{"id":"https://openalex.org/W4415822311","doi":"https://doi.org/10.1109/ro-man63969.2025.11217746","title":"Demonstration Sidetracks: Categorizing Systematic Non-Optimality in Human Demonstrations","display_name":"Demonstration Sidetracks: Categorizing Systematic Non-Optimality in Human Demonstrations","publication_year":2025,"publication_date":"2025-08-25","ids":{"openalex":"https://openalex.org/W4415822311","doi":"https://doi.org/10.1109/ro-man63969.2025.11217746"},"language":null,"primary_location":{"id":"doi:10.1109/ro-man63969.2025.11217746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217746","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5030261532","display_name":"Shijie Fang","orcid":"https://orcid.org/0009-0001-0392-620X"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shijie Fang","raw_affiliation_strings":["Tufts University School of Engineering, Computer Science,Medford,Massachusetts,United States of America"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tufts University School of Engineering, Computer Science,Medford,Massachusetts,United States of America","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100432192","display_name":"Hang Yu","orcid":"https://orcid.org/0009-0000-4624-1123"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hang Yu","raw_affiliation_strings":["Tufts University School of Engineering, Computer Science,Medford,Massachusetts,United States of America"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tufts University School of Engineering, Computer Science,Medford,Massachusetts,United States of America","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108326242","display_name":"Qidi Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qidi Fang","raw_affiliation_strings":["Tufts University School of Engineering, Computer Science,Medford,Massachusetts,United States of America"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tufts University School of Engineering, Computer Science,Medford,Massachusetts,United States of America","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017028387","display_name":"Reuben M. Aronson","orcid":"https://orcid.org/0000-0002-8615-3715"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reuben M. Aronson","raw_affiliation_strings":["Tufts University School of Engineering, Computer Science,Medford,Massachusetts,United States of America"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tufts University School of Engineering, Computer Science,Medford,Massachusetts,United States of America","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077011363","display_name":"Elaine Schaertl Short","orcid":"https://orcid.org/0000-0002-4789-9979"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elaine S. Short","raw_affiliation_strings":["Tufts University School of Engineering, Computer Science,Medford,Massachusetts,United States of America"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tufts University School of Engineering, Computer Science,Medford,Massachusetts,United States of America","institution_ids":["https://openalex.org/I121934306"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I121934306"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"857","last_page":"863"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5539000034332275,"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":0.5539000034332275,"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":0.3490999937057495,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.01360000018030405,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6927000284194946},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6025000214576721},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5238000154495239},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.43650001287460327},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.39309999346733093},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.35659998655319214}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6927000284194946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6245999932289124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6025000214576721},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5627999901771545},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5238000154495239},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44850000739097595},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.43650001287460327},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3955000042915344},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.39309999346733093},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.35659998655319214},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.34779998660087585},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.34049999713897705},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3278000056743622},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.26759999990463257}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ro-man63969.2025.11217746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man63969.2025.11217746","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1999874108","https://openalex.org/W2053910308","https://openalex.org/W2994446013","https://openalex.org/W3207359859","https://openalex.org/W4283784806","https://openalex.org/W4285154021","https://openalex.org/W4382203047","https://openalex.org/W4385403811","https://openalex.org/W4389664919","https://openalex.org/W4392633674","https://openalex.org/W4399939232","https://openalex.org/W4403919492","https://openalex.org/W4409347153"],"related_works":[],"abstract_inverted_index":{"Learning":[0],"from":[1,20,73],"Demonstration":[2],"(LfD)":[3],"has":[4],"become":[5],"a":[6,68,81,91],"popular":[7],"approach":[8],"for":[9,168],"robots":[10],"to":[11,176],"learn":[12],"new":[13],"skills,":[14],"despite":[15],"most":[16],"LfD":[17,28,178],"methods":[18],"suffering":[19],"imperfections":[21],"in":[22,27,33,46,90,129],"human":[23,34],"demonstrations.":[24,97],"Prior":[25],"work":[26,76],"often":[29],"characterizes":[30],"the":[31,87,96,136,144,160,166,190],"sub-optimalities":[32],"demonstrations":[35,48,131],"as":[36],"random":[37,56,122],"noise.":[38],"In":[39],"this":[40],"paper,":[41],"we":[42,151],"explored":[43],"non-optimal":[44],"behaviors":[45,53],"non-expert":[47,130],"and":[49,57,80,93,108,110,123,135,148,180,186,193],"showed":[50],"that":[51,118,153],"these":[52],"are":[54,157,195],"not":[55],"have":[58],"systematic":[59,63],"patterns:":[60],"they":[61],"form":[62],"demonstration":[64,103,125,139],"sidetracks.":[65],"We":[66,85,98,116],"used":[67],"public":[69],"space":[70],"study":[71],"dataset":[72],"our":[74],"previous":[75],"with":[77,143],"40":[78],"participants":[79],"long-horizon":[82],"robot":[83,145],"task.":[84],"recreated":[86],"experimental":[88],"setup":[89],"simulation":[92],"annotated":[94],"all":[95,133],"identified":[99],"four":[100],"types":[101],"of":[102,120,138,171],"sidetracks,":[104],"Exploration,":[105],"Mistake,":[106],"Alignment,":[107],"Pause,":[109],"one":[111],"control":[112,155,161],"pattern":[113],"one-dimension":[114],"control.":[115],"found":[117,152],"instead":[119],"being":[121],"rare,":[124],"sidetracks":[126,140],"frequently":[127],"appear":[128],"across":[132],"participants,":[134],"distribution":[137],"is":[141],"associated":[142],"task":[146],"temporarily":[147],"spatially.":[149],"Moreover,":[150],"users\u2019":[154],"patterns":[156],"affected":[158],"by":[159],"interface.":[162],"Our":[163],"findings":[164],"highlight":[165],"need":[167],"better":[169],"models":[170],"sub-optimal":[172],"demonstrations,":[173,191],"offering":[174],"insights":[175],"improve":[177],"algorithms":[179],"reduce":[181],"gaps":[182],"between":[183],"lab-based":[184],"training":[185],"real-world":[187],"applications.":[188],"All":[189],"infrastructures,":[192],"annotations":[194],"available":[196],"at":[197],"https://github.com/AABL-Lab/Human-Demonstration-Sidetracks.":[198]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-03T00:00:00"}
