{"id":"https://openalex.org/W4416750008","doi":"https://doi.org/10.1109/iros60139.2025.11246003","title":"IDAGC: Adaptive Generalized Human-Robot Collaboration via Human Intent Estimation and Multimodal Policy Learning","display_name":"IDAGC: Adaptive Generalized Human-Robot Collaboration via Human Intent Estimation and Multimodal Policy Learning","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750008","doi":"https://doi.org/10.1109/iros60139.2025.11246003"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5072756604","display_name":"Haotian Liu","orcid":"https://orcid.org/0009-0001-9264-7674"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haotian Liu","raw_affiliation_strings":["Chinese Academy of Sciences,CAS Engineering Laboratory for Intelligent Industrial Vision, Institute of Automation,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,CAS Engineering Laboratory for Intelligent Industrial Vision, Institute of Automation,Beijing,China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020012572","display_name":"Yuchuang Tong","orcid":"https://orcid.org/0000-0001-8767-1584"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuchuang Tong","raw_affiliation_strings":["Chinese Academy of Sciences,CAS Engineering Laboratory for Intelligent Industrial Vision, Institute of Automation,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,CAS Engineering Laboratory for Intelligent Industrial Vision, Institute of Automation,Beijing,China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102849521","display_name":"Guanchen Liu","orcid":"https://orcid.org/0000-0002-8773-8504"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanchen Liu","raw_affiliation_strings":["Chinese Academy of Sciences,CAS Engineering Laboratory for Intelligent Industrial Vision, Institute of Automation,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,CAS Engineering Laboratory for Intelligent Industrial Vision, Institute of Automation,Beijing,China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I4210094879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056287221","display_name":"Zhaojie Ju","orcid":"https://orcid.org/0000-0002-9524-7609"},"institutions":[{"id":"https://openalex.org/I1288702032","display_name":"Ministry of Education","ror":"https://ror.org/05p70jq59","country_code":"NZ","type":"government","lineage":["https://openalex.org/I1288702032"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN","NZ"],"is_corresponding":false,"raw_author_name":"Zhaojie Ju","raw_affiliation_strings":["Zhejiang University,Key Laboratory for Biomedical Engineering of Ministry of Education,China"],"affiliations":[{"raw_affiliation_string":"Zhejiang University,Key Laboratory for Biomedical Engineering of Ministry of Education,China","institution_ids":["https://openalex.org/I1288702032","https://openalex.org/I1327237609"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048650159","display_name":"Zhengtao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengtao Zhang","raw_affiliation_strings":["Chinese Academy of Sciences,CAS Engineering Laboratory for Intelligent Industrial Vision, Institute of Automation,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,CAS Engineering Laboratory for Intelligent Industrial Vision, Institute of Automation,Beijing,China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I4210094879"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5072756604"],"corresponding_institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I4210112150"],"apc_list":null,"apc_paid":null,"fwci":4.6579,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.95257461,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4480","last_page":"4487"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.6201000213623047,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.6201000213623047,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.09539999812841415,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.09529999643564224,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.6951000094413757},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.546500027179718},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4864000082015991},{"id":"https://openalex.org/keywords/interdependence","display_name":"Interdependence","score":0.4754999876022339},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.45170000195503235},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4408999979496002},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.40220001339912415},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.33059999346733093}],"concepts":[{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.6951000094413757},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6859999895095825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5623999834060669},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.546500027179718},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