{"id":"https://openalex.org/W4416750857","doi":"https://doi.org/10.1109/iros60139.2025.11246802","title":"The Impact of VR and 2D Interfaces on Human Feedback in Preference-Based Robot Learning","display_name":"The Impact of VR and 2D Interfaces on Human Feedback in Preference-Based Robot Learning","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750857","doi":"https://doi.org/10.1109/iros60139.2025.11246802"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246802","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/A5069729988","display_name":"Jorge de Heuvel","orcid":"https://orcid.org/0000-0002-4493-6148"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jorge De Heuvel","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084998580","display_name":"Daniel Marta","orcid":"https://orcid.org/0000-0002-3510-5481"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Daniel Marta","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056430836","display_name":"Simon Holk","orcid":"https://orcid.org/0000-0001-5727-8140"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Simon Holk","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082559019","display_name":"Iolanda Leite","orcid":"https://orcid.org/0000-0002-2212-4325"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Iolanda Leite","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Sweden"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics, Perception and Learning,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5069729988"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":2.7802,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.92629096,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"19024","last_page":"19030"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.8805999755859375,"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":0.8805999755859375,"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/T11431","display_name":"Action Observation and Synchronization","score":0.013700000010430813,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.013100000098347664,"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/preference","display_name":"Preference","score":0.7879999876022339},{"id":"https://openalex.org/keywords/preference-learning","display_name":"Preference learning","score":0.650600016117096},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.6209999918937683},{"id":"https://openalex.org/keywords/preference-elicitation","display_name":"Preference elicitation","score":0.6031000018119812},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5985999703407288},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5285999774932861},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4650000035762787},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4456999897956848}],"concepts":[{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.7879999876022339},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.777899980545044},{"id":"https://openalex.org/C181204326","wikidata":"https://www.wikidata.org/wiki/Q7239820","display_name":"Preference learning","level":3,"score":0.650600016117096},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.6209999918937683},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6057000160217285},{"id":"https://openalex.org/C2777868144","wikidata":"https://www.wikidata.org/wiki/Q7239817","display_name":"Preference elicitation","level":3,"score":0.6031000018119812},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5985999703407288},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5285999774932861},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4650000035762787},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4456999897956848},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43720000982284546},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.4316999912261963},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.4239000082015991},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.3970000147819519},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.38359999656677246},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.2912999987602234},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.2840999960899353},{"id":"https://openalex.org/C2985665543","wikidata":"https://www.wikidata.org/wiki/Q3560550","display_name":"Spatial learning","level":3,"score":0.2662000060081482},{"id":"https://openalex.org/C117035363","wikidata":"https://www.wikidata.org/wiki/Q3769299","display_name":"Human behavior","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.25119999051094055}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246802","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1791587663","https://openalex.org/W2171057921","https://openalex.org/W2736972692","https://openalex.org/W2964177756","https://openalex.org/W3111658324","https://openalex.org/W3213330367","https://openalex.org/W4243354616","https://openalex.org/W4293245975","https://openalex.org/W4312480554","https://openalex.org/W4313117420","https://openalex.org/W4383108778","https://openalex.org/W4388623409","https://openalex.org/W4389665573","https://openalex.org/W4389667165","https://openalex.org/W4395077230","https://openalex.org/W4401414269","https://openalex.org/W4403918679","https://openalex.org/W4403919615","https://openalex.org/W4403919989","https://openalex.org/W4404370928","https://openalex.org/W4413926103"],"related_works":[],"abstract_inverted_index":{"Aligning":[0],"robot":[1,13,127],"navigation":[2,77],"with":[3],"human":[4,27,73,87],"preferences":[5],"is":[6,131],"essential":[7],"for":[8],"ensuring":[9],"comfortable,":[10],"and":[11,76,94,105,116],"predictable":[12],"movement":[14],"in":[15,100,125],"shared":[16],"spaces.":[17],"While":[18],"preference-based":[19,126],"learning":[20,25],"methods,":[21],"such":[22],"as":[23],"reinforcement":[24],"from":[26],"feedback":[28],"(RLHF),":[29],"enable":[30],"this":[31],"alignment,":[32],"the":[33,36,42,69,111,120],"choice":[34],"of":[35,85,122],"preference":[37,62,74,88,103,117],"collection":[38,75],"interface":[39,70,123],"may":[40],"influence":[41],"process.":[43],"Traditional":[44],"2D":[45,95],"interfaces":[46],"provide":[47],"structured":[48],"views":[49],"but":[50],"lack":[51],"spatial":[52],"depth,":[53],"whereas":[54],"immersive":[55],"VR":[56,93],"offers":[57],"richer":[58],"perception,":[59,115],"potentially":[60],"affecting":[61],"articulation.":[63],"This":[64],"study":[65],"systematically":[66],"examines":[67],"how":[68],"modality":[71],"impacts":[72],"policy":[78,106],"alignment.":[79],"We":[80],"introduce":[81],"a":[82],"novel":[83],"dataset":[84,130],"2,325":[86],"queries":[89],"collected":[90],"through":[91],"both":[92],"interfaces,":[96],"revealing":[97],"significant":[98],"differences":[99],"user":[101],"experience,":[102],"consistency,":[104],"outcomes.":[107],"Our":[108],"findings":[109],"highlight":[110],"trade-offs":[112],"between":[113],"immersion,":[114],"reliability,":[118],"emphasizing":[119],"importance":[121],"selection":[124],"learning.":[128],"The":[129],"available":[132],"to":[133],"support":[134],"future":[135],"research.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}