{"id":"https://openalex.org/W2973304317","doi":"https://doi.org/10.1109/iros45743.2020.9341359","title":"Adaptive Robot-Assisted Feeding: An Online Learning Framework for Acquiring Previously Unseen Food Items","display_name":"Adaptive Robot-Assisted Feeding: An Online Learning Framework for Acquiring Previously Unseen Food Items","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W2973304317","doi":"https://doi.org/10.1109/iros45743.2020.9341359","mag":"2973304317"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341359","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/1908.07088","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009883620","display_name":"Ethan Kroll Gordon","orcid":"https://orcid.org/0000-0003-1621-2342"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ethan K. Gordon","raw_affiliation_strings":["University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069084711","display_name":"Xiang Meng","orcid":"https://orcid.org/0000-0002-2998-5101"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiang Meng","raw_affiliation_strings":["University of Washington,Department of Statistics,Seattle,WA,98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Department of Statistics,Seattle,WA,98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026083794","display_name":"Tapomayukh Bhattacharjee","orcid":"https://orcid.org/0000-0001-9457-5726"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tapomayukh Bhattacharjee","raw_affiliation_strings":["University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023240185","display_name":"Matt Barnes","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matt Barnes","raw_affiliation_strings":["University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.01880592,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9659","last_page":"9666"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12101","display_name":"Advanced Bandit Algorithms Research","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T12101","display_name":"Advanced Bandit Algorithms Research","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9980999827384949,"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/T10603","display_name":"Smart Grid Energy Management","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/variety","display_name":"Variety (cybernetics)","score":0.6504145860671997},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6425273418426514},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6176308989524841},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6050337553024292},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5806899666786194},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5685936212539673},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.546939492225647},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.48633843660354614},{"id":"https://openalex.org/keywords/greedy-algorithm","display_name":"Greedy algorithm","score":0.44914698600769043},{"id":"https://openalex.org/keywords/adaptive-strategies","display_name":"Adaptive strategies","score":0.43604201078414917},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3883991837501526},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07753017544746399}],"concepts":[{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.6504145860671997},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6425273418426514},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6176308989524841},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6050337553024292},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5806899666786194},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5685936212539673},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.546939492225647},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.48633843660354614},{"id":"https://openalex.org/C51823790","wikidata":"https://www.wikidata.org/wiki/Q504353","display_name":"Greedy algorithm","level":2,"score":0.44914698600769043},{"id":"https://openalex.org/C167393769","wikidata":"https://www.wikidata.org/wiki/Q4680768","display_name":"Adaptive strategies","level":2,"score":0.43604201078414917},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3883991837501526},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07753017544746399},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9341359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341359","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1908.07088","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.07088","pdf_url":"https://arxiv.org/pdf/1908.07088","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"raw_type":"text"},{"id":"mag:2973304317","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1908.07088","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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.1908.07088","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1908.07088","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1908.07088","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.07088","pdf_url":"https://arxiv.org/pdf/1908.07088","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger","score":0.47999998927116394}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320318799","display_name":"Honda