5271000266075134},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4864000082015991},{"id":"https://openalex.org/C185874996","wikidata":"https://www.wikidata.org/wiki/Q269699","display_name":"Interdependence","level":2,"score":0.4754999876022339},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.45170000195503235},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4408999979496002},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.40220001339912415},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36800000071525574},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33059999346733093},{"id":"https://openalex.org/C117035363","wikidata":"https://www.wikidata.org/wiki/Q3769299","display_name":"Human behavior","level":2,"score":0.3244999945163727},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.29649999737739563},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.2867000102996826},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.2865999937057495},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.2856999933719635},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28369998931884766},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C2780735816","wikidata":"https://www.wikidata.org/wiki/Q28324931","display_name":"Incremental learning","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.2567000091075897},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246003","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320334977","display_name":"Beijing Municipal Natural Science Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2194775991","https://openalex.org/W2312839761","https://openalex.org/W2760103357","https://openalex.org/W2970641574","https://openalex.org/W2982429175","https://openalex.org/W3202358609","https://openalex.org/W3205840220","https://openalex.org/W4312050878","https://openalex.org/W4364856150","https://openalex.org/W4381785626","https://openalex.org/W4385430674","https://openalex.org/W4386038306","https://openalex.org/W4388407845","https://openalex.org/W4389666154","https://openalex.org/W4390873312","https://openalex.org/W4392207704","https://openalex.org/W4400726753","https://openalex.org/W4401415772","https://openalex.org/W4401416041","https://openalex.org/W4401416214","https://openalex.org/W4402354133","https://openalex.org/W4404563134","https://openalex.org/W4411599804","https://openalex.org/W4413917780","https://openalex.org/W4413925801","https://openalex.org/W4415800339"],"related_works":[],"abstract_inverted_index":{"In":[0],"Human-Robot":[1],"Collaboration":[2,39],"(HRC),":[3],"which":[4,82],"encompasses":[5],"physical":[6,170],"interaction":[7],"and":[8,16,46,67,91,97,118,133,145,165],"remote":[9],"cooperation,":[10],"accurate":[11],"estimation":[12,49,167],"of":[13,19,64,70,78,183],"human":[14,47,125],"intentions":[15,126],"seamless":[17],"switching":[18],"collaboration":[20,65,89,136],"modes":[21,66],"to":[22,50,86,95,103,122,178],"adjust":[23],"robot":[24,119],"behavior":[25],"remain":[26],"paramount":[27],"challenges.":[28],"To":[29],"address":[30],"these":[31],"issues,":[32],"we":[33],"propose":[34],"an":[35],"Intent-Driven":[36],"Adaptive":[37],"Generalized":[38],"(IDAGC)":[40],"framework":[41,74,105,154],"that":[42,110],"leverages":[43],"multimodal":[44],"data":[45,121,161],"intent":[48,166],"facilitate":[51],"adaptive":[52],"policy":[53],"learning":[54],"across":[55],"multi-tasks":[56],"in":[57],"diverse":[58,100],"scenarios,":[59],"thereby":[60],"facilitating":[61],"autonomous":[62],"inference":[63],"dynamic":[68],"adjustment":[69],"robotic":[71],"actions.":[72],"This":[73],"overcomes":[75],"the":[76,93,112,153,180],"limitations":[77],"existing":[79],"HRC":[80],"methods,":[81],"are":[83],"typically":[84],"restricted":[85],"a":[87,107,128,150],"single":[88],"mode":[90],"lack":[92],"capacity":[94],"identify":[96],"transition":[98],"between":[99],"states.":[101],"Central":[102],"our":[104,174],"is":[106],"predictive":[108],"model":[109],"captures":[111],"interdependencies":[113],"among":[114],"vision,":[115],"language,":[116],"force,":[117],"state":[120],"accurately":[123],"recognize":[124],"with":[127],"Conditional":[129],"Variational":[130],"Autoencoder":[131],"(CVAE)":[132],"automatically":[134],"switch":[135],"modes.":[137],"By":[138],"employing":[139],"dedicated":[140],"encoders":[141],"for":[142],"each":[143],"modality":[144],"integrating":[146],"extracted":[147],"features":[148],"through":[149],"Transformer":[151],"decoder,":[152],"efficiently":[155],"learns":[156],"multi-task":[157],"policies,":[158],"while":[159],"force":[160],"optimizes":[162],"compliance":[163],"control":[164],"accuracy":[168],"during":[169],"interactions.":[171],"Experiments":[172],"highlights":[173],"framework\u2019s":[175],"practical":[176],"potential":[177],"advance":[179],"comprehensive":[181],"development":[182],"HRC.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-11-28T00:00:00"}