{"id":"https://openalex.org/W4389665990","doi":"https://doi.org/10.1109/iros55552.2023.10342126","title":"Latent Emission-Augmented Perspective-Taking (LEAPT) for Human-Robot Interaction","display_name":"Latent Emission-Augmented Perspective-Taking (LEAPT) for Human-Robot Interaction","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665990","doi":"https://doi.org/10.1109/iros55552.2023.10342126"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342126","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342126","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":"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/A5101687631","display_name":"Kaiqi Chen","orcid":"https://orcid.org/0000-0002-9079-0899"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Kaiqi Chen","raw_affiliation_strings":["National University of Singapore,Dept. of Computer Science","Dept. of Computer Science, National University of Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Dept. of Computer Science","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Computer Science, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102545455","display_name":"Jing Yu Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Jing Yu Lim","raw_affiliation_strings":["National University of Singapore,Dept. of Computer Science","Dept. of Computer Science, National University of Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Dept. of Computer Science","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Computer Science, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058206891","display_name":"Kingsley Kuan","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kingsley Kuan","raw_affiliation_strings":["National University of Singapore,Dept. of Computer Science","Dept. of Computer Science, National University of Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Dept. of Computer Science","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Computer Science, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066073375","display_name":"Harold Soh","orcid":"https://orcid.org/0000-0002-3278-0035"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Harold Soh","raw_affiliation_strings":["National University of Singapore,Dept. of Computer Science","Dept. of Computer Science, National University of Singapore"],"affiliations":[{"raw_affiliation_string":"National University of Singapore,Dept. of Computer Science","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Computer Science, National University of Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101687631"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16975305,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"8006","last_page":"8013"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9980999827384949,"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"}},"topics":[{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9980999827384949,"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"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9966999888420105,"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"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9932000041007996,"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":0.7281361222267151},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.725387692451477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6538820862770081},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.650443434715271},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6100524663925171},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5102980136871338},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.510151207447052},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.5044535398483276},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48254841566085815},{"id":"https://openalex.org/keywords/graphical-model","display_name":"Graphical model","score":0.48215383291244507},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4254753887653351},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3328798711299896},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1311192512512207}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7281361222267151},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.725387692451477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6538820862770081},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.650443434715271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6100524663925171},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5102980136871338},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.510151207447052},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.5044535398483276},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48254841566085815},{"id":"https://openalex.org/C155846161","wikidata":"https://www.wikidata.org/wiki/Q1143367","display_name":"Graphical model","level":2,"score":0.48215383291244507},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4254753887653351},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3328798711299896},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1311192512512207},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342126","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342126","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":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1977463520","https://openalex.org/W1995599110","https://openalex.org/W2001662971","https://openalex.org/W2020456813","https://openalex.org/W2142583797","https://openalex.org/W2147219982","https://openalex.org/W2167150807","https://openalex.org/W2410597390","https://openalex.org/W2786541991","https://openalex.org/W2951576550","https://openalex.org/W2964132611","https://openalex.org/W3045159026","https://openalex.org/W3083287224","https://openalex.org/W3101383418","https://openalex.org/W3129281515","https://openalex.org/W3205091198","https://openalex.org/W3206652331","https://openalex.org/W4220684265","https://openalex.org/W4221154893","https://openalex.org/W4281252704","https://openalex.org/W4287756582","https://openalex.org/W4287899365","https://openalex.org/W4320559489","https://openalex.org/W4385245566","https://openalex.org/W4389665836","https://openalex.org/W4390873239","https://openalex.org/W6681117550","https://openalex.org/W6739901393","https://openalex.org/W6748203849","https://openalex.org/W6748455135","https://openalex.org/W6782338555","https://openalex.org/W6803581605"],"related_works":["https://openalex.org/W1994680671","https://openalex.org/W2000283393","https://openalex.org/W2002320543","https://openalex.org/W2061947244","https://openalex.org/W2150232912","https://openalex.org/W2054940838","https://openalex.org/W3106170641","https://openalex.org/W4321855183","https://openalex.org/W2952513607","https://openalex.org/W4286900141"],"abstract_inverted_index":{"Perspective-taking":[0],"is":[1,19,79,92,157],"the":[2,77,108,118],"ability":[3],"to":[4,27,44,55,68,81,101,136,159,164],"perceive":[5],"or":[6,10,39],"understand":[7],"a":[8,60,66,84,93],"situation":[9],"concept":[11],"from":[12,112,129],"another":[13],"individual's":[14],"point":[15],"of":[16,120],"view,":[17],"and":[18,72,87,103,140,156,167],"crucial":[20],"in":[21,49,122],"daily":[22],"human":[23,85,138],"interactions.":[24],"Enabling":[25],"robots":[26],"perform":[28,69],"perspective-taking":[29],"remains":[30],"an":[31],"unsolved":[32],"problem;":[33],"existing":[34,154],"approaches":[35],"that":[36,64,110,149],"use":[37],"deterministic":[38],"handcrafted":[40],"methods":[41],"are":[42],"unable":[43],"accurately":[45],"account":[46],"for":[47],"uncertainty":[48,121,127],"partially-observable":[50,144],"settings.":[51],"This":[52],"work":[53],"proposes":[54],"address":[56],"this":[57,113],"limitation":[58],"via":[59],"deep":[61],"world":[62],"model":[63,99,116,135],"enables":[65,117],"robot":[67,78],"both":[70],"perception":[71],"conceptual":[73],"perspective":[74],"taking,":[75],"i.e.,":[76],"able":[80,100,158],"infer":[82,160],"what":[83],"sees":[86],"believes.":[88],"The":[89],"key":[90],"innovation":[91],"decomposed":[94],"multi-modal":[95],"latent":[96,123],"state":[97],"space":[98],"generate":[102],"augment":[104],"fictitious":[105],"observations/emissions.":[106],"Optimizing":[107],"ELBO":[109],"arises":[111],"probabilistic":[114],"graphical":[115],"learning":[119],"space,":[124],"which":[125],"facilitates":[126],"estimation":[128],"high-dimensional":[130],"observations.":[131],"We":[132],"tasked":[133],"our":[134,150],"predict":[137],"observations":[139,162],"beliefs":[141],"on":[142],"three":[143],"HRI":[145],"tasks.":[146],"Experiments":[147],"show":[148],"method":[151],"significantly":[152],"outperforms":[153],"baselines":[155],"visual":[161],"available":[163],"other":[165],"agent":[166],"their":[168],"internal":[169],"beliefs.":[170]},"counts_by_year":[],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}
