{"id":"https://openalex.org/W4389666719","doi":"https://doi.org/10.1109/iros55552.2023.10341944","title":"Communicating human intent to a robotic companion by multi-type gesture sentences","display_name":"Communicating human intent to a robotic companion by multi-type gesture sentences","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666719","doi":"https://doi.org/10.1109/iros55552.2023.10341944"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341944","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5006024654","display_name":"Petr Vanc","orcid":"https://orcid.org/0000-0002-2810-6961"},"institutions":[{"id":"https://openalex.org/I4210152232","display_name":"Institute of Informatics of the Slovak Academy of Sciences","ror":"https://ror.org/04jgqpc26","country_code":"SK","type":"facility","lineage":["https://openalex.org/I207624831","https://openalex.org/I4210152232"]},{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ","SK"],"is_corresponding":false,"raw_author_name":"Petr Vanc","raw_affiliation_strings":["Czech Technical University in Prague, Czech Institute of Informatics, Robotics, and Cybernetics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague, Czech Institute of Informatics, Robotics, and Cybernetics","institution_ids":["https://openalex.org/I4210152232","https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030177747","display_name":"Jan Kristof Behrens","orcid":"https://orcid.org/0000-0002-7375-2815"},"institutions":[{"id":"https://openalex.org/I4210152232","display_name":"Institute of Informatics of the Slovak Academy of Sciences","ror":"https://ror.org/04jgqpc26","country_code":"SK","type":"facility","lineage":["https://openalex.org/I207624831","https://openalex.org/I4210152232"]},{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ","SK"],"is_corresponding":false,"raw_author_name":"Jan Kristof Behrens","raw_affiliation_strings":["Czech Technical University in Prague, Czech Institute of Informatics, Robotics, and Cybernetics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague, Czech Institute of Informatics, Robotics, and Cybernetics","institution_ids":["https://openalex.org/I4210152232","https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065125599","display_name":"Karla \u0160t\u011bp\u00e1nov\u00e1","orcid":"https://orcid.org/0000-0003-4239-2092"},"institutions":[{"id":"https://openalex.org/I4210152232","display_name":"Institute of Informatics of the Slovak Academy of Sciences","ror":"https://ror.org/04jgqpc26","country_code":"SK","type":"facility","lineage":["https://openalex.org/I207624831","https://openalex.org/I4210152232"]},{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ","SK"],"is_corresponding":false,"raw_author_name":"Karla Stepanova","raw_affiliation_strings":["Czech Technical University in Prague, Czech Institute of Informatics, Robotics, and Cybernetics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague, Czech Institute of Informatics, Robotics, and Cybernetics","institution_ids":["https://openalex.org/I4210152232","https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087754464","display_name":"V\u00e1clav Hlav\u00e1\u010d","orcid":"https://orcid.org/0000-0002-8472-3147"},"institutions":[{"id":"https://openalex.org/I4210152232","display_name":"Institute of Informatics of the Slovak Academy of Sciences","ror":"https://ror.org/04jgqpc26","country_code":"SK","type":"facility","lineage":["https://openalex.org/I207624831","https://openalex.org/I4210152232"]},{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ","SK"],"is_corresponding":false,"raw_author_name":"Vaclav Hlavac","raw_affiliation_strings":["Czech Technical University in Prague, Czech Institute of Informatics, Robotics, and Cybernetics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Technical University in Prague, Czech Institute of Informatics, Robotics, and Cybernetics","institution_ids":["https://openalex.org/I4210152232","https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5428,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.83884961,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"9839","last_page":"9845"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T11398","display_name":"Hand Gesture Recognition Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9973999857902527,"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/gesture","display_name":"Gesture","score":0.9363552331924438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7463385462760925},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6753009557723999},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6535770297050476},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.608989953994751},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5831880569458008},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.5280070304870605},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.49712446331977844},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4968102276325226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4879598021507263},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.45142972469329834},{"id":"https://openalex.org/keywords/gesture-recognition","display_name":"Gesture