{"id":"https://openalex.org/W2899794396","doi":"https://doi.org/10.1109/iros.2018.8594127","title":"Evaluating Methods for End-User Creation of Robot Task Plans","display_name":"Evaluating Methods for End-User Creation of Robot Task Plans","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2899794396","doi":"https://doi.org/10.1109/iros.2018.8594127","mag":"2899794396"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594127","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":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1811.02690","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044926286","display_name":"Chris Paxton","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chris Paxton","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, USA","Department of Computer Science, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063804118","display_name":"Felix Jonathan","orcid":"https://orcid.org/0000-0002-2780-7133"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Felix Jonathan","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, USA","Department of Computer Science, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078473960","display_name":"Andrew Hundt","orcid":"https://orcid.org/0000-0003-2023-1810"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Hundt","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, USA","Department of Computer Science, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017344436","display_name":"Bilge Mutlu","orcid":"https://orcid.org/0000-0002-9456-1495"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bilge Mutlu","raw_affiliation_strings":["Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, USA","Department of Computer Sciences, University of Wisconsin-Madison, 1210 W. Dayton Street, Madison, WI 53706, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Sciences, University of Wisconsin\u2013Madison, Madison, USA","institution_ids":["https://openalex.org/I135310074"]},{"raw_affiliation_string":"Department of Computer Sciences, University of Wisconsin-Madison, 1210 W. Dayton Street, Madison, WI 53706, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041383246","display_name":"Gregory D. Hager","orcid":"https://orcid.org/0000-0002-6662-9763"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory D. Hager","raw_affiliation_strings":["Department of Computer Science, Johns Hopkins University, Baltimore, USA","Department of Computer Science, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, Baltimore, USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Computer Science, Johns Hopkins University, 3400 N. Charles Street, Baltimore, MD 21218, USA","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6086","last_page":"6092"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9945999979972839,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9945999979972839,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9897000193595886,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9760000109672546,"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/usable","display_name":"USable","score":0.8507415652275085},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.7864140272140503},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.7255762815475464},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7118874788284302},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7089542150497437},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6476278305053711},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.5983014106750488},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5034307837486267},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.4764804542064667},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4642065167427063},{"id":"https://openalex.org/keywords/end-user","display_name":"End user","score":0.4386043846607208},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.3087496757507324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30166274309158325},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.17362305521965027},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13092777132987976},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08202680945396423}],"concepts":[{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.8507415652275085},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.7864140272140503},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.7255762815475464},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7118874788284302},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7089542150497437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6476278305053711},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.5983014106750488},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5034307837486267},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.4764804542064667},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4642065167427063},{"id":"https://openalex.org/C91262260","wikidata":"https://www.wikidata.org/wiki/Q528074","display_name":"End user","level":2,"score":0.4386043846607208},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.3087496757507324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30166274309158325},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.17362305521965027},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13092777132987976},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08202680945396423},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"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/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2018.8594127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594127","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:arXiv.org:1811.02690","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1811.02690","pdf_url":"https://arxiv.org/pdf/1811.02690","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2899794396","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1811.02690","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1811.02690","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1811.02690","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1811.02690","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1811.02690","pdf_url":"https://arxiv.org/pdf/1811.02690","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2456170329","display_name":"NRI: Collaborative Research: Experiential Learning for Robots: From Physics to Actions to Tasks","funder_award_id":"1637949","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2899794396.pdf","grobid_xml":"https://content.openalex.org/works/W2899794396.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W172711948","https://openalex.org/W1499297823","https://openalex.org/W1531267695","https://openalex.org/W1588269491","https://openalex.org/W1871443204","https://openalex.org/W1903836554","https://openalex.org/W1963549352","https://openalex.org/W2014073163","https://openalex.org/W2101139376","https://openalex.org/W2117080661","https://openalex.org/W2126909264","https://openalex.org/W2135319191","https://openalex.org/W2141664020","https://openalex.org/W2171246729","https://openalex.org/W2229480318","https://openalex.org/W2403069916","https://openalex.org/W2407300725","https://openalex.org/W2550336733","https://openalex.org/W2560573001","https://openalex.org/W2571312264","https://openalex.org/W2611369375","https://openalex.org/W2950150536","https://openalex.org/W2950491522","https://openalex.org/W2952842465","https://openalex.org/W6607057097","https://openalex.org/W6689197575","https://openalex.org/W6713184877","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2963513937","https://openalex.org/W1518244075","https://openalex.org/W951666837","https://openalex.org/W2823127631","https://openalex.org/W2166729266","https://openalex.org/W2112613956","https://openalex.org/W3097772583","https://openalex.org/W1905169353","https://openalex.org/W3013706699","https://openalex.org/W2023073045","https://openalex.org/W1984127021","https://openalex.org/W2064655998","https://openalex.org/W2989108720","https://openalex.org/W1954099216","https://openalex.org/W71075600","https://openalex.org/W2185090424","https://openalex.org/W1589723126","https://openalex.org/W2145374646","https://openalex.org/W2110472199","https://openalex.org/W2899211486"],"abstract_inverted_index":{"How":[0],"can":[1],"we":[2],"enable":[3],"users":[4,69,131,140,149,158],"to":[5,26,48,70,91,112],"create":[6],"effective,":[7],"perception-driven":[8],"task":[9,37,53],"plans":[10,38,54],"for":[11,30,55,162],"collaborative":[12,56],"robots?":[13],"We":[14],"conducted":[15],"a":[16,59],"35-person":[17],"user":[18,32],"study":[19],"with":[20,96,116],"the":[21,82,86,142,151,154],"Behavior":[22],"Tree-based":[23],"CoSTAR":[24,44,111],"system":[25],"determine":[27],"which":[28],"strategies":[29],"end":[31],"creation":[33],"of":[34,61,65,85,101,106,123,126],"generalizable":[35],"robot":[36],"are":[39],"most":[40],"usable":[41],"and":[42,135],"effctive.":[43],"allows":[45,68],"domain":[46],"experts":[47],"author":[49],"complex,":[50],"perceptually":[51],"grounded":[52],"robots.":[57],"As":[58],"part":[60],"CoSTAR's":[62],"wide":[63],"range":[64],"capabilities,":[66],"it":[67],"specify":[71],"SmartMoves:":[72],"abstract":[73],"goals":[74],"such":[75],"as":[76],"\u201cpick":[77],"up":[78],"component":[79],"A":[80],"from":[81],"right":[83],"side":[84],"table.\u201d":[87],"Users":[88],"were":[89],"asked":[90],"perform":[92,132],"pick-and-place":[93],"assembly":[94],"tasks":[95,133,152],"either":[97],"SmartMoves":[98],"or":[99],"one":[100],"three":[102,167],"simpler":[103],"baseline":[104],"versions":[105],"CoSTAR.":[107],"Overall,":[108],"participants":[109],"found":[110],"be":[113],"highly":[114],"usable,":[115],"an":[117],"average":[118],"System":[119],"Usability":[120],"Scale":[121],"score":[122],"73.4":[124],"out":[125],"100.":[127],"SmartMove":[128,139,157],"also":[129],"helped":[130],"faster":[134],"more":[136],"effectively;":[137],"all":[138,148,166],"completed":[141,150],"first":[143],"two":[144],"tasks,":[145],"while":[146],"not":[147],"using":[153],"other":[155],"strategies.":[156],"showed":[159],"better":[160],"performance":[161],"incorporating":[163],"perception":[164],"across":[165],"tasks.":[168]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}