Research Institute, USA","ror":null},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2973304317.pdf","grobid_xml":"https://content.openalex.org/works/W2973304317.grobid-xml"},"referenced_works_count":66,"referenced_works":["https://openalex.org/W1487320471","https://openalex.org/W1809653203","https://openalex.org/W1964329560","https://openalex.org/W2005786010","https://openalex.org/W2014482607","https://openalex.org/W2047646215","https://openalex.org/W2052679282","https://openalex.org/W2061724928","https://openalex.org/W2064901924","https://openalex.org/W2067762713","https://openalex.org/W2071133755","https://openalex.org/W2073990673","https://openalex.org/W2075673359","https://openalex.org/W2076321056","https://openalex.org/W2077902449","https://openalex.org/W2092092836","https://openalex.org/W2097112379","https://openalex.org/W2098258765","https://openalex.org/W2112420033","https://openalex.org/W2116646817","https://openalex.org/W2119738618","https://openalex.org/W2119850747","https://openalex.org/W2122124659","https://openalex.org/W2142904634","https://openalex.org/W2145853018","https://openalex.org/W2151161180","https://openalex.org/W2156047221","https://openalex.org/W2168405694","https://openalex.org/W2194057693","https://openalex.org/W2216759066","https://openalex.org/W2251007294","https://openalex.org/W2293238857","https://openalex.org/W2308923239","https://openalex.org/W2323484219","https://openalex.org/W2401279239","https://openalex.org/W2474213459","https://openalex.org/W2483069211","https://openalex.org/W2604121610","https://openalex.org/W2805355418","https://openalex.org/W2807644309","https://openalex.org/W2899466959","https://openalex.org/W2914093613","https://openalex.org/W2925545110","https://openalex.org/W2948877167","https://openalex.org/W2963351448","https://openalex.org/W2964278893","https://openalex.org/W2965299802","https://openalex.org/W3009086013","https://openalex.org/W3044872185","https://openalex.org/W3100249898","https://openalex.org/W6638280738","https://openalex.org/W6674868663","https://openalex.org/W6678113768","https://openalex.org/W6678276431","https://openalex.org/W6687375543","https://openalex.org/W6691215711","https://openalex.org/W6696956927","https://openalex.org/W6700444752","https://openalex.org/W6712791957","https://openalex.org/W6735740649","https://openalex.org/W6748554234","https://openalex.org/W6748965644","https://openalex.org/W6751915836","https://openalex.org/W6751931708","https://openalex.org/W6756064903","https://openalex.org/W6763429163"],"related_works":["https://openalex.org/W3132626114","https://openalex.org/W3017409624","https://openalex.org/W1884601587","https://openalex.org/W3047583940","https://openalex.org/W3032077725","https://openalex.org/W3091086138","https://openalex.org/W2726933900","https://openalex.org/W2895558617","https://openalex.org/W3151722529","https://openalex.org/W2120982521","https://openalex.org/W2932428296","https://openalex.org/W3041404693","https://openalex.org/W2976087063","https://openalex.org/W140788646","https://openalex.org/W3004815632","https://openalex.org/W2792868485","https://openalex.org/W3110682054","https://openalex.org/W2613529244","https://openalex.org/W2951072909","https://openalex.org/W2063471043"],"abstract_inverted_index":{"A":[0],"successful":[1,41,153],"robot-assisted":[2],"feeding":[3,123],"system":[4,124],"requires":[5],"bite":[6,42],"acquisition":[7],"of":[8,12,110,134],"a":[9,45,82,89,93,120,129],"wide":[10],"variety":[11],"food":[13,21,30,54,101,141],"items.":[14],"It":[15],"must":[16],"adapt":[17],"to":[18,50,106,150],"changing":[19],"user":[20],"preferences":[22],"under":[23],"uncertain":[24],"visual":[25],"and":[26,67,144],"physical":[27],"environments.":[28],"Different":[29],"items":[31,55],"in":[32],"different":[33,37,58],"environmental":[34],"conditions":[35],"require":[36],"manipulation":[38,154],"strategies":[39],"for":[40],"acquisition.":[43],"Therefore,":[44],"key":[46],"challenge":[47],"is":[48],"how":[49],"handle":[51],"previously":[52,99,139],"unseen":[53],"with":[56,128],"very":[57],"success":[59],"rate":[60],"distributions":[61],"over":[62],"strategy.":[63,155],"Combining":[64],"low-level":[65],"controllers":[66],"planners":[68],"into":[69],"discrete":[70],"action":[71],"trajectories,":[72],"we":[73,104,116],"show":[74],"that":[75],"the":[76,108,151],"problem":[77],"can":[78,147],"be":[79],"represented":[80],"using":[81,92],"linear":[83],"contextual":[84,112],"bandit":[85,113],"setting.":[86],"We":[87],"construct":[88],"simulated":[90],"environment":[91],"doubly":[94],"robust":[95],"loss":[96],"estimate":[97],"from":[98],"seen":[100,140],"items,":[102,142],"which":[103],"use":[105],"tune":[107],"parameters":[109],"off-the-shelf":[111],"algorithms.":[114],"Finally,":[115],"demonstrate":[117],"empirically":[118],"on":[119,132,137],"robot-":[121],"assisted":[122],"that,":[125],"even":[126],"starting":[127],"model":[130],"trained":[131],"thousands":[133],"skewering":[135],"attempts":[136],"dissimilar":[138],"\u03f5-greedy":[143],"LinUCB":[145],"algorithms":[146],"quickly":[148],"converge":[149],"most":[152]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}