{"id":"https://openalex.org/W4401413669","doi":"https://doi.org/10.1109/icra57147.2024.10610055","title":"PlanCollabNL: Leveraging Large Language Models for Adaptive Plan Generation in Human-Robot Collaboration","display_name":"PlanCollabNL: Leveraging Large Language Models for Adaptive Plan Generation in Human-Robot Collaboration","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401413669","doi":"https://doi.org/10.1109/icra57147.2024.10610055"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10261/388087","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020441273","display_name":"Silvia Izquierdo-Badiola","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087295","display_name":"Centre Tecnologic de Telecomunicacions de Catalunya","ror":"https://ror.org/001cwea56","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I4210087295","https://openalex.org/I4387153040"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Silvia Izquierdo-Badiola","raw_affiliation_strings":["Eurecat, Centre Tecnol&#x00F2;gic de Catalunya, Robotics and Automation Unit,Barcelona,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eurecat, Centre Tecnol&#x00F2;gic de Catalunya, Robotics and Automation Unit,Barcelona,Spain","institution_ids":["https://openalex.org/I4210087295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033243253","display_name":"Gerard Canal","orcid":"https://orcid.org/0000-0002-6718-1198"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gerard Canal","raw_affiliation_strings":["King&#x2019;s College,Department of Informatics,London,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King&#x2019;s College,Department of Informatics,London,United Kingdom","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029241133","display_name":"Carlos Rizzo","orcid":"https://orcid.org/0000-0001-8986-1269"},"institutions":[{"id":"https://openalex.org/I4210087295","display_name":"Centre Tecnologic de Telecomunicacions de Catalunya","ror":"https://ror.org/001cwea56","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I4210087295","https://openalex.org/I4387153040"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Rizzo","raw_affiliation_strings":["Eurecat, Centre Tecnol&#x00F2;gic de Catalunya, Robotics and Automation Unit,Barcelona,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eurecat, Centre Tecnol&#x00F2;gic de Catalunya, Robotics and Automation Unit,Barcelona,Spain","institution_ids":["https://openalex.org/I4210087295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085564113","display_name":"Guillem Aleny\u00e0","orcid":"https://orcid.org/0000-0002-6018-154X"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Guillem Aleny\u00e0","raw_affiliation_strings":["CSIC-UPC,Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial,Barcelona,Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIC-UPC,Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial,Barcelona,Spain","institution_ids":["https://openalex.org/I9617848"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5020441273"],"corresponding_institution_ids":["https://openalex.org/I4210087295"],"apc_list":null,"apc_paid":null,"fwci":4.5208,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.95221714,"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":"17344","last_page":"17350"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9995999932289124,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9995999932289124,"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/T10215","display_name":"Semantic Web and Ontologies","score":0.9865000247955322,"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/T11010","display_name":"Logic, Reasoning, and Knowledge","score":0.9768000245094299,"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":0.8014043569564819},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.6655744314193726},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.501960039138794},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4650403559207916},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4142329692840576},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.334713876247406}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8014043569564819},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.6655744314193726},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.501960039138794},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4650403559207916},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4142329692840576},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.334713876247406},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/icra57147.2024.10610055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:digital.csic.es:10261/388087","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/388087","pdf_url":null,"source":{"id":"https://openalex.org/S4306401639","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"pmh:oai:upcommons.upc.edu:2117/428319","is_oa":true,"landing_page_url":"https://hdl.handle.net/2117/428319","pdf_url":"https://upcommons.upc.edu/bitstreams/abd74944-e55f-449e-abd8-cd71b21860ca/download","source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:kclpure.kcl.ac.uk:openaire/5c7d9384-7512-45ba-92cc-1cf1137a5502","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/files/249112922/Izquierdo-Badiola_ICRA2024.pdf","pdf_url":"https://kclpure.kcl.ac.uk/ws/files/249112922/Izquierdo-Badiola_ICRA2024.pdf","source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Izquierdo-Badiola, S, Canal, G, Rizzo, C & Aleny\u00e0, G 2024, PlanCollabNL: Leveraging Large Language Models for Adaptive Plan Generation in Human-Robot Collaboration. in 2024 IEEE International Conference on Robotics and Automation (ICRA). Proceedings - IEEE International Conference on Robotics and Automation, pp. 17344-17350. https://doi.org/10.1109/ICRA57147.2024.10610055","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/5c7d9384-7512-45ba-92cc-1cf1137a5502","is_oa":true,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/5c7d9384-7512-45ba-92cc-1cf1137a5502","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Izquierdo-Badiola, S, Canal, G, Rizzo, C & Aleny\u00e0, G 2024, PlanCollabNL: Leveraging Large Language Models for Adaptive Plan Generation in Human-Robot Collaboration. in 2024 IEEE International Conference on Robotics and Automation (ICRA). Proceedings - IEEE International Conference on