{"id":"https://openalex.org/W4413925401","doi":"https://doi.org/10.1109/icra55743.2025.11128684","title":"SayComply: Grounding Field Robotic Tasks in Operational Compliance Through Retrieval-Based Language Models","display_name":"SayComply: Grounding Field Robotic Tasks in Operational Compliance Through Retrieval-Based Language Models","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925401","doi":"https://doi.org/10.1109/icra55743.2025.11128684"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5065759000","display_name":"Muhammad Fadhil Ginting","orcid":"https://orcid.org/0000-0003-4030-5151"},"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":"Muhammad Fadhil Ginting","raw_affiliation_strings":["Stanford University,USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085056626","display_name":"Dong Ki Kim","orcid":"https://orcid.org/0000-0002-5342-1197"},"institutions":[{"id":"https://openalex.org/I67206655","display_name":"Fielding Graduate University","ror":"https://ror.org/04csg5w40","country_code":"US","type":"education","lineage":["https://openalex.org/I67206655"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dong-Ki Kim","raw_affiliation_strings":["Field AI,USA"],"affiliations":[{"raw_affiliation_string":"Field AI,USA","institution_ids":["https://openalex.org/I67206655"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083616280","display_name":"Sung Kyun Kim","orcid":"https://orcid.org/0000-0002-6317-9525"},"institutions":[{"id":"https://openalex.org/I67206655","display_name":"Fielding Graduate University","ror":"https://ror.org/04csg5w40","country_code":"US","type":"education","lineage":["https://openalex.org/I67206655"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sung-Kyun Kim","raw_affiliation_strings":["Field AI,USA"],"affiliations":[{"raw_affiliation_string":"Field AI,USA","institution_ids":["https://openalex.org/I67206655"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004067430","display_name":"Bandi Jai Krishna","orcid":null},"institutions":[{"id":"https://openalex.org/I67206655","display_name":"Fielding Graduate University","ror":"https://ror.org/04csg5w40","country_code":"US","type":"education","lineage":["https://openalex.org/I67206655"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bandi Jai Krishna","raw_affiliation_strings":["Field AI,USA"],"affiliations":[{"raw_affiliation_string":"Field AI,USA","institution_ids":["https://openalex.org/I67206655"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"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":"Mykel J. Kochenderfer","raw_affiliation_strings":["Stanford University,USA"],"affiliations":[{"raw_affiliation_string":"Stanford University,USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052169592","display_name":"Shayegan Omidshafiei","orcid":"https://orcid.org/0000-0001-7758-1454"},"institutions":[{"id":"https://openalex.org/I67206655","display_name":"Fielding Graduate University","ror":"https://ror.org/04csg5w40","country_code":"US","type":"education","lineage":["https://openalex.org/I67206655"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shayegan Omidshafiei","raw_affiliation_strings":["Field AI,USA"],"affiliations":[{"raw_affiliation_string":"Field AI,USA","institution_ids":["https://openalex.org/I67206655"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042186658","display_name":"Ali\u2010akbar Agha\u2010mohammadi","orcid":"https://orcid.org/0000-0001-5509-1841"},"institutions":[{"id":"https://openalex.org/I67206655","display_name":"Fielding Graduate University","ror":"https://ror.org/04csg5w40","country_code":"US","type":"education","lineage":["https://openalex.org/I67206655"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ali-akbar Agha-mohammadi","raw_affiliation_strings":["Field AI,USA"],"affiliations":[{"raw_affiliation_string":"Field AI,USA","institution_ids":["https://openalex.org/I67206655"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5065759000"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":2.5222,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.91839989,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"13730","last_page":"13736"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10883","display_name":"Ethics and Social Impacts of AI","score":0.8611999750137329,"subfield":{"id":"https://openalex.org/subfields/3311","display_name":"Safety Research"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10883","display_name":"Ethics and Social Impacts of AI","score":0.8611999750137329,"subfield":{"id":"https://openalex.org/subfields/3311","display_name":"Safety Research"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10260","display_name":"Software Engineering Research","score":0.8130999803543091,"subfield":{"id":"https://openalex.org/subfields/1710","display_name":"Information