{"id":"https://openalex.org/W4283763246","doi":"https://doi.org/10.1109/ro-man53752.2022.9900568","title":"SLOT-V: Supervised Learning of Observer Models for Legible Robot Motion Planning in Manipulation","display_name":"SLOT-V: Supervised Learning of Observer Models for Legible Robot Motion Planning in Manipulation","publication_year":2022,"publication_date":"2022-08-29","ids":{"openalex":"https://openalex.org/W4283763246","doi":"https://doi.org/10.1109/ro-man53752.2022.9900568"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man53752.2022.9900568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man53752.2022.9900568","pdf_url":null,"source":{"id":"https://openalex.org/S4363607995","display_name":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2210.01412","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067967837","display_name":"Sebastian Wallk\u00f6tter","orcid":null},"institutions":[{"id":"https://openalex.org/I123387679","display_name":"Uppsala University","ror":"https://ror.org/048a87296","country_code":"SE","type":"education","lineage":["https://openalex.org/I123387679"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Sebastian Wallkotter","raw_affiliation_strings":["Uppsala University,Department of Information Technology,Uppsala,Sweden","Department of Information Technology, Uppsala University, Uppsala, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Uppsala University,Department of Information Technology,Uppsala,Sweden","institution_ids":["https://openalex.org/I123387679"]},{"raw_affiliation_string":"Department of Information Technology, Uppsala University, Uppsala, Sweden","institution_ids":["https://openalex.org/I123387679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049398785","display_name":"Mohamed Ch\u00e9touani","orcid":"https://orcid.org/0000-0002-2920-4539"},"institutions":[{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mohamed Chetouani","raw_affiliation_strings":["Sorbonne University,Institute for Intelligent Systems and Robotics,Paris,France","Institute for Intelligent Systems and Robotics, Sorbonne University, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sorbonne University,Institute for Intelligent Systems and Robotics,Paris,France","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"]},{"raw_affiliation_string":"Institute for Intelligent Systems and Robotics, Sorbonne University, Paris, France","institution_ids":["https://openalex.org/I39804081","https://openalex.org/I4210150358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014668082","display_name":"Ginevra Castellano","orcid":"https://orcid.org/0000-0002-2841-6791"},"institutions":[{"id":"https://openalex.org/I123387679","display_name":"Uppsala University","ror":"https://ror.org/048a87296","country_code":"SE","type":"education","lineage":["https://openalex.org/I123387679"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ginevra Castellano","raw_affiliation_strings":["Uppsala University,Department of Information Technology,Uppsala,Sweden","Department of Information Technology, Uppsala University, Uppsala, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Uppsala University,Department of Information Technology,Uppsala,Sweden","institution_ids":["https://openalex.org/I123387679"]},{"raw_affiliation_string":"Department of Information Technology, Uppsala University, Uppsala, Sweden","institution_ids":["https://openalex.org/I123387679"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1421","last_page":"1428"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9990000128746033,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.7910776138305664},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7451367378234863},{"id":"https://openalex.org/keywords/legibility","display_name":"Legibility","score":0.690582275390625},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.6887847185134888},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6207163333892822},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6013811826705933},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.588481068611145},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.47013574838638306},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4521017074584961},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4189617931842804},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.40145498514175415}],"concepts":[{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.7910776138305664},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7451367378234863},{"id":"https://openalex.org/C2779332521","wikidata":"https://www.wikidata.org/wiki/Q1820694","display_name":"Legibility","level":2,"score":0.690582275390625},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.6887847185134888},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6207163333892822},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6013811826705933},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.588481068611145},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.47013574838638306},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4521017074584961},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4189617931842804},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40145498514175415},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ro-man53752.2022.9900568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man53752.2022.9900568","pdf_url":null,"source":{"id":"https://openalex.org/S4363607995","display_name":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2210.01412","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.01412","