{"id":"https://openalex.org/W4405778633","doi":"https://doi.org/10.1109/iros58592.2024.10802144","title":"GOMA: Proactive Embodied Cooperative Communication via Goal-Oriented Mental Alignment","display_name":"GOMA: Proactive Embodied Cooperative Communication via Goal-Oriented Mental Alignment","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405778633","doi":"https://doi.org/10.1109/iros58592.2024.10802144"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5053765058","display_name":"Lance Ying","orcid":"https://orcid.org/0000-0003-4104-4088"},"institutions":[{"id":"https://openalex.org/I2801851002","display_name":"Harvard University Press","ror":"https://ror.org/006v7bf86","country_code":"US","type":"other","lineage":["https://openalex.org/I136199984","https://openalex.org/I2801851002"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lance Ying","raw_affiliation_strings":["Harvard University,Cambridge,MA,USA,02138"],"affiliations":[{"raw_affiliation_string":"Harvard University,Cambridge,MA,USA,02138","institution_ids":["https://openalex.org/I2801851002"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011682613","display_name":"Kunal Jha","orcid":null},"institutions":[{"id":"https://openalex.org/I107672454","display_name":"Dartmouth College","ror":"https://ror.org/049s0rh22","country_code":"US","type":"education","lineage":["https://openalex.org/I107672454"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kunal Jha","raw_affiliation_strings":["Dartmouth College,Hanover,NH,USA,03755"],"affiliations":[{"raw_affiliation_string":"Dartmouth College,Hanover,NH,USA,03755","institution_ids":["https://openalex.org/I107672454"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5094196434","display_name":"Shivam Aarya","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shivam Aarya","raw_affiliation_strings":["Johns Hopkins University,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071093940","display_name":"Joshua B. Tenenbaum","orcid":"https://orcid.org/0000-0002-1925-2035"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua B. Tenenbaum","raw_affiliation_strings":["Massachusetts Institute of Technology,Cambridge,MA,USA,01239"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Cambridge,MA,USA,01239","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085020955","display_name":"Antonio Torralba","orcid":"https://orcid.org/0000-0003-4915-0256"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Antonio Torralba","raw_affiliation_strings":["Massachusetts Institute of Technology,Cambridge,MA,USA,01239"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Cambridge,MA,USA,01239","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005908625","display_name":"Tianmin Shu","orcid":null},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianmin Shu","raw_affiliation_strings":["Johns Hopkins University,Baltimore,MD,USA,21218"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Baltimore,MD,USA,21218","institution_ids":["https://openalex.org/I145311948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5053765058"],"corresponding_institution_ids":["https://openalex.org/I2801851002"],"apc_list":null,"apc_paid":null,"fwci":1.772,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.87879535,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7099","last_page":"7106"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12805","display_name":"Cognitive Science and Mapping","score":0.7121999859809875,"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/T12805","display_name":"Cognitive Science and Mapping","score":0.7121999859809875,"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/T10672","display_name":"Design Education and Practice","score":0.6916000247001648,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11883","display_name":"Embodied and Extended Cognition","score":0.6894000172615051,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.8174599409103394},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6486434936523438},{"id":"https://openalex.org/keywords/knowledge-management","display_name":"Knowledge management","score":0.48532217741012573},{"id":"https://openalex.org/keywords/process-management","display_name":"Process management","score":0.45005109906196594},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.43869078159332275},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.2509167492389679},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11277100443840027}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.8174599409103394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6486434936523438},{"id":"https://openalex.org/C56739046","wikidata":"https://www.wikidata.org/wiki/Q192060","display_name":"Knowledge