{"id":"https://openalex.org/W4383108858","doi":"https://doi.org/10.1109/icra48891.2023.10161386","title":"It Takes Two: Learning to Plan for Human-Robot Cooperative Carrying","display_name":"It Takes Two: Learning to Plan for Human-Robot Cooperative Carrying","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108858","doi":"https://doi.org/10.1109/icra48891.2023.10161386"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5055124255","display_name":"Eley Ng","orcid":"https://orcid.org/0000-0003-4063-4190"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Eley Ng","raw_affiliation_strings":["Stanford University,ARMLab,Department of Mechanical Engineering,Stanford,CA,USA,94305"],"affiliations":[{"raw_affiliation_string":"Stanford University,ARMLab,Department of Mechanical Engineering,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101591222","display_name":"Ziang Liu","orcid":"https://orcid.org/0000-0001-6274-0459"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziang Liu","raw_affiliation_strings":["Stanford University,ARMLab,Department of Computer Science,Stanford,CA,USA,94305"],"affiliations":[{"raw_affiliation_string":"Stanford University,ARMLab,Department of Computer Science,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047853405","display_name":"Monroe Kennedy","orcid":"https://orcid.org/0000-0002-4567-0409"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Monroe Kennedy","raw_affiliation_strings":["Stanford University,ARMLab,Department of Mechanical Engineering,Stanford,CA,USA,94305","Department of Computer Science, ARMLab, Stanford University, Stanford, CA, USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,ARMLab,Department of Mechanical Engineering,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Department of Computer Science, ARMLab, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5055124255"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":2.6294,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.8977362,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7526","last_page":"7532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9955999851226807,"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":0.9955999851226807,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T10812","display_name":"Human Pose and Action Recognition","score":0.9894999861717224,"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/planner","display_name":"Planner","score":0.7534621953964233},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6814026236534119},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6650766730308533},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6310833096504211},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6210759878158569},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5930427312850952},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5817881226539612},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5636721253395081},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.45491907000541687},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4437807500362396},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4316263198852539},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39854633808135986},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.366332471370697},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2508697807788849},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21908986568450928}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7534621953964233},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6814026236534119},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6650766730308533},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6310833096504211},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6210759878158569},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5930427312850952},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5817881226539612},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5636721253395081},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.45491907000541687},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4437807500362396},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4316263198852539},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39854633808135986},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.366332471370697},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2508697807788849},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21908986568450928},{"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3537264166","display_name":null,"funder_award_id":"IRB-65022","funder_id":"https://openalex.org/F4320326771","funder_display_name":"Helmholtz-Alberta Initiative"}],"funders":[{"id":"https://openalex.org/F4320326771","display_name":"Helmholtz-Alberta Initiative","ror":"https://ror.org/02yvsmh51"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1979780394","https://openalex.org/W2167052694","https://openalex.org/W2424778531","https://openalex.org/W2507412229","https://openalex.org/W2588978360","https://openalex.org/W2791722740","https://openalex.org/W2801667201","https://openalex.org/W2804827665","https://openalex.org/W2834877435","https://openalex.org/W2885010347","https://openalex.org/W2927819804","https://openalex.org/W2962719371","https://openalex.org/W2964068416","https://openalex.org/W2964147651","https://openalex.org/W2969076652","https://openalex.org/W2980061931","https://openalex.org/W2985871763","https://openalex.org/W3092782486","https://openalex.org/W3204221554","https://openalex.org/W4234057804","https://openalex.org/W4287552525","https://openalex.org/W4289294484","https://openalex.org/W4312309978","https://openalex.org/W6749736467","https://openalex.org/W6752374714","https://openalex.org/W6756256016","https://openalex.org/W6786981901"],"related_works":["https://openalex.org/W804484174","https://openalex.org/W4244698559","https://openalex.org/W4246538999","https://openalex.org/W2002361198","https://openalex.org/W2383111961","https://openalex.org/W56933075","https://openalex.org/W2365952365","https://openalex.org/W2168364913","https://openalex.org/W2352448290","https://openalex.org/W2766493616"],"abstract_inverted_index":{"Cooperative":[0],"table-carrying":[1],"is":[2,90,163],"a":[3,33,48,62,107,113,147,183,188],"complex":[4],"task":[5],"due":[6],"to":[7,25,54,70,87,95,136,167],"the":[8,12,20,45,56,59,72,75,122,130,137,143,153,173,179],"continuous":[9],"nature":[10],"of":[11,17,61,139],"action":[13],"and":[14,19,121,162],"state-spaces,":[15],"multimodality":[16],"strategies,":[18],"need":[21],"for":[22,35,40],"instantaneous":[23],"adaptation":[24],"other":[26],"agents.":[27],"In":[28],"this":[29],"work,":[30],"we":[31,67,177],"present":[32],"method":[34],"predicting":[36],"realistic":[37],"motion":[38,133],"plans":[39],"cooperative":[41],"human-robot":[42,63],"teams":[43],"on":[44,159,182],"task.":[46],"Using":[47],"Variational":[49],"Recurrent":[50],"Neural":[51],"Network":[52],"(VRNN)":[53],"model":[55],"variation":[57],"in":[58,106,125,146],"trajectory":[60],"team":[64],"across":[65],"time,":[66],"are":[68],"able":[69],"capture":[71],"distribution":[73,138],"over":[74],"team's":[76],"future":[77],"states":[78],"while":[79],"leveraging":[80,91],"information":[81],"from":[82],"interaction":[83],"history.":[84],"The":[85],"key":[86],"our":[88],"approach":[89],"human":[92,171,189],"demonstration":[93],"data":[94],"generate":[96],"trajectories":[97],"that":[98,129,152],"synergize":[99],"well":[100],"with":[101,187],"humans":[102],"during":[103],"test":[104],"time":[105],"receding":[108],"horizon":[109],"fashion.":[110],"Comparison":[111],"between":[112],"baseline,":[114],"sampling-based":[115],"planner":[116,124,155,181],"RRT":[117,158,174],"(Rapidly-exploring":[118],"Random":[119],"Trees)":[120],"VRNN":[123,131,154,180],"centralized":[126],"planning":[127],"shows":[128],"generates":[132],"more":[134,165],"similar":[135],"human-human":[140],"demonstrations":[141],"than":[142,172],"RRT.":[144],"Results":[145],"human-in-the-loop":[148],"user":[149],"study":[150],"show":[151],"outperforms":[156],"decentralized":[157],"task-related":[160],"metrics,":[161],"significantly":[164],"likely":[166],"be":[168],"perceived":[169],"as":[170],"planner.":[175],"Finally,":[176],"demonstrate":[178],"real":[184],"robot":[185],"paired":[186],"teleoperating":[190],"another":[191],"robot.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