pdf_url":"https://arxiv.org/pdf/2210.01412","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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:oai:HAL:hal-03709609v1","is_oa":true,"landing_page_url":"https://hal.science/hal-03709609","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.smile.unina.it/ro-man2022/","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:HAL:ird-03709359v1","is_oa":false,"landing_page_url":"https://hal.ird.fr/ird-03709359","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2210.01412","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2210.01412","pdf_url":"https://arxiv.org/pdf/2210.01412","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":[{"id":"https://metadata.un.org/sdg/11","score":0.550000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W1497716120","https://openalex.org/W1665214252","https://openalex.org/W1726426282","https://openalex.org/W1999633780","https://openalex.org/W2011343364","https://openalex.org/W2046213647","https://openalex.org/W2594712139","https://openalex.org/W2594775242","https://openalex.org/W2618447614","https://openalex.org/W2727720076","https://openalex.org/W2787680000","https://openalex.org/W2792162732","https://openalex.org/W2808033819","https://openalex.org/W2891175295","https://openalex.org/W2898461817","https://openalex.org/W2910345301","https://openalex.org/W2913163749","https://openalex.org/W2948899596","https://openalex.org/W2949682125","https://openalex.org/W2962727930","https://openalex.org/W2962937519","https://openalex.org/W2964333534","https://openalex.org/W2996061341","https://openalex.org/W3015048807","https://openalex.org/W3089490373","https://openalex.org/W3105079111","https://openalex.org/W3105219551","https://openalex.org/W3134683838","https://openalex.org/W3141373922","https://openalex.org/W3183109154","https://openalex.org/W3183238043","https://openalex.org/W3186800126","https://openalex.org/W3187815384","https://openalex.org/W3193577127","https://openalex.org/W3194323062","https://openalex.org/W3194461566","https://openalex.org/W3199692841","https://openalex.org/W3206426086","https://openalex.org/W4200282168","https://openalex.org/W4205882492","https://openalex.org/W4221140144","https://openalex.org/W4248056173","https://openalex.org/W4251170678","https://openalex.org/W4253699652","https://openalex.org/W4281683500","https://openalex.org/W4297208889","https://openalex.org/W6637242042","https://openalex.org/W6650105374","https://openalex.org/W6748660074","https://openalex.org/W6752638779","https://openalex.org/W6756627562","https://openalex.org/W6760270490","https://openalex.org/W6761908843","https://openalex.org/W6775948951","https://openalex.org/W6798512516","https://openalex.org/W6810122450"],"related_works":["https://openalex.org/W565076200","https://openalex.org/W2473574490","https://openalex.org/W2406065423","https://openalex.org/W4386523255","https://openalex.org/W2045049461","https://openalex.org/W2088472827","https://openalex.org/W1480515846","https://openalex.org/W1726426282","https://openalex.org/W2015855840","https://openalex.org/W2101105382"],"abstract_inverted_index":{"We":[0,94],"present":[1],"SLOT-V,":[2],"a":[3,19,26,35,76,102,106,144],"novel":[4],"supervised":[5,77],"learning":[6],"framework":[7],"that":[8,51,84,114,126,143,175,188],"learns":[9,177],"observer":[10,28,49,59,123,179,193,196],"models":[11,60,180,197],"(human":[12],"preferences)":[13],"from":[14,34,67],"robot":[15,36],"motion":[16,37],"trajectories":[17],"in":[18,75,105,151],"legibility":[20],"context.":[21],"Legibility":[22],"measures":[23],"how":[24],"easily":[25],"(human)":[27],"can":[29,116,190],"infer":[30],"the":[31,53,80,89,97],"robot\u2019s":[32],"goal":[33,155,158],"trajectory.":[38],"When":[39],"generating":[40],"such":[41],"trajectories,":[42,201],"existing":[43,131,170],"planners":[44],"often":[45],"rely":[46],"on":[47],"an":[48,169],"model":[50,146],"estimates":[52],"quality":[54],"of":[55,91,99],"trajectory":[56],"candidates.":[57],"These":[58],"are":[61],"frequently":[62,86],"hand-crafted":[63,122],"or,":[64],"occasionally,":[65],"learned":[66],"demonstrations.":[68],"Here,":[69],"we":[70,112,135,161],"propose":[71],"to":[72,118,139,148,208],"learn":[73,117,191],"them":[74],"manner":[78],"using":[79,101],"same":[81],"data":[82],"format":[83],"is":[85],"used":[87],"during":[88],"evaluation":[90],"aforementioned":[92],"approaches.":[93],"then":[95],"demonstrate":[96],"generality":[98],"SLOT-V":[100,176,189],"Franka":[103],"Emika":[104],"simulated":[107],"manipulation":[108],"environment.":[109],"For":[110],"this,":[111],"show":[113,174],"it":[115],"closely":[119],"predict":[120],"various":[121],"models,":[124],"i.e.,":[125],"SLOT-V\u2019s":[127,137,163],"hypothesis":[128],"space":[129],"encompasses":[130],"handcrafted":[132],"models.":[133,194],"Next,":[134],"showcase":[136],"ability":[138],"generalize":[140],"by":[141],"showing":[142],"trained":[145],"continues":[147],"perform":[149],"well":[150],"environments":[152],"with":[153,181],"unseen":[154],"configurations":[156],"and/or":[157],"counts.":[159],"Finally,":[160],"benchmark":[162],"sample":[164],"efficiency":[165],"(and":[166],"performance)":[167],"against":[168],"IRL":[171],"approach":[172],"and":[173,210],"better":[178,209],"less":[182],"data.":[183],"Combined,":[184],"these":[185],"results":[186],"suggest":[187],"viable":[192],"Better":[195],"imply":[198],"more":[199,211],"legible":[200],"which":[202],"may":[203],"-in":[204],"turn":[205],"-":[206],"lead":[207],"transparent":[212],"human-robot":[213],"interaction.":[214]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}
