{"id":"https://openalex.org/W2561428047","doi":"https://doi.org/10.1109/iros.2016.7759242","title":"Inferring human intent from video by sampling hierarchical plans","display_name":"Inferring human intent from video by sampling hierarchical plans","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2561428047","doi":"https://doi.org/10.1109/iros.2016.7759242","mag":"2561428047"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/138080","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066166509","display_name":"Steven Holtzen","orcid":"https://orcid.org/0000-0002-8190-5412"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Holtzen","raw_affiliation_strings":["Center for Vision, Cognition, Learning and Autonomy at the University of California, Los Angeles"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Vision, Cognition, Learning and Autonomy at the University of California, Los Angeles","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091164091","display_name":"Yibiao Zhao","orcid":"https://orcid.org/0000-0001-9517-1969"},"institutions":[{"id":"https://openalex.org/I4210104429","display_name":"Institute of Cognitive and Brain Sciences","ror":"https://ror.org/01c3w3270","country_code":"US","type":"education","lineage":["https://openalex.org/I4210104429"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yibiao Zhao","raw_affiliation_strings":["Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I4210104429","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100738068","display_name":"Tao Gao","orcid":"https://orcid.org/0000-0002-5547-7370"},"institutions":[{"id":"https://openalex.org/I4210104429","display_name":"Institute of Cognitive and Brain Sciences","ror":"https://ror.org/01c3w3270","country_code":"US","type":"education","lineage":["https://openalex.org/I4210104429"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tao Gao","raw_affiliation_strings":["Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I4210104429","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071093940","display_name":"Joshua B. Tenenbaum","orcid":"https://orcid.org/0000-0002-1925-2035"},"institutions":[{"id":"https://openalex.org/I4210104429","display_name":"Institute of Cognitive and Brain Sciences","ror":"https://ror.org/01c3w3270","country_code":"US","type":"education","lineage":["https://openalex.org/I4210104429"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua B. Tenenbaum","raw_affiliation_strings":["Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Brain and Cognitive Sciences, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I4210104429","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034228010","display_name":"Song\u2010Chun Zhu","orcid":"https://orcid.org/0000-0002-1925-5973"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Song-Chun Zhu","raw_affiliation_strings":["Center for Vision, Cognition, Learning and Autonomy at the University of California, Los Angeles"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Vision, Cognition, Learning and Autonomy at the University of California, Los Angeles","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1062,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.89877992,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1489","last_page":"1496"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9994999766349792,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9905999898910522,"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"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.989799976348877,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8006802797317505},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6889088153839111},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6356320381164551},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5545908212661743},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5424192547798157},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.49901342391967773},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.44658875465393066},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.44321584701538086},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.43359965085983276},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4323578178882599},{"id":"https://openalex.org/keywords/action-recognition","display_name":"Action recognition","score":0.4216885566711426},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.13022232055664062}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8006802797317505},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6889088153839111},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6356320381164551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5545908212661743},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5424192547798157},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.49901342391967773},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.44658875465393066},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.44321584701538086},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.43359965085983276},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4323578178882599},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.4216885566711426},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.13022232055664062},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/138080","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/138080","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"other univ website","raw_type":"http://purl.org/eprint/type/ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/138080","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/138080","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"other univ website","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W94200858","https://openalex.org/W206739251","https://openalex.org/W1481444174","https://openalex.org/W1502951261","https://openalex.org/W1506491340","https://openalex.org/W1674411155","https://openalex.org/W1735309676","https://openalex.org/W1890754682","https://openalex.org/W1981637451","https://openalex.org/W1995628331","https://openalex.org/W1999874108","https://openalex.org/W2011375074","https://openalex.org/W2037889091","https://openalex.org/W2045792079","https://openalex.org/W2053410861","https://openalex.org/W2061562262","https://openalex.org/W2078993594","https://openalex.org/W2098941887","https://openalex.org/W2099972257","https://openalex.org/W2100988719","https://openalex.org/W2101821104","https://openalex.org/W2119199958","https://openalex.org/W2126808695","https://openalex.org/W2137433702","https://openalex.org/W2146048167","https://openalex.org/W2151516755","https://openalex.org/W2151645094","https://openalex.org/W2155941727","https://openalex.org/W2158839502","https://openalex.org/W2161406034","https://openalex.org/W2163309385","https://openalex.org/W2169255714","https://openalex.org/W2184870928","https://openalex.org/W2188746823","https://openalex.org/W2255789355","https://openalex.org/W2483470761","https://openalex.org/W2911273949","https://openalex.org/W2963501068","https://openalex.org/W3104119384","https://openalex.org/W4205969993","https://openalex.org/W6603855062","https://openalex.org/W6630223264","https://openalex.org/W6637661409","https://openalex.org/W6639796194","https://openalex.org/W6670693114","https://openalex.org/W6675301218","https://openalex.org/W6677712025","https://openalex.org/W6678647333","https://openalex.org/W6680088015","https://openalex.org/W6686543486","https://openalex.org/W6691967218","https://openalex.org/W6740017579"],"related_works":["https://openalex.org/W2943623134","https://openalex.org/W2494523064","https://openalex.org/W2215759665","https://openalex.org/W2960358116","https://openalex.org/W2030292806","https://openalex.org/W3041172967","https://openalex.org/W2749065928","https://openalex.org/W2147155098","https://openalex.org/W4386598245","https://openalex.org/W4287181611"],"abstract_inverted_index":{"This":[0,29],"paper":[1],"presents":[2],"a":[3,10,48,59,71,79,88],"method":[4],"which":[5,36,57,91],"allows":[6],"robots":[7,35],"to":[8],"infer":[9,66],"human's":[11,72],"hierarchical":[12],"intent":[13,46,68,97],"from":[14,87],"partially":[15],"observed":[16],"RGBD":[17],"videos":[18],"by":[19,69],"imagining":[20],"how":[21],"the":[22,27,94],"human":[23,67,96,102],"will":[24],"behave":[25],"in":[26],"future.":[28],"capability":[30],"is":[31],"critical":[32],"for":[33,110],"creating":[34],"can":[37],"interact":[38],"socially":[39],"or":[40],"collaboratively":[41],"with":[42,101],"humans.":[43],"We":[44,65,84],"represent":[45],"as":[47],"novel":[49],"hierarchical,":[50],"compositional,":[51],"and":[52,63,74,104,113],"probabilistic":[53,81],"And-Or":[54],"graph":[55],"structure":[56],"describes":[58],"relationship":[60],"between":[61],"actions":[62],"plans.":[64],"reverse-engineering":[70],"decision-making":[73],"action":[75,114],"planning":[76],"processes":[77],"under":[78],"Bayesian":[80],"programming":[82],"framework.":[83],"present":[85],"experiments":[86],"3D":[89],"environment":[90],"demonstrate":[92],"that":[93],"inferred":[95],"(1)":[98],"matches":[99],"well":[100],"judgment,":[103],"(2)":[105],"provides":[106],"useful":[107],"contextual":[108],"cues":[109],"object":[111],"tracking":[112],"recognition.":[115]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2}],"updated_date":"2026-08-08T07:41:36.138363","created_date":"2025-10-10T00:00:00"}
