{"id":"https://openalex.org/W4408520011","doi":"https://doi.org/10.1109/lra.2025.3552216","title":"Information-Theoretic Detection of Bimanual Interactions for Dual-Arm Robot Plan Generation","display_name":"Information-Theoretic Detection of Bimanual Interactions for Dual-Arm Robot Plan Generation","publication_year":2025,"publication_date":"2025-03-17","ids":{"openalex":"https://openalex.org/W4408520011","doi":"https://doi.org/10.1109/lra.2025.3552216"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3552216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3552216","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2601.19832","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028914681","display_name":"Elena Merlo","orcid":"https://orcid.org/0009-0000-2205-0568"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Elena Merlo","raw_affiliation_strings":["Human-Robot Interfaces and Interaction (HRII) Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and Interaction (HRII) Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062246894","display_name":"Marta Lagomarsino","orcid":"https://orcid.org/0000-0001-9121-1812"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marta Lagomarsino","raw_affiliation_strings":["Human-Robot Interfaces and Interaction (HRII) Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and Interaction (HRII) Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["Human-Robot Interfaces and Interaction (HRII) Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Human-Robot Interfaces and Interaction (HRII) Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5028914681"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":2.4213,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.88029521,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"5","first_page":"4532","last_page":"4539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11159","display_name":"Manufacturing Process and Optimization","score":0.9527999758720398,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9527999758720398,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/dual","display_name":"Dual (grammatical number)","score":0.7429624199867249},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5478453636169434},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5174965858459473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5157654285430908},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5040416121482849},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4124666154384613},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35818928480148315},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.11231040954589844}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.7429624199867249},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5478453636169434},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5174965858459473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5157654285430908},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5040416121482849},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4124666154384613},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35818928480148315},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.11231040954589844},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2025.3552216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3552216","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"},{"id":"pmh:oai:arXiv.org:2601.19832","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2601.19832","pdf_url":"https://arxiv.org/pdf/2601.19832","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:doi:10.48550/arxiv.2601.19832","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"pmh:oai:iris.unige.it:11567/1256538","is_oa":false,"landing_page_url":"https://hdl.handle.net/11567/1256538","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2601.19832","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2601.19832","pdf_url":"https://arxiv.org/pdf/2601.19832","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4413185642","display_name":"foundaTion mOdels for Robots that haNdle smAll, soft and Deformable Objects","funder_award_id":"101189557","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8318064016","display_name":null,"funder_award_id":"Horizon","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320325847","display_name":"Istituto Italiano di Tecnologia","ror":"https://ror.org/042t93s57"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4408520011.pdf","grobid_xml":"https://content.openalex.org/works/W4408520011.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W2008724590","https://openalex.org/W2039967891","https://openalex.org/W2067870298","https://openalex.org/W2124032835","https://openalex.org/W2128677288","https://openalex.org/W2147168033","https://openalex.org/W2158976313","https://openalex.org/W2166112783","https://openalex.org/W2171425630","https://openalex.org/W2209991756","https://openalex.org/W2586262377","https://openalex.org/W2791037159","https://openalex.org/W2977286734","https://openalex.org/W2981773282","https://openalex.org/W2994446013","https://openalex.org/W3145123113","https://openalex.org/W3165194156","https://openalex.org/W4200498145","https://openalex.org/W4292965202","https://openalex.org/W4317424970","https://openalex.org/W4377237765","https://openalex.org/W4391021333","https://openalex.org/W4406387958","https://openalex.org/W6604542330","https://openalex.org/W6798567086","https://openalex.org/W6851822318"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W2072180474","https://openalex.org/W4313255720","https://openalex.org/W1960052459","https://openalex.org/W2317351040","https://openalex.org/W1992538606","https://openalex.org/W8302103","https://openalex.org/W2548273422","https://openalex.org/W2921933148","https://openalex.org/W2658949566"],"abstract_inverted_index":{"Programming":[0],"by":[1],"demonstration":[2,56],"is":[3,23,93],"a":[4,42,48,53,63,94,144],"strategy":[5],"to":[6,28,57,77],"simplify":[7],"the":[8,29,79,104,110],"robot":[9],"programming":[10],"process":[11],"for":[12,20,46,62,148],"non-experts":[13],"via":[14],"human":[15],"demonstrations.":[16],"However,":[17],"its":[18],"adoption":[19],"bimanual":[21,54],"tasks":[22],"an":[24,59,130],"underexplored":[25],"problem":[26],"due":[27],"complexity":[30],"of":[31,52,112],"hand":[32,69],"coordination,":[33],"which":[34,120],"also":[35],"hinders":[36],"data":[37,128],"recording.":[38],"This":[39],"letter":[40],"presents":[41],"novel":[43],"one-shot":[44],"method":[45],"processing":[47],"single":[49],"RGB":[50],"video":[51,118],"task":[55],"generate":[58],"execution":[60,146],"plan":[61,92,147],"dual-arm":[64],"robotic":[65],"system.":[66],"To":[67],"detect":[68],"coordination":[70],"policies,":[71],"we":[72,121],"apply":[73],"Shannon's":[74],"information":[75,80],"theory":[76],"analyze":[78],"flow":[81],"between":[82],"scene":[83,87],"elements":[84],"and":[85,123,126],"leverage":[86],"graph":[88],"properties.":[89],"The":[90],"generated":[91],"modular":[95],"behavior":[96],"tree":[97],"that":[98],"assumes":[99],"different":[100],"structures":[101],"based":[102],"on":[103],"desired":[105],"arms":[106],"coordination.":[107],"We":[108],"validated":[109],"effectiveness":[111],"this":[113],"framework":[114],"through":[115],"multiple":[116],"subject":[117],"demonstrations,":[119],"collected":[122],"made":[124],"open-source,":[125],"exploiting":[127],"from":[129],"external,":[131],"publicly":[132],"available":[133],"dataset.":[134],"Comparisons":[135],"with":[136],"existing":[137],"methods":[138],"revealed":[139],"significant":[140],"improvements":[141],"in":[142],"generating":[143],"centralized":[145],"coordinating":[149],"two-arm":[150],"systems.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-03-18T00:00:00"}