.org/W3174819736","https://openalex.org/W4232464081","https://openalex.org/W4236158019","https://openalex.org/W4237591687","https://openalex.org/W4250248097","https://openalex.org/W6631864160","https://openalex.org/W6674884181","https://openalex.org/W6681718981","https://openalex.org/W6684973485","https://openalex.org/W6754142564","https://openalex.org/W6786284742"],"related_works":["https://openalex.org/W2096013579","https://openalex.org/W1589140671","https://openalex.org/W1760611253","https://openalex.org/W52153049","https://openalex.org/W2951545791","https://openalex.org/W1515117609","https://openalex.org/W2160491016","https://openalex.org/W2294884454","https://openalex.org/W4323315247","https://openalex.org/W3169161914"],"abstract_inverted_index":{"A":[0],"human-centered":[1],"robot":[2,46,53],"needs":[3],"to":[4,17,54,72,100,110],"reason":[5,58],"about":[6,59],"the":[7],"cognitive":[8,64],"limitation":[9],"and":[10,39,56,68,90,105],"potential":[11],"irrationality":[12],"of":[13],"its":[14,60,74],"human":[15,61],"partner":[16],"achieve":[18],"seamless":[19],"interactions.":[20],"This":[21],"paper":[22],"proposes":[23],"an":[24,82,97],"anytime":[25],"game-theoretic":[26],"planner":[27,50,89],"that":[28],"integrates":[29],"iterative":[30],"reasoning":[31],"models,":[32],"a":[33,52,91],"partially":[34],"observable":[35],"Markov":[36],"decision":[37],"process,":[38],"chance-constrained":[40],"Monte-Carlo":[41],"belief":[42],"tree":[43],"search":[44],"for":[45],"behavioral":[47,88],"planning.":[48],"Our":[49],"enables":[51],"safely":[55],"actively":[57],"partner\u2019s":[62],"latent":[63],"states":[65],"(bounded":[66],"intelligence":[67],"irrationality)":[69],"in":[70,81],"real-time":[71],"maximize":[73],"utility":[75],"better.":[76],"We":[77],"validate":[78],"our":[79,87,112],"approach":[80],"autonomous":[83,98],"driving":[84],"domain":[85],"where":[86],"low-level":[92],"motion":[93],"controller":[94],"hierarchically":[95],"control":[96],"car":[99],"negotiate":[101],"traffic":[102],"merges.":[103],"Simulations":[104],"user":[106],"studies":[107],"are":[108],"conducted":[109],"show":[111],"planner\u2019s":[113],"effectiveness.":[114]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}