{"id":"https://openalex.org/W3141731000","doi":"https://doi.org/10.1109/icra48506.2021.9561649","title":"Two-Stage Clustering of Human Preferences for Action Prediction in Assembly Tasks","display_name":"Two-Stage Clustering of Human Preferences for Action Prediction in Assembly Tasks","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3141731000","doi":"https://doi.org/10.1109/icra48506.2021.9561649","mag":"3141731000"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561649","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.14994","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086173158","display_name":"Heramb Nemlekar","orcid":"https://orcid.org/0000-0002-6806-9704"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Heramb Nemlekar","raw_affiliation_strings":["University of Southern California, USA","University of Southern California , USA"],"affiliations":[{"raw_affiliation_string":"University of Southern California, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"University of Southern California , USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087317738","display_name":"Jignesh Modi","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jignesh Modi","raw_affiliation_strings":["University of Southern California, USA","University of Southern California , USA"],"affiliations":[{"raw_affiliation_string":"University of Southern California, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"University of Southern California , USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083094281","display_name":"Satyandra K. Gupta","orcid":"https://orcid.org/0000-0002-6025-7903"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Satyandra K. Gupta","raw_affiliation_strings":["University of Southern California, USA","University of Southern California , USA"],"affiliations":[{"raw_affiliation_string":"University of Southern California, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"University of Southern California , USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042344629","display_name":"Stefanos Nikolaidis","orcid":"https://orcid.org/0000-0002-8617-3871"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I2800817003","display_name":"Southern California University for Professional Studies","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefanos Nikolaidis","raw_affiliation_strings":["University of Southern California, USA","University  of Southern California"],"affiliations":[{"raw_affiliation_string":"University of Southern California, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"University  of Southern California","institution_ids":["https://openalex.org/I2800817003","https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5086173158"],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02989305,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3487","last_page":"3494"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976999759674072,"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":0.9976999759674072,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.991599977016449,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9800999760627747,"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/task","display_name":"Task (project management)","score":0.809822678565979},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6951597929000854},{"id":"https://openalex.org/keywords/preference","display_name":"Preference","score":0.6885025501251221},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6548736095428467},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.5850578546524048},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5739190578460693},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5493500232696533},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5198148488998413},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5131929516792297},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.477193683385849},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4412629008293152},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09242311120033264}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.809822678565979},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6951597929000854},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.6885025501251221},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6548736095428467},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.5850578546524048},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5739190578460693},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5493500232696533},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5198148488998413},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5131929516792297},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.477193683385849},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4412629008293152},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09242311120033264},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561649","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561649","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"},{"id":"pmh:oai:arXiv.org:2103.14994","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.14994","pdf_url":"https://arxiv.org/pdf/2103.14994","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":"mag:3141731000","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2103.14994v1","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2103.14994","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.14994","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:2103.14994","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.14994","pdf_url":"https://arxiv.org/pdf/2103.14994","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":[{"display_name":"Decent