{"id":"https://openalex.org/W4200298307","doi":"https://doi.org/10.1109/iros51168.2021.9636239","title":"Improving Competence via Iterative State Space Refinement","display_name":"Improving Competence via Iterative State Space Refinement","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200298307","doi":"https://doi.org/10.1109/iros51168.2021.9636239"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636239","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5047063533","display_name":"Connor Basich","orcid":"https://orcid.org/0000-0001-9522-5277"},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Connor Basich","raw_affiliation_strings":["College of Information and Computer Sciences, University of Massachusetts, Amherst, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information and Computer Sciences, University of Massachusetts, Amherst, MA, USA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080873677","display_name":"Justin Svegliato","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin Svegliato","raw_affiliation_strings":["College of Information and Computer Sciences, University of Massachusetts, Amherst, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information and Computer Sciences, University of Massachusetts, Amherst, MA, USA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043597408","display_name":"Allyson Beach","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allyson Beach","raw_affiliation_strings":["College of Information and Computer Sciences, University of Massachusetts, Amherst, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information and Computer Sciences, University of Massachusetts, Amherst, MA, USA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013249239","display_name":"Kyle Hollins Wray","orcid":"https://orcid.org/0000-0001-6986-9941"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kyle H. Wray","raw_affiliation_strings":["Alliance Innovation Lab Silicon Valley, Santa Clara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alliance Innovation Lab Silicon Valley, Santa Clara, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083359602","display_name":"Stefan Witwicki","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Stefan Witwicki","raw_affiliation_strings":["Alliance Innovation Lab Silicon Valley, Santa Clara, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alliance Innovation Lab Silicon Valley, Santa Clara, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027224308","display_name":"Shlomo Zilberstein","orcid":"https://orcid.org/0000-0001-9817-7848"},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shlomo Zilberstein","raw_affiliation_strings":["College of Information and Computer Sciences, University of Massachusetts, Amherst, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information and Computer Sciences, University of Massachusetts, Amherst, MA, USA","institution_ids":["https://openalex.org/I24603500"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1865","last_page":"1871"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9902999997138977,"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/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.98580002784729,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.773284912109375},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6675869822502136},{"id":"https://openalex.org/keywords/competence","display_name":"Competence (human resources)","score":0.5926811099052429},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5480643510818481},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5227968096733093},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44490107893943787},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3728322982788086},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3522011339664459},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.2155779004096985},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.14223095774650574}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.773284912109375},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6675869822502136},{"id":"https://openalex.org/C100521375","wikidata":"https://www.wikidata.org/wiki/Q2015382","display_name":"Competence (human resources)","level":2,"score":0.5926811099052429},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5480643510818481},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5227968096733093},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44490107893943787},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3728322982788086},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3522011339664459},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.2155779004096985},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.14223095774650574},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636239","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636239","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"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":40,"referenced_works":["https://openalex.org/W1529399279","https://openalex.org/W1589064538","https://openalex.org/W1622701847","https://openalex.org/W2036931518","https://openalex.org/W2046945713","https://openalex.org/W2069045459","https://openalex.org/W2101207645","https://openalex.org/W2104402102","https://openalex.org/W2129659607","https://openalex.org/W2143074722","https://openalex.org/W2146443332","https://openalex.org/W2154018708","https://openalex.org/W2154053567","https://openalex.org/W2156504490","https://openalex.org/W2161534526","https://openalex.org/W2200122131","https://openalex.org/W2214916780","https://openalex.org/W2341150500","https://openalex.org/W2422268042","https://openalex.org/W2578761269","https://openalex.org/W2595972116","https://openalex.org/W2730780157","https://openalex.org/W2767028498","https://openalex.org/W2795673246","https://openalex.org/W2963733582","https://openalex.org/W3003852841","https://openalex.org/W3003994825","https://openalex.org/W3101693694","https://openalex.org/W3176562834","https://openalex.org/W4249247926","https://openalex.org/W4320930694","https://openalex.org/W6604969303","https://openalex.org/W6631533588","https://openalex.org/W6635457194","https://openalex.org/W6675965883","https://openalex.org/W6682686508","https://openalex.org/W6682933812","https://openalex.org/W6683811100","https://openalex.org/W6732610712","https://openalex.org/W6774791806"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703","https://openalex.org/W41015297"],"abstract_inverted_index":{"Despite":[0],"considerable":[1],"efforts":[2],"by":[3,74,84,133],"human":[4,38,63,182],"designers,":[5],"accounting":[6],"for":[7,58,124],"every":[8],"unique":[9],"situation":[10],"that":[11,106,159,179],"an":[12,25,177],"autonomous":[13,72],"robotic":[14],"system":[15],"deployed":[16,33],"in":[17,40,66,161],"the":[18,69,111,114,126,140,162,172],"real":[19],"world":[20],"could":[21],"face":[22],"is":[23,53,176],"often":[24],"infeasible":[26],"task.":[27],"As":[28],"a":[29,54,85,97,122,129],"result,":[30],"many":[31],"such":[32,60,80],"systems":[34,51,81],"still":[35],"rely":[36],"on":[37,62],"assistance":[39,64],"various":[41],"capacities":[42],"to":[43,171],"complete":[44],"certain":[45,104],"tasks":[46],"while":[47,65],"staying":[48],"safe.":[49],"Competence-aware":[50],"(CAS)":[52],"recently":[55],"proposed":[56],"model":[57,87,100,142,165],"reducing":[59],"reliance":[61],"turn":[67],"optimizing":[68],"system\u2019s":[70,115,141],"global":[71],"operation":[73],"learning":[75],"its":[76,147,152,185],"own":[77],"competence.":[78],"However,":[79],"are":[82],"limited":[83],"fixed":[86],"of":[88,113,128],"their":[89,96],"environment":[90],"and":[91,143,166,188],"may":[92],"perform":[93],"poorly":[94],"if":[95],"priori":[98],"planning":[99],"does":[101],"not":[102],"include":[103],"features":[105,137],"emerge":[107],"as":[108],"important":[109,135],"over":[110,131],"course":[112],"deployment.":[116],"In":[117],"this":[118],"paper,":[119],"we":[120],"propose":[121],"method":[123],"improving":[125,184],"competence":[127],"CAS":[130,164],"time":[132],"identifying":[134],"state":[136,148,153],"missing":[138],"from":[139],"incorporating":[144],"them":[145],"into":[146],"representation,":[149],"thereby":[150],"refining":[151],"space.":[154],"Our":[155],"approach":[156],"exploits":[157],"information":[158],"exists":[160],"standard":[163],"adds":[167],"no":[168],"extra":[169],"work":[170],"human.":[173],"The":[174],"result":[175],"agent":[178],"better":[180],"predicts":[181],"involvement,":[183],"competence,":[186],"reliability,":[187],"overall":[189],"performance.":[190]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}