{"id":"https://openalex.org/W4413978370","doi":"https://doi.org/10.1109/lra.2025.3606309","title":"OVITA: Open-Vocabulary Interpretable Trajectory Adaptations","display_name":"OVITA: Open-Vocabulary Interpretable Trajectory Adaptations","publication_year":2025,"publication_date":"2025-09-04","ids":{"openalex":"https://openalex.org/W4413978370","doi":"https://doi.org/10.1109/lra.2025.3606309"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3606309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3606309","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":null,"display_name":"Anurag Maurya","orcid":"https://orcid.org/0009-0003-2651-1757"},"institutions":[{"id":"https://openalex.org/I4210146185","display_name":"Texas Instruments (Norway)","ror":"https://ror.org/05cswb132","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210146185","https://openalex.org/I74760111"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Anurag Maurya","raw_affiliation_strings":["Human-interactive Robotics (HiRo) Lab, Cyber-Physical Systems, Indian Institute of Science, Bangalore, India"],"raw_orcid":"https://orcid.org/0009-0003-2651-1757","affiliations":[{"raw_affiliation_string":"Human-interactive Robotics (HiRo) Lab, Cyber-Physical Systems, Indian Institute of Science, Bangalore, India","institution_ids":["https://openalex.org/I4210146185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108919745","display_name":"Tashmoy Ghosh","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146185","display_name":"Texas Instruments (Norway)","ror":"https://ror.org/05cswb132","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210146185","https://openalex.org/I74760111"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Tashmoy Ghosh","raw_affiliation_strings":["Human-interactive Robotics (HiRo) Lab, Cyber-Physical Systems, Indian Institute of Science, Bangalore, India"],"raw_orcid":"https://orcid.org/0009-0001-1662-9378","affiliations":[{"raw_affiliation_string":"Human-interactive Robotics (HiRo) Lab, Cyber-Physical Systems, Indian Institute of Science, Bangalore, India","institution_ids":["https://openalex.org/I4210146185"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Anh Nguyen","orcid":"https://orcid.org/0000-0002-1449-211X"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Anh Nguyen","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, U.K","Department of Computer Science, University of Liverpool, England"],"raw_orcid":"https://orcid.org/0000-0002-1449-211X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]},{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, England","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063583565","display_name":"Ravi Prakash","orcid":"https://orcid.org/0000-0002-9058-434X"},"institutions":[{"id":"https://openalex.org/I4210146185","display_name":"Texas Instruments (Norway)","ror":"https://ror.org/05cswb132","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210146185","https://openalex.org/I74760111"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Ravi Prakash","raw_affiliation_strings":["Human-interactive Robotics (HiRo) Lab, Cyber-Physical Systems, Indian Institute of Science, Bangalore, India"],"raw_orcid":"https://orcid.org/0000-0002-9058-434X","affiliations":[{"raw_affiliation_string":"Human-interactive Robotics (HiRo) Lab, Cyber-Physical Systems, Indian Institute of Science, Bangalore, India","institution_ids":["https://openalex.org/I4210146185"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210146185"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11700228,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"11","first_page":"11054","last_page":"11061"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9940999746322632,"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/T10181","display_name":"Natural Language Processing Techniques","score":0.9940999746322632,"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/T12031","display_name":"Speech and dialogue systems","score":0.9620000123977661,"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/trajectory","display_name":"Trajectory","score":0.6138753294944763},{"id":"https://openalex.org/keywords/vocabulary","display_name":"Vocabulary","score":0.5974628925323486},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4981551170349121},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.468699187040329},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.38832101225852966},{"id":"https://openalex.org/keywords/linguistics","display_name":"Linguistics","score":0.26397091150283813},{"id":"https://openalex.org/keywords/philosophy","display_name":"Philosophy","score":0.09295430779457092},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05412212014198303}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6138753294944763},{"id":"https://openalex.org/C2777601683","wikidata":"https://www.wikidata.org/wiki/Q6499736","display_name":"Vocabulary","level":2,"score":0.5974628925323486},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4981551170349121},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.468699187040329},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.38832101225852966},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.26397091150283813},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.09295430779457092},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05412212014198303},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3606309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3606309","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1971086298","https://openalex.org/W2100993276","https://openalex.org/W2136719407","https://openalex.org/W2794908222","https://openalex.org/W2896457183","https://openalex.org/W2949676527","https://openalex.org/W2964319110","https://openalex.org/W2994446013","https://openalex.org/W3003205975","https://openalex.org/W3033090297","https://openalex.org/W4283788970","https://openalex.org/W4312301659","https://openalex.org/W4312361190","https://openalex.org/W4313952519","https://openalex.org/W4383066231","https://openalex.org/W4383097638","https://openalex.org/W4383108457","https://openalex.org/W4390874280","https://openalex.org/W4391128534","https://openalex.org/W4393065402","https://openalex.org/W4399374221","https://openalex.org/W4402726075","https://openalex.org/W4405785687"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W3204019825"],"abstract_inverted_index":{"Adapting":[0],"trajectories":[1,43,66],"to":[2,23,61,89],"dynamic":[3,45],"situations":[4,48],"and":[5,46,116,128,152],"user":[6,63],"preferences":[7],"is":[8,123],"crucial":[9],"for":[10,40,108],"robot":[11,42,146],"operation":[12],"in":[13,27,44],"unstructured":[14],"environments":[15,130],"with":[16,131],"non-expert":[17],"users.":[18],"Natural":[19],"language":[20],"enables":[21],"users":[22,88],"express":[24],"these":[25],"adjustments":[26],"an":[28,34,80,85],"interactive":[29],"manner.":[30],"We":[31],"introduce":[32],"OVITA,":[33],"interpretable,":[35],"open-vocabulary,":[36],"language-driven":[37],"framework":[38,122],"designed":[39],"adapting":[41],"novel":[47],"based":[49],"on":[50,137],"human":[51],"instructions.":[52],"OVITA":[53,76,121],"leverages":[54],"multiple":[55],"pre-trained":[56],"Large":[57],"Language":[58],"Models":[59],"(LLMs)":[60],"integrate":[62],"commands":[64],"into":[65],"generated":[67,83],"by":[68,84],"motion":[69],"planners":[70],"or":[71],"those":[72],"learned":[73],"through":[74,125],"demonstrations.":[75],"employs":[77],"code":[78,103],"as":[79,101,142],"adaptation":[81],"policy":[82],"LLM,":[86,98],"enabling":[87,111],"adjust":[90],"individual":[91],"waypoints,":[92],"thus":[93],"providing":[94],"flexible":[95],"control.":[96],"Another":[97],"which":[99],"acts":[100],"a":[102,143],"explainer,":[104],"removes":[105],"the":[106,119],"need":[107],"expert":[109],"users,":[110],"intuitive":[112],"interactions.":[113],"The":[114],"efficacy":[115],"significance":[117],"of":[118],"proposed":[120],"demonstrated":[124],"extensive":[126],"simulations":[127],"real-world":[129],"diverse":[132],"tasks":[133],"involving":[134],"spatiotemporal":[135],"variations":[136],"heterogeneous":[138],"robotic":[139],"platforms":[140],"such":[141],"KUKA":[144],"IIWA":[145],"manipulator,":[147],"Clearpath":[148],"Jackal":[149],"ground":[150],"robot,":[151],"CrazyFlie":[153],"drone.":[154]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
