{"id":"https://openalex.org/W2909872533","doi":"https://doi.org/10.1109/iros.2018.8593371","title":"Closed-Loop Robot Task Planning Based on Referring Expressions","display_name":"Closed-Loop Robot Task Planning Based on Referring Expressions","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909872533","doi":"https://doi.org/10.1109/iros.2018.8593371","mag":"2909872533"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593371","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5085039095","display_name":"D. Kuhner","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"D. Kuhner","raw_affiliation_strings":["Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073893836","display_name":"J. Aldinger","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. Aldinger","raw_affiliation_strings":["Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062174307","display_name":"Felix Burget","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"F. Burget","raw_affiliation_strings":["Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052940653","display_name":"Moritz G\u00f6belbecker","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Gobelbecker","raw_affiliation_strings":["Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"W. Burgard","raw_affiliation_strings":["Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002446890","display_name":"Bernhard Nebel","orcid":"https://orcid.org/0000-0002-6833-6323"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"B. Nebel","raw_affiliation_strings":["Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Albert-Ludwigs-Universit\u00e4t, Institut f\u00fcr Informatik, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":0.6546,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.77991343,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"876","last_page":"881"},"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":0.9973999857902527,"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/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.996999979019165,"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":0.7684546709060669},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7203636765480042},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6641504764556885},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6441960334777832},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5957677364349365},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5679284334182739},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.528906524181366},{"id":"https://openalex.org/keywords/user-interface","display_name":"User interface","score":0.4706282615661621},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4313432574272156},{"id":"https://openalex.org/keywords/fetch","display_name":"Fetch","score":0.4290361702442169},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3345176875591278},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.13210168480873108},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11948075890541077},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09176874160766602}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7684546709060669},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7203636765480042},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6641504764556885},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6441960334777832},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5957677364349365},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5679284334182739},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.528906524181366},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.4706282615661621},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4313432574272156},{"id":"https://openalex.org/C131918245","wikidata":"https://www.wikidata.org/wiki/Q1409090","display_name":"Fetch","level":2,"score":0.4290361702442169},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3345176875591278},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.13210168480873108},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11948075890541077},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09176874160766602},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8593371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593371","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:freidok.uni-freiburg.de:146097","is_oa":false,"landing_page_url":"https://freidok.uni-freiburg.de/data/146097","pdf_url":null,"source":{"id":"https://openalex.org/S4306401057","display_name":"FreiDok plus (Universit\u00e4tsbibliothek Freiburg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I161046081","host_organization_name":"University of Freiburg","host_organization_lineage":["https://openalex.org/I161046081"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). , 2018., ISBN: 9781538680940","raw_type":"article_in_conference_proceedings"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W106094172","https://openalex.org/W1490304813","https://openalex.org/W1494534478","https://openalex.org/W1558620469","https://openalex.org/W1645937837","https://openalex.org/W1983707534","https://openalex.org/W2031738727","https://openalex.org/W2070683816","https://openalex.org/W2125447031","https://openalex.org/W2135639338","https://openalex.org/W2141841102","https://openalex.org/W2149706766","https://openalex.org/W2161414194","https://openalex.org/W2161759936","https://openalex.org/W2207670488","https://openalex.org/W2262408878","https://openalex.org/W2398481491","https://openalex.org/W2407405831","https://openalex.org/W2468062401","https://openalex.org/W2489434015","https://openalex.org/W2561814270","https://openalex.org/W2737607256","https://openalex.org/W2739271801","https://openalex.org/W2739952006","https://openalex.org/W2771779534","https://openalex.org/W2901136733","https://openalex.org/W2951281980","https://openalex.org/W3101355526","https://openalex.org/W3124386704","https://openalex.org/W4236137412","https://openalex.org/W6629472046","https://openalex.org/W6629493979","https://openalex.org/W6633428597","https://openalex.org/W6723035356","https://openalex.org/W6741457941","https://openalex.org/W6741880054","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4214970455","https://openalex.org/W2175646991","https://openalex.org/W2027386296","https://openalex.org/W2614583728","https://openalex.org/W2138256251","https://openalex.org/W1910690003","https://openalex.org/W2128177192","https://openalex.org/W1649706580","https://openalex.org/W3195608031","https://openalex.org/W2967461658"],"abstract_inverted_index":{"Increasing":[0],"the":[1,49,52,56,60,105,108,121,129,142,146,150],"accessibility":[2],"of":[3,16,32,51,59],"autonomous":[4],"robots":[5],"also":[6],"for":[7],"inexperienced":[8],"users":[9,89],"requires":[10],"user-friendly":[11],"and":[12,55,114],"high-level":[13,118],"control":[14,85],"opportunities":[15],"robotic":[17],"systems.":[18],"While":[19],"automated":[20],"planning":[21,53,152],"is":[22,40],"able":[23],"to":[24,42,76,90,104,124,128,139],"decompose":[25],"a":[26,30,45],"complex":[27],"task":[28],"into":[29],"sequence":[31],"steps":[33],"which":[34,71,87],"reaches":[35],"an":[36,83,95],"intended":[37],"goal,":[38],"it":[39],"difficult":[41],"formulate":[43],"such":[44],"goal":[46,147],"without":[47],"knowing":[48],"internals":[50],"system":[54,136],"exact":[57],"capabilities":[58],"robot.":[61],"This":[62],"becomes":[63],"even":[64],"more":[65],"important":[66],"in":[67,70,107,141],"dynamic":[68],"environments":[69],"manipulable":[72],"objects":[73,106],"are":[74],"subject":[75],"change.":[77],"In":[78],"this":[79],"paper,":[80],"we":[81],"present":[82],"adaptive":[84],"interface":[86],"allows":[88],"specify":[91],"goals":[92,119],"based":[93],"on":[94,132],"internal":[96],"world":[97,122],"model":[98,123],"by":[99,144],"incrementally":[100],"building":[101],"referring":[102],"expressions":[103],"world.":[109],"We":[110],"consider":[111],"fetch-and-carry":[112],"tasks":[113],"automatically":[115],"deduce":[116],"potential":[117],"from":[120],"make":[125],"them":[126],"available":[127],"user.":[130],"Based":[131],"its":[133],"perceptions":[134],"our":[135],"can":[137],"react":[138],"changes":[140],"environment":[143],"adapting":[145],"formulation":[148],"within":[149],"domain-independent":[151],"system.":[153]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