Systems"},"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.7409999966621399,"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/computer-science","display_name":"Computer science","score":0.7231975793838501},{"id":"https://openalex.org/keywords/ground","display_name":"Ground","score":0.7019910216331482},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.6720656156539917},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.5554034113883972},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4065145254135132},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3413069546222687},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1840696632862091},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1497199535369873}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7231975793838501},{"id":"https://openalex.org/C168993435","wikidata":"https://www.wikidata.org/wiki/Q6501125","display_name":"Ground","level":2,"score":0.7019910216331482},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.6720656156539917},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.5554034113883972},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4065145254135132},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3413069546222687},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1840696632862091},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1497199535369873},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1851459058","https://openalex.org/W3004647014","https://openalex.org/W3131341185","https://openalex.org/W4388660746","https://openalex.org/W4388778348","https://openalex.org/W4390874280","https://openalex.org/W4393160747","https://openalex.org/W4401417061","https://openalex.org/W4402353987","https://openalex.org/W4402354012","https://openalex.org/W4402354128","https://openalex.org/W4402783855","https://openalex.org/W4403791353","https://openalex.org/W4405785008","https://openalex.org/W4405786922"],"related_works":["https://openalex.org/W2410395228","https://openalex.org/W2021787609","https://openalex.org/W3125941065","https://openalex.org/W1537063595","https://openalex.org/W2097328689","https://openalex.org/W4234899305","https://openalex.org/W2484615095","https://openalex.org/W4366449942","https://openalex.org/W2379604501","https://openalex.org/W3204019825"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,120,124,129,157,161,165,189,196],"problem":[4],"of":[5,62,106,119,128,167,186],"task":[6,92,135],"planning":[7,20,93],"for":[8,26,41,213],"robots":[9,200],"that":[10,33,149,178,201],"must":[11],"comply":[12],"with":[13,78,94,156],"operational":[14,95,205],"manuals":[15,112],"in":[16,31,53,160,175,198],"real-world":[17,176,220],"settings.":[18],"Task":[19],"under":[21,123],"these":[22,58],"constraints":[23],"is":[24],"essential":[25],"enabling":[27],"autonomous":[28],"robot":[29,43,63,110,147],"operation":[30],"domains":[32],"require":[34,179],"adherence":[35],"to":[36,65,115,145,204],"domain-specific":[37,66],"knowledge.":[38],"Current":[39],"methods":[40],"generating":[42],"goals":[44],"and":[45,68,109,113,172,210,218],"plans":[46,64],"rely":[47],"on":[48],"common":[49],"sense":[50],"knowledge":[51,67,159],"encoded":[52],"large":[54],"language":[55,99],"models.":[56,100],"However,":[57],"models":[59],"lack":[60],"grounding":[61,90],"are":[69],"not":[70],"easily":[71],"transferable":[72],"between":[73],"multiple":[74],"sites":[75],"or":[76],"customers":[77],"different":[79],"compliance":[80,96,215],"needs.":[81],"In":[82],"this":[83],"work,":[84],"we":[85],"present":[86],"SayComply,":[87],"which":[88],"enables":[89],"robotic":[91],"using":[97,137],"retrievalbased":[98],"We":[101,131,163],"design":[102,133],"a":[103,134,138,208],"hierarchical":[104],"database":[105],"operational,":[107],"environment,":[108],"embodiment":[111],"procedures":[114],"enable":[116],"efficient":[117],"retrieval":[118,140,182],"relevant":[121],"context":[122,126,181],"limited":[125],"length":[127],"LLMs.":[130],"then":[132],"planner":[136],"tree-based":[139],"augmented":[141],"generation":[142],"(RAG)":[143],"technique":[144],"generate":[146],"tasks":[148],"follow":[150],"user":[151],"instructions":[152],"while":[153],"simultaneously":[154],"complying":[155],"domain":[158],"database.":[162],"demonstrate":[164],"benefits":[166],"our":[168],"approach":[169,194],"through":[170],"simulations":[171],"hardware":[173],"experiments":[174],"scenarios":[177],"precise":[180],"across":[183,216],"various":[184],"types":[185],"context,":[187],"outperforming":[188],"standard":[190],"RAG":[191],"method.":[192],"Our":[193],"bridges":[195],"gap":[197],"deploying":[199],"consistently":[202],"adhere":[203],"protocols,":[206],"offering":[207],"scalable":[209],"edge-deployable":[211],"solution":[212],"ensuring":[214],"varied":[217],"complex":[219],"environments.":[221],"Project":[222],"website:":[223],"saycomply.github.io.":[224]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