management","level":1,"score":0.48532217741012573},{"id":"https://openalex.org/C195094911","wikidata":"https://www.wikidata.org/wiki/Q14167904","display_name":"Process management","level":1,"score":0.45005109906196594},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43869078159332275},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.2509167492389679},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11277100443840027}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.47999998927116394}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306994","display_name":"Lockheed Martin","ror":"https://ror.org/026er9r08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1754503709","https://openalex.org/W2130259926","https://openalex.org/W2149551746","https://openalex.org/W2165377048","https://openalex.org/W2168359464","https://openalex.org/W2220312086","https://openalex.org/W2591201689","https://openalex.org/W2594035753","https://openalex.org/W2890809352","https://openalex.org/W2964333534","https://openalex.org/W3009350896","https://openalex.org/W3094369551","https://openalex.org/W3125241383","https://openalex.org/W3135146427","https://openalex.org/W3148143011","https://openalex.org/W4205882492","https://openalex.org/W4224912544","https://openalex.org/W4230100653","https://openalex.org/W4231966580","https://openalex.org/W4285392457","https://openalex.org/W4301357669","https://openalex.org/W4388182168","https://openalex.org/W4391116710","https://openalex.org/W4401416363","https://openalex.org/W4402684048","https://openalex.org/W6714580625","https://openalex.org/W6748027132","https://openalex.org/W6767914801","https://openalex.org/W6774883101","https://openalex.org/W6779812985","https://openalex.org/W6784020155","https://openalex.org/W6786090126","https://openalex.org/W6790965449","https://openalex.org/W6850405868","https://openalex.org/W6853300998","https://openalex.org/W6853899534","https://openalex.org/W6861670784","https://openalex.org/W6870687945"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2380179524","https://openalex.org/W4283365723","https://openalex.org/W2963001125","https://openalex.org/W2091233881","https://openalex.org/W2352366064","https://openalex.org/W4250820896","https://openalex.org/W2124102101"],"abstract_inverted_index":{"Verbal":[0],"communication":[1,34,43,80,124,143],"plays":[2],"a":[3,31,45],"crucial":[4],"role":[5],"in":[6,99,128],"human":[7,159],"cooperation,":[8],"particularly":[9],"when":[10,74],"the":[11,18,50,53,63,129,145,151,154,163],"partners":[12],"only":[13],"have":[14],"incomplete":[15],"information":[16],"about":[17,73],"task,":[19],"environment,":[20],"and":[21,75,107,131],"each":[22],"other\u2019s":[23],"mental":[24,57],"state.":[25],"In":[26,134],"this":[27],"paper,":[28],"we":[29],"propose":[30],"novel":[32],"cooperative":[33],"framework,":[35],"Goal-Oriented":[36],"Mental":[37],"Alignment":[38],"(GOMA).":[39],"GOMA":[40],"formulates":[41],"verbal":[42,142],"as":[44,156,158],"planning":[46],"problem":[47],"that":[48,59,116,125],"minimizes":[49],"misalignment":[51],"between":[52],"parts":[54],"of":[55,153,162],"agents\u2019":[56],"states":[58],"are":[60],"relevant":[61],"to":[62,71,77,87,148],"goals.":[64],"This":[65],"approach":[66,95,137],"enables":[67],"an":[68],"embodied":[69,146],"assistant":[70,147],"reason":[72],"how":[76],"proactively":[78],"initialize":[79],"with":[81,121],"humans":[82],"verbally":[83],"using":[84],"natural":[85],"language":[86,118],"help":[88],"achieve":[89],"better":[90],"cooperation.":[91],"We":[92],"evaluate":[93],"our":[94,136],"against":[96],"strong":[97],"baselines":[98],"two":[100],"challenging":[101],"environments,":[102],"Overcooked":[103],"(a":[104,109],"multiplayer":[105],"game)":[106],"VirtualHome":[108],"household":[110],"simulator).":[111],"Our":[112],"experimental":[113],"results":[114],"demonstrate":[115],"large":[117],"models":[119],"struggle":[120],"generating":[122],"meaningful":[123],"is":[126],"grounded":[127],"social":[130],"physical":[132],"context.":[133],"contrast,":[135],"can":[138],"successfully":[139],"generate":[140],"concise":[141],"for":[144],"effectively":[149],"boost":[150],"performance":[152],"cooperation":[155],"well":[157],"users\u2019":[160],"perception":[161],"assistant.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
