{"id":"https://openalex.org/W3131837576","doi":"https://doi.org/10.1109/iros45743.2020.9341773","title":"Towards Transparent Robotic Planning via Contrastive Explanations","display_name":"Towards Transparent Robotic Planning via Contrastive Explanations","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3131837576","doi":"https://doi.org/10.1109/iros45743.2020.9341773","mag":"3131837576"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341773","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":"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/A5101556145","display_name":"Shenghui Chen","orcid":"https://orcid.org/0000-0002-6043-3719"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shenghui Chen","raw_affiliation_strings":["Department of Computer Science, University of Virginia, Charlottesville, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080242928","display_name":"Kayla Boggess","orcid":null},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kayla Boggess","raw_affiliation_strings":["Department of Computer Science, University of Virginia, Charlottesville, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103024138","display_name":"Lu Feng","orcid":"https://orcid.org/0000-0002-4651-8441"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lu Feng","raw_affiliation_strings":["Department of Computer Science, University of Virginia, Charlottesville, VA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Virginia, Charlottesville, VA, USA","institution_ids":["https://openalex.org/I51556381"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101556145"],"corresponding_institution_ids":["https://openalex.org/I51556381"],"apc_list":null,"apc_paid":null,"fwci":0.6628,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.77048907,"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":"6593","last_page":"6598"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.9990000128746033,"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/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.9990000128746033,"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/T10883","display_name":"Ethics and Social Impacts of AI","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/3311","display_name":"Safety Research"},"field":{"id":"https://openalex.org/fields/33","display_name":"Social Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9872999787330627,"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/contrastive-analysis","display_name":"Contrastive analysis","score":0.7770311832427979},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.677178680896759},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.619128406047821},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6045847535133362},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46443209052085876},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4521520137786865},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44493311643600464},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.41895923018455505},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.17820128798484802},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08842170238494873}],"concepts":[{"id":"https://openalex.org/C2777629044","wikidata":"https://www.wikidata.org/wiki/Q614959","display_name":"Contrastive analysis","level":2,"score":0.7770311832427979},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.677178680896759},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.619128406047821},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6045847535133362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46443209052085876},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4521520137786865},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44493311643600464},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.41895923018455505},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.17820128798484802},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08842170238494873},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341773","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6000000238418579}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W2047217912","https://openalex.org/W2068702740","https://openalex.org/W2122410182","https://openalex.org/W2323089860","https://openalex.org/W2336416123","https://openalex.org/W2594336441","https://openalex.org/W2623293810","https://openalex.org/W2897798332","https://openalex.org/W2898694742","https://openalex.org/W2899652826","https://openalex.org/W2951796861","https://openalex.org/W2963095307","https://openalex.org/W2963318568","https://openalex.org/W2966289416","https://openalex.org/W2995074243","https://openalex.org/W2995523160","https://openalex.org/W3023025214","https://openalex.org/W4289302522","https://openalex.org/W6756229586","https://openalex.org/W6777185816"],"related_works":["https://openalex.org/W2329452785","https://openalex.org/W2356380379","https://openalex.org/W2364562957","https://openalex.org/W2364808845","https://openalex.org/W2363925233","https://openalex.org/W2773072120","https://openalex.org/W3122735677","https://openalex.org/W4288067269","https://openalex.org/W1563932406","https://openalex.org/W3042106109"],"abstract_inverted_index":{"Providing":[0],"explanations":[1,25,51,77,106],"of":[2,12,43,49,75,88,115],"chosen":[3],"robotic":[4,13,53,116],"actions":[5],"can":[6,107],"help":[7,108],"to":[8,109],"increase":[9,110],"the":[10,23,47,65,72,96],"transparency":[11],"planning":[14,54,117],"and":[15,84,113],"improve":[16],"users'":[17,111,121],"trust.":[18],"Social":[19],"sciences":[20],"suggest":[21],"that":[22,102],"best":[24],"are":[26],"contrastive,":[27],"explaining":[28],"not":[29],"just":[30],"why":[31,37],"one":[32,38],"action":[33,39],"is":[34,40],"taken,":[35],"but":[36],"taken":[41],"instead":[42],"another.":[44],"We":[45,68],"formalize":[46],"notion":[48],"contrastive":[50,76,105],"for":[52,71],"policies":[55],"based":[56],"on":[57,62,95],"Markov":[58],"decision":[59],"processes,":[60],"drawing":[61],"insights":[63],"from":[64],"social":[66],"sciences.":[67],"present":[69],"methods":[70],"automated":[73],"generation":[74],"with":[78,92],"three":[79],"key":[80],"factors:":[81],"selectiveness,":[82],"constrictiveness":[83],"responsibility.":[85],"The":[86],"results":[87],"a":[89],"user":[90],"study":[91],"100":[93],"participants":[94],"Amazon":[97],"Mechanical":[98],"Turk":[99],"platform":[100],"show":[101],"our":[103],"generated":[104],"understanding":[112],"trust":[114],"policies,":[118],"while":[119],"reducing":[120],"cognitive":[122],"burden.":[123]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}