Robotics and Automation, pp. 17344-17350. https://doi.org/10.1109/ICRA57147.2024.10610055","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:zenodo.org:15057913","is_oa":true,"landing_page_url":"https://doi.org/10.1109/ICRA57147.2024.10610055","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA, IEEE International Conference on Robotics and Automation, Yokohama, Japan, 2024","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:digital.csic.es:10261/388087","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/388087","pdf_url":null,"source":{"id":"https://openalex.org/S4306401639","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1269267818","display_name":null,"funder_award_id":"MCIN/ AEI /10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G1824437184","display_name":null,"funder_award_id":"PLEC2021-007859","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G2262748287","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G2601397997","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G300979063","display_name":null,"funder_award_id":"10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3480869486","display_name":null,"funder_award_id":"13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G3681454997","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4042783231","display_name":null,"funder_award_id":"501100011033","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G4323610225","display_name":null,"funder_award_id":"EP/V062506/1","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G5080475149","display_name":null,"funder_award_id":"10.13039","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G5588004560","display_name":null,"funder_award_id":"MCIN/ AEI /10.13039/501100011033","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6717538712","display_name":null,"funder_award_id":"AEI /10.13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"},{"id":"https://openalex.org/G7244695738","display_name":null,"funder_award_id":"PCI2020-120718-2","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G7266728691","display_name":null,"funder_award_id":"13039/501100011033","funder_id":"https://openalex.org/F4320335598","funder_display_name":"Agencia Estatal de Investigaci\u00f3n"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"id":"https://openalex.org/F4320320005","display_name":"Royal Academy of Engineering","ror":"https://ror.org/0526snb40"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320335598","display_name":"Agencia Estatal de Investigaci\u00f3n","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W2119709400","https://openalex.org/W2222794653","https://openalex.org/W2502094132","https://openalex.org/W2595229763","https://openalex.org/W2763497381","https://openalex.org/W2767074019","https://openalex.org/W2912448913","https://openalex.org/W2945696949","https://openalex.org/W3034758614","https://openalex.org/W3174464510","https://openalex.org/W4221152848","https://openalex.org/W4231966580","https://openalex.org/W4240985012","https://openalex.org/W4285102170","https://openalex.org/W4292779060","https://openalex.org/W4302305808","https://openalex.org/W4320559489","https://openalex.org/W4366999541","https://openalex.org/W4383097638","https://openalex.org/W4386215566","https://openalex.org/W4387835442","https://openalex.org/W4388624208","https://openalex.org/W4388720459","https://openalex.org/W4389665836","https://openalex.org/W4390874280","https://openalex.org/W6754154301","https://openalex.org/W6777615688","https://openalex.org/W6778883912","https://openalex.org/W6802963923","https://openalex.org/W6809509765","https://openalex.org/W6810640255","https://openalex.org/W6839928859","https://openalex.org/W6845648307","https://openalex.org/W6850072970","https://openalex.org/W6850503672","https://openalex.org/W6852136651","https://openalex.org/W6853035495","https://openalex.org/W6854555012"],"related_works":["https://openalex.org/W2978665606","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W189465620","https://openalex.org/W4366818884","https://openalex.org/W2248308732","https://openalex.org/W4392651289"],"abstract_inverted_index":{"\"Hey,":[0],"robot.":[1],"Let\u2019s":[2],"tidy":[3],"up":[4],"the":[5,8,77,119,157,185],"kitchen.":[6],"By":[7],"way,":[9],"I":[10],"have":[11,61],"back":[12],"pain":[13],"today\".":[14],"How":[15],"can":[16],"a":[17,21,49,87,101,149,188],"robotic":[18],"system":[19],"devise":[20],"shared":[22],"plan":[23,182],"with":[24],"an":[25,53,127],"appropriate":[26],"task":[27,38,104],"allocation":[28,137],"from":[29,72,126],"this":[30,44,90,171],"abstract":[31,129],"goal":[32],"and":[33,100,153,156,162,178,190,197],"agent":[34,141,154,198],"condition?":[35],"Classical":[36],"AI":[37,103],"planning":[39,55,105,120,195],"has":[40],"been":[41],"explored":[42],"for":[43,135,148,187],"purpose,":[45],"but":[46],"it":[47],"involves":[48],"tedious":[50],"definition":[51,192],"of":[52,79,151,193],"inflexible":[54],"problem.":[56],"Large":[57],"Language":[58,74],"Models":[59],"(LLMs)":[60],"shown":[62],"promising":[63],"generalisation":[64,179],"capabilities":[65],"in":[66,118,167],"robotics":[67,84],"decision-making":[68],"through":[69],"knowledge":[70],"extraction":[71],"Natural":[73],"(NL).":[75],"However,":[76],"translation":[78],"NL":[80,98,128,140],"information":[81,99,114],"into":[82],"constrained":[83],"domains":[85],"remains":[86],"challenge.":[88],"In":[89],"paper,":[91],"we":[92,173],"use":[93],"LLMs":[94],"as":[95,131,133],"translators":[96],"between":[97],"structured":[102],"problem,":[106,121],"targeting":[107],"human-robot":[108],"collaborative":[109],"plans.":[110],"The":[111,143],"LLM":[112],"generates":[113],"that":[115,160],"is":[116,146],"encoded":[117],"including":[122],"specific":[123],"subgoals":[124],"derived":[125],"goal,":[130],"well":[132],"recommendations":[134],"subgoal":[136],"based":[138],"on":[139],"conditions.":[142],"framework,":[144,172],"PlanCollabNL,":[145],"evaluated":[147],"number":[150],"goals":[152],"conditions,":[155],"results":[158],"show":[159],"correct":[161],"executable":[163],"plans":[164],"are":[165],"found":[166],"most":[168],"cases.":[169],"With":[170],"intend":[174],"to":[175,180],"add":[176],"flexibility":[177],"HRC":[181],"generation,":[183],"eliminating":[184],"need":[186],"manual":[189],"laborious":[191],"restricted":[194],"problems":[196],"models.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}
