{"id":"https://openalex.org/W4401414566","doi":"https://doi.org/10.1109/icra57147.2024.10610860","title":"Towards Proactive Safe Human-Robot Collaborations via Data-Efficient Conditional Behavior Prediction","display_name":"Towards Proactive Safe Human-Robot Collaborations via Data-Efficient Conditional Behavior Prediction","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414566","doi":"https://doi.org/10.1109/icra57147.2024.10610860"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610860","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055091245","display_name":"Ravi Pandya","orcid":"https://orcid.org/0000-0003-0258-4604"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ravi Pandya","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,Pennsylvania","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101633421","display_name":"Zhuoyuan Wang","orcid":"https://orcid.org/0000-0002-1360-6218"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhuoyuan Wang","raw_affiliation_strings":["Carnegie Mellon University,Department of Electrical and Computer Engineering,Pittsburgh,Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Electrical and Computer Engineering,Pittsburgh,Pennsylvania","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084147009","display_name":"Yorie Nakahira","orcid":"https://orcid.org/0000-0003-3324-4602"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yorie Nakahira","raw_affiliation_strings":["Carnegie Mellon University,Department of Electrical and Computer Engineering,Pittsburgh,Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Electrical and Computer Engineering,Pittsburgh,Pennsylvania","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040156274","display_name":"Changliu Liu","orcid":"https://orcid.org/0000-0002-3767-5517"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Changliu Liu","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,Pennsylvania"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,Pennsylvania","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":2.6611,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.89626038,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"12956","last_page":"12963"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.996399998664856,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/proactivity","display_name":"Proactivity","score":0.6784590482711792},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.6637919545173645},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6567143797874451},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5788792371749878},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.42961469292640686},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.41507643461227417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3616815507411957},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.1470884084701538},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1054014265537262}],"concepts":[{"id":"https://openalex.org/C142944206","wikidata":"https://www.wikidata.org/wiki/Q1786137","display_name":"Proactivity","level":2,"score":0.6784590482711792},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.6637919545173645},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6567143797874451},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5788792371749878},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.42961469292640686},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.41507643461227417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3616815507411957},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.1470884084701538},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1054014265537262},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610860","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320310207","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W1155971952","https://openalex.org/W1529630046","https://openalex.org/W1543022942","https://openalex.org/W1552120725","https://openalex.org/W1560729591","https://openalex.org/W1992461594","https://openalex.org/W2056551063","https://openalex.org/W2094537981","https://openalex.org/W2149519014","https://openalex.org/W2151516755","https://openalex.org/W2167052694","https://openalex.org/W2318055712","https://openalex.org/W2411577903","https://openalex.org/W2562485623","https://openalex.org/W2588978360","https://openalex.org/W2594227402","https://openalex.org/W2594908799","https://openalex.org/W2598918561","https://openalex.org/W2767074019","https://openalex.org/W2768174095","https://openalex.org/W2789905221","https://openalex.org/W2892024327","https://openalex.org/W2902640132","https://openalex.org/W2963731007","https://openalex.org/W2963787234","https://openalex.org/W2964147651","https://openalex.org/W2964153058","https://openalex.org/W2969076652","https://openalex.org/W2982745079","https://openalex.org/W2986748798","https://openalex.org/W2990374270","https://openalex.org/W3003858867","https://openalex.org/W3011964880","https://openalex.org/W3023411502","https://openalex.org/W3094430095","https://openalex.org/W3106171760","https://openalex.org/W3112153464","https://openalex.org/W3116651890","https://openalex.org/W3204725017","https://openalex.org/W3205301818","https://openalex.org/W3210061731","https://openalex.org/W4248056173","https://openalex.org/W4312817202","https://openalex.org/W4313069644","https://openalex.org/W4316465531","https://openalex.org/W4323870803","https://openalex.org/W4382318995","https://openalex.org/W6631840723","https://openalex.org/W6633724138","https://openalex.org/W6746136750","https://openalex.org/W6770555722","https://openalex.org/W6785871430","https://openalex.org/W6802811812"],"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":{"We":[0,75,130],"focus":[1],"on":[2,65,88,97,123],"the":[3,42,50,60,62,66,78,93,98,115,119],"problem":[4,79],"of":[5,36,80,92,109],"how":[6,133],"we":[7,103,151],"can":[8,168],"enable":[9],"a":[10,16,83,89,105,136,158,173],"robot":[11,43,63,116,174],"to":[12,48,72,117,134,164],"collaborate":[13],"seamlessly":[14],"with":[15,161,172],"human":[17,94,148],"partner,":[18],"specifically":[19],"in":[20,30,127,157],"scenarios":[21],"where":[22],"preexisting":[23],"data":[24],"is":[25],"sparse.":[26],"Much":[27],"prior":[28],"work":[29],"human-robot":[31],"collaboration":[32],"uses":[33],"observational":[34],"models":[35,39,55],"humans":[37],"(i.e.":[38],"that":[40,95,113,166],"treat":[41],"purely":[44],"as":[45],"an":[46],"observer)":[47],"choose":[49],"robot\u2019s":[51,85,99],"behavior,":[52],"but":[53],"such":[54],"do":[56],"not":[57],"account":[58],"for":[59,139],"influence":[61],"has":[64],"human\u2019s":[67,120],"actions,":[68],"which":[69],"may":[70],"lead":[71],"inefficient":[73],"interactions.":[74],"instead":[76],"formulate":[77],"optimally":[81],"choosing":[82],"collaborative":[84,159],"behavior":[86,111],"based":[87,122],"conditional":[90,110,137],"model":[91,138],"depends":[96],"future":[100,125],"behavior.":[101],"First,":[102],"propose":[104],"novel":[106],"model-based":[107],"formulation":[108],"prediction":[112],"allows":[114],"infer":[118],"intentions":[121],"its":[124],"plan":[126],"data-sparse":[128],"environments.":[129],"then":[131],"show":[132,165],"utilize":[135],"proactive":[140,155],"goal":[141],"selection":[142],"and":[143,177],"safe":[144],"trajectory":[145],"generation":[146],"around":[147],"collaborators.":[149],"Finally,":[150],"use":[152],"our":[153],"proposed":[154],"controller":[156],"task":[160],"real":[162],"users":[163],"it":[167],"improve":[169],"users\u2019":[170],"interactions":[171],"collaborator":[175],"quantitatively":[176],"qualitatively.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}