recognition","score":0.4314393699169159},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.12759676575660706}],"concepts":[{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.9363552331924438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7463385462760925},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6753009557723999},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6535770297050476},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.608989953994751},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5831880569458008},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.5280070304870605},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.49712446331977844},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4968102276325226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4879598021507263},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.45142972469329834},{"id":"https://openalex.org/C159437735","wikidata":"https://www.wikidata.org/wiki/Q1519524","display_name":"Gesture recognition","level":3,"score":0.4314393699169159},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.12759676575660706}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10341944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341944","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8238017218","display_name":"Multimodal representation of robotic actions and tasks applied to Learning by demonstration","funder_award_id":"GA21-31000S","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"}],"funders":[{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W266133316","https://openalex.org/W1503398984","https://openalex.org/W2039604658","https://openalex.org/W2042392351","https://openalex.org/W2082511574","https://openalex.org/W2604272474","https://openalex.org/W2784881541","https://openalex.org/W2898961858","https://openalex.org/W2899092266","https://openalex.org/W2909027522","https://openalex.org/W2913737934","https://openalex.org/W2946370926","https://openalex.org/W2962994101","https://openalex.org/W2994107828","https://openalex.org/W3092774272","https://openalex.org/W3097791751","https://openalex.org/W3099587965","https://openalex.org/W3145123113","https://openalex.org/W3177386710","https://openalex.org/W4285102470","https://openalex.org/W4383108629","https://openalex.org/W6680971464","https://openalex.org/W6696727771","https://openalex.org/W6755846559"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2371519816","https://openalex.org/W2048862765","https://openalex.org/W2043154226","https://openalex.org/W2770942502","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2559957734"],"abstract_inverted_index":{"Human-Robot":[0],"collaboration":[1],"in":[2,109],"home":[3],"and":[4,16,51,74,83,97,147,167],"industrial":[5],"workspaces":[6],"is":[7,18,143,177],"on":[8,179],"the":[9,12,71,86,98,113,131,153,165,171,192,198],"rise.":[10],"However,":[11],"communication":[13],"between":[14,161],"robots":[15],"humans":[17],"a":[19,24,35,48,66,92,134,184],"bottleneck.":[20],"Although":[21],"people":[22],"use":[23],"combination":[25],"of":[26,29,56,130,164],"different":[27],"types":[28,55],"gestures":[30,40,57,96,196],"to":[31,61,65,80,111,120,137,203,206],"complement":[32],"speech,":[33],"only":[34],"few":[36],"robotic":[37],"systems":[38],"utilize":[39,117],"for":[41],"communication.":[42],"In":[43],"this":[44],"paper,":[45],"we":[46],"propose":[47],"gesture":[49,173],"pseudo-language":[50],"show":[52],"how":[53],"multiple":[54],"can":[58],"be":[59,89,138],"combined":[60],"express":[62],"human":[63],"intent":[64],"robot":[67,123,193],"(i.e.,":[68],"expressing":[69],"both":[70],"desired":[72],"action":[73,195],"its":[75],"parameters":[76],"-":[77],"e.g.,":[78],"pointing":[79],"an":[81,141],"object":[82,87,142],"showing":[84],"that":[85,125],"should":[88],"emptied":[90],"into":[91,145],"bowl).":[93],"The":[94,175],"demonstrated":[95],"perceived":[99],"tabletop":[100],"scene":[101,154],"(object":[102],"poses":[103],"detected":[104],"by":[105,201],"CosyPose)":[106],"are":[107],"processed":[108],"real-time)":[110],"extract":[112],"human's":[114],"intent.":[115],"We":[116],"behavior":[118,124],"trees":[119],"generate":[121],"reactive":[122],"handles":[126],"various":[127],"possible":[128],"states":[129],"world":[132],"(e.g.,":[133,151],"drawer":[135],"has":[136],"opened":[139],"before":[140],"placed":[144],"it)":[146],"recovers":[148],"from":[149],"errors":[150],"when":[152],"changes).":[155],"Furthermore,":[156],"our":[157],"system":[158,176],"enables":[159],"switching":[160],"direct":[162,207],"teleoperation":[163],"end-effector":[166],"high-level":[168],"operation":[169],"using":[170,183],"proposed":[172],"sentences.":[174],"evaluated":[178],"increasingly":[180],"complex":[181],"tasks":[182],"real":[185],"7-DoF":[186],"Franka":[187],"Emika":[188],"Panda":[189],"manipulator.":[190],"Controlling":[191],"via":[194],"lowered":[197],"execution":[199],"time":[200],"up":[202],"60%,":[204],"compared":[205],"teleoperation.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}