work and economic growth","score":0.5299999713897705,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3141731000.pdf","grobid_xml":"https://content.openalex.org/works/W3141731000.grobid-xml"},"referenced_works_count":67,"referenced_works":["https://openalex.org/W84087461","https://openalex.org/W116242717","https://openalex.org/W1502032972","https://openalex.org/W1511814458","https://openalex.org/W1593934207","https://openalex.org/W1599454686","https://openalex.org/W1918293079","https://openalex.org/W1977206840","https://openalex.org/W1986014385","https://openalex.org/W2001496424","https://openalex.org/W2014041072","https://openalex.org/W2041123911","https://openalex.org/W2071796842","https://openalex.org/W2085487226","https://openalex.org/W2098441518","https://openalex.org/W2138332801","https://openalex.org/W2143326696","https://openalex.org/W2152305624","https://openalex.org/W2156279557","https://openalex.org/W2159448193","https://openalex.org/W2222304150","https://openalex.org/W2296360731","https://openalex.org/W2322311313","https://openalex.org/W2323122434","https://openalex.org/W2408574227","https://openalex.org/W2411577903","https://openalex.org/W2463220900","https://openalex.org/W2581162235","https://openalex.org/W2586616796","https://openalex.org/W2588978360","https://openalex.org/W2593567964","https://openalex.org/W2612526027","https://openalex.org/W2735318784","https://openalex.org/W2736902602","https://openalex.org/W2738931638","https://openalex.org/W2743969469","https://openalex.org/W2746721413","https://openalex.org/W2749061957","https://openalex.org/W2761819867","https://openalex.org/W2808499238","https://openalex.org/W2909871484","https://openalex.org/W2945718358","https://openalex.org/W2949115740","https://openalex.org/W2962848549","https://openalex.org/W2963827721","https://openalex.org/W2964147651","https://openalex.org/W2964177756","https://openalex.org/W2969390511","https://openalex.org/W2994446013","https://openalex.org/W3022169065","https://openalex.org/W3037533353","https://openalex.org/W3091329210","https://openalex.org/W3105729849","https://openalex.org/W4229726131","https://openalex.org/W4235285100","https://openalex.org/W6603428831","https://openalex.org/W6604756166","https://openalex.org/W6630196062","https://openalex.org/W6635262810","https://openalex.org/W6640015858","https://openalex.org/W6674812091","https://openalex.org/W6732577236","https://openalex.org/W6743079169","https://openalex.org/W6753002939","https://openalex.org/W6756688881","https://openalex.org/W6766375498","https://openalex.org/W6785883622"],"related_works":["https://openalex.org/W3206733204","https://openalex.org/W3094376234","https://openalex.org/W2964931720","https://openalex.org/W2062580850","https://openalex.org/W1837766154","https://openalex.org/W2188972520","https://openalex.org/W3045138024","https://openalex.org/W2555139634","https://openalex.org/W3004361447","https://openalex.org/W3103898737","https://openalex.org/W2981322556","https://openalex.org/W2972732096","https://openalex.org/W253300205","https://openalex.org/W3091272913","https://openalex.org/W3175395689","https://openalex.org/W3132820704","https://openalex.org/W2013992509","https://openalex.org/W3134848574","https://openalex.org/W2243791308","https://openalex.org/W100115657"],"abstract_inverted_index":{"To":[0],"effectively":[1],"assist":[2],"human":[3,33,85,126],"workers":[4,34],"in":[5,18,67,113,143,151],"assembly":[6,99],"tasks":[7,37],"a":[8,75,114,152],"robot":[9],"must":[10],"proactively":[11],"offer":[12],"support":[13],"by":[14],"inferring":[15,81],"their":[16,41],"preferences":[17,31,48,83,112],"sequencing":[19],"the":[20,29,55,60,63,68,82,89,110,123,138],"task":[21,141],"actions.":[22,72,94],"Previous":[23],"work":[24],"has":[25],"focused":[26],"on":[27,40,88],"learning":[28,79],"dominant":[30,111],"of":[32,62,70,84,91,125,140],"for":[35,59,78],"simple":[36],"largely":[38],"based":[39,87],"intended":[42],"goal.":[43],"However,":[44],"people":[45],"may":[46,53],"have":[47],"at":[49],"different":[50],"resolutions:":[51],"they":[52],"share":[54],"same":[56],"high-level":[57],"preference":[58],"order":[61],"sub-tasks":[64,92],"but":[65],"differ":[66],"sequence":[69,90],"individual":[71],"We":[73,95,117],"propose":[74],"two-stage":[76,135],"approach":[77,105,121,136],"and":[80,93,101,147],"operators":[86],"conduct":[96],"an":[97,144],"IKEA":[98,155],"study":[100],"demonstrate":[102,148],"how":[103],"our":[104,120,134],"is":[106],"able":[107],"to":[108],"learn":[109],"complex":[115],"task.":[116],"show":[118,132],"that":[119,133],"improves":[122,137],"prediction":[124],"actions":[127],"through":[128],"cross-validation.":[129],"Lastly":[130],"we":[131],"efficiency":[139],"execution":[142],"online":[145],"experiment":[146],"its":[149],"applicability":[150],"real-world":[153],"robot-assisted":[154],"assembly.":[156]},"counts_by_year":[],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}