{"id":"https://openalex.org/W3127794374","doi":"https://doi.org/10.1109/lra.2021.3056370","title":"Human-Aware Robot Task Planning Based on a Hierarchical Task Model","display_name":"Human-Aware Robot Task Planning Based on a Hierarchical Task Model","publication_year":2021,"publication_date":"2021-02-03","ids":{"openalex":"https://openalex.org/W3127794374","doi":"https://doi.org/10.1109/lra.2021.3056370","mag":"3127794374"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3056370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3056370","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5007918805","display_name":"Yujiao Cheng","orcid":"https://orcid.org/0000-0001-5106-6120"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yujiao Cheng","raw_affiliation_strings":["School of Engineering, Mechanical Engineering Department, University of California, Berkeley, California, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Mechanical Engineering Department, University of California, Berkeley, California, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087667477","display_name":"Liting Sun","orcid":"https://orcid.org/0000-0002-1248-2137"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liting Sun","raw_affiliation_strings":["School of Engineering, Mechanical Engineering Department, University of California, Berkeley, California, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Mechanical Engineering Department, University of California, Berkeley, California, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064077634","display_name":"Masayoshi Tomizuka","orcid":"https://orcid.org/0000-0003-0206-6639"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Masayoshi Tomizuka","raw_affiliation_strings":["School of Engineering, Mechanical Engineering Department, University of California, Berkeley, California, USA"],"affiliations":[{"raw_affiliation_string":"School of Engineering, Mechanical Engineering Department, University of California, Berkeley, California, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007918805"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":5.4079,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.96146248,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"6","issue":"2","first_page":"1136","last_page":"1143"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987000226974487,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9941999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.8024288415908813},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.785063624382019},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6782122850418091},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6659568548202515},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.6129494905471802},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5875862836837769},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5514248609542847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4891231656074524},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4696691930294037},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4555656909942627},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4390808939933777},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37406983971595764},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07650566101074219}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.8024288415908813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.785063624382019},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6782122850418091},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6659568548202515},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.6129494905471802},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5875862836837769},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5514248609542847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4891231656074524},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4696691930294037},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4555656909942627},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4390808939933777},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37406983971595764},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07650566101074219},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3056370","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3056370","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1424654272","https://openalex.org/W2045792079","https://openalex.org/W2047123785","https://openalex.org/W2048269309","https://openalex.org/W2064851185","https://openalex.org/W2104980847","https://openalex.org/W2123713131","https://openalex.org/W2142723198","https://openalex.org/W2146518806","https://openalex.org/W2147214437","https://openalex.org/W2150385401","https://openalex.org/W2190621291","https://openalex.org/W2333632897","https://openalex.org/W2398020923","https://openalex.org/W2402351328","https://openalex.org/W2409715576","https://openalex.org/W2611243847","https://openalex.org/W2738967685","https://openalex.org/W2786533237","https://openalex.org/W2792294849","https://openalex.org/W2809349612","https://openalex.org/W2954330459","https://openalex.org/W2963150791","https://openalex.org/W2964318445","https://openalex.org/W2972710271","https://openalex.org/W2987330008","https://openalex.org/W2988916019","https://openalex.org/W2996403462","https://openalex.org/W3006115429","https://openalex.org/W3007062312","https://openalex.org/W4255876299","https://openalex.org/W6675616309","https://openalex.org/W6682639118","https://openalex.org/W6713352284","https://openalex.org/W6771152598"],"related_works":["https://openalex.org/W154029400","https://openalex.org/W186608971","https://openalex.org/W2147214437","https://openalex.org/W2559881192","https://openalex.org/W2621386530","https://openalex.org/W3097029141","https://openalex.org/W2586362452","https://openalex.org/W2148892780","https://openalex.org/W4388624165","https://openalex.org/W2991224891"],"abstract_inverted_index":{"When":[0],"robots":[1],"work":[2],"with":[3,44,140,150],"humans":[4],"for":[5,38,143],"collaborative":[6,145],"task,":[7],"they":[8],"need":[9],"to":[10,22,41,59,105],"plan":[11],"their":[12],"actions":[13,17,101],"while":[14],"taking":[15],"humans'":[16,107],"into":[18],"account.":[19],"However,":[20],"due":[21],"the":[23,26,39,45,75,81,96,106],"complexity":[24],"of":[25,31,80,86,135,162],"tasks":[27],"and":[28,77,99,125,165],"stochastic":[29],"nature":[30],"human":[32,142,166],"collaborators,":[33],"it":[34],"is":[35,158],"quite":[36],"challenging":[37],"robot":[40,137],"efficiently":[42],"collaborate":[43],"humans.":[46],"To":[47],"address":[48],"this":[49,52],"challenge,":[50],"in":[51,160],"letter,":[53],"we":[54],"first":[55],"propose":[56,90],"an":[57,91],"algorithm":[58],"automatically":[60],"construct":[61],"a":[62,111,136,141],"hierarchical":[63,70],"task":[64,71,82,119],"model":[65,72],"from":[66],"single-agent":[67],"demonstrations.":[68],"The":[69,147],"explicitly":[73],"captures":[74],"sequential":[76],"parallel":[78,97,104],"relationships":[79,98],"at":[83],"all":[84],"levels":[85],"abstraction.":[87],"We":[88,132],"then":[89],"optimization-based":[92],"planner,":[93],"which":[94],"exploits":[95],"prioritizes":[100],"that":[102,154],"are":[103],"actions.":[108],"In":[109],"such":[110],"way,":[112],"potential":[113],"spatial":[114],"interfaces":[115],"can":[116,122,129],"be":[117,123,130],"avoided,":[118],"completion":[120],"time":[121],"reduced,":[124],"human's":[126],"satisfaction":[127],"level":[128],"improved.":[131],"conducted":[133],"simulations":[134],"arm":[138],"collaborating":[139],"several":[144,151],"tasks.":[146],"comparison":[148],"results":[149],"baselines":[152],"proved":[153],"our":[155],"proposed":[156],"planner":[157],"better":[159],"terms":[161],"efficiency,":[163],"safety":[164],"satisfaction.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}
