{"id":"https://openalex.org/W4390099542","doi":"https://doi.org/10.1109/robio58561.2023.10354837","title":"Learning RL policies for anticipative assistive robots by simulating human-robot interactions in real scenarios using egocentric videos","display_name":"Learning RL policies for anticipative assistive robots by simulating human-robot interactions in real scenarios using egocentric videos","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099542","doi":"https://doi.org/10.1109/robio58561.2023.10354837"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354837","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354837","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5093558981","display_name":"Silvia Abal-Fern\u00e1ndez","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Silvia Abal-Fern\u00e1ndez","raw_affiliation_strings":["Universidad Carlos III de Madrid,Signal Theory and Communications Department,Spain","Signal Theory and Communications Department, Universidad Carlos III de Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Signal Theory and Communications Department,Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Signal Theory and Communications Department, Universidad Carlos III de Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093558982","display_name":"C\u00e9sar Caramazana-Zarzosa","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"C\u00e9sar Caramazana-Zarzosa","raw_affiliation_strings":["Universidad Carlos III de Madrid,Signal Theory and Communications Department,Spain","Signal Theory and Communications Department, Universidad Carlos III de Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Signal Theory and Communications Department,Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Signal Theory and Communications Department, Universidad Carlos III de Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093558983","display_name":"Mar\u00eda Beatriz Loureiro-Casalderrey","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Mar\u00eda Beatriz Loureiro-Casalderrey","raw_affiliation_strings":["Universidad Carlos III de Madrid,Signal Theory and Communications Department,Spain","Signal Theory and Communications Department, Universidad Carlos III de Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Signal Theory and Communications Department,Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Signal Theory and Communications Department, Universidad Carlos III de Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101960669","display_name":"Santiago Mart\u00ednez","orcid":"https://orcid.org/0000-0003-3539-4583"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Santiago Mart\u00ednez","raw_affiliation_strings":["Universidad Carlos III de Madrid,Robotics Lab,Spain","Robotics Lab, Universidad Carlos III de Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Robotics Lab,Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Robotics Lab, Universidad Carlos III de Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038098758","display_name":"Carlos Balaguer","orcid":"https://orcid.org/0000-0003-4864-4625"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Balaguer","raw_affiliation_strings":["Universidad Carlos III de Madrid,Robotics Lab,Spain","Robotics Lab, Universidad Carlos III de Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Robotics Lab,Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Robotics Lab, Universidad Carlos III de Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077061691","display_name":"Fernando D\u00edaz-de-Mar\u00eda","orcid":"https://orcid.org/0000-0002-6437-914X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Fernando D\u00edaz-de-Mar\u00eda","raw_affiliation_strings":["Universidad Carlos III de Madrid,Signal Theory and Communications Department,Spain","Signal Theory and Communications Department, Universidad Carlos III de Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Signal Theory and Communications Department,Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Signal Theory and Communications Department, Universidad Carlos III de Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016179376","display_name":"Iv\u00e1n Gonz\u00e1lez-D\u00edaz","orcid":"https://orcid.org/0000-0003-4644-8479"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Iv\u00e1n Gonz\u00e1lez-D\u00edaz","raw_affiliation_strings":["Universidad Carlos III de Madrid,Signal Theory and Communications Department,Spain","Signal Theory and Communications Department, Universidad Carlos III de Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Carlos III de Madrid,Signal Theory and Communications Department,Spain","institution_ids":["https://openalex.org/I50357001"]},{"raw_affiliation_string":"Signal Theory and Communications Department, Universidad Carlos III de Madrid, Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6098,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.73209474,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"164","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9864000082015991,"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"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9864000082015991,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9358000159263611,"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/T12207","display_name":"Assistive Technology in Communication and Mobility","score":0.9332000017166138,"subfield":{"id":"https://openalex.org/subfields/3609","display_name":"Occupational Therapy"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8496496081352234},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6858810186386108},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6444718241691589},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5673470497131348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4912406802177429},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4688355028629303},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4482267200946808},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3797435760498047},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2655423879623413}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8496496081352234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6858810186386108},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6444718241691589},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5673470497131348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4912406802177429},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4688355028629303},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4482267200946808},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3797435760498047},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2655423879623413}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354837","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354837","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1536680647","https://openalex.org/W2097028962","https://openalex.org/W2808570645","https://openalex.org/W2824479732","https://openalex.org/W2901915841","https://openalex.org/W2922038110","https://openalex.org/W2952180054","https://openalex.org/W2963428623","https://openalex.org/W2964053787","https://openalex.org/W2996726407","https://openalex.org/W3000083706","https://openalex.org/W3012239466","https://openalex.org/W3035624836","https://openalex.org/W3091243689","https://openalex.org/W3128013500","https://openalex.org/W3134526803","https://openalex.org/W3166398070","https://openalex.org/W3179696258","https://openalex.org/W3207502053","https://openalex.org/W4296591937","https://openalex.org/W4312443712","https://openalex.org/W6677939520","https://openalex.org/W6771787661","https://openalex.org/W6775179543","https://openalex.org/W6800117431"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2581059419","https://openalex.org/W2401800146","https://openalex.org/W3205513966","https://openalex.org/W2052971528","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727","https://openalex.org/W2612216462"],"abstract_inverted_index":{"Social":[0],"robots":[1,119],"are":[2],"increasingly":[3],"being":[4],"used":[5],"to":[6,23,27,33,40,123],"assist":[7],"vulnerable":[8],"people":[9],"in":[10,61,106],"their":[11],"daily":[12],"activities.":[13],"However,":[14],"for":[15],"successful":[16],"human-robot":[17],"interaction":[18,30],"(HRI),":[19],"the":[20,29,89,103,130],"robot":[21,90,131,146],"needs":[22],"be":[24],"pre-trained":[25],"beforehand":[26],"minimize":[28],"time":[31],"necessary":[32],"reach":[34],"an":[35],"acceptable":[36],"performance":[37],"level":[38],"and":[39,66,84,114,145],"ensure":[41],"safety":[42],"avoiding":[43],"uncontrolled":[44],"behaviors.":[45],"In":[46],"this":[47,62],"scenario,":[48],"building":[49],"a":[50,54,68,74,111,135],"simulation":[51,69,108],"environment":[52],"becomes":[53],"very":[55],"convenient":[56],"approach.":[57],"Our":[58,99],"proposal":[59],"contributes":[60],"direction":[63],"by":[64],"designing":[65],"implementing":[67],"platform":[70,109],"that,":[71],"together":[72],"with":[73,81,96],"full":[75],"system":[76],"enabling":[77],"HRI":[78,116],"between":[79],"patients":[80],"sensorimotor":[82],"disabilities":[83],"anticipative":[85],"robots,":[86],"allow":[87],"learning":[88],"policies":[91],"using":[92],"egocentric":[93],"videos":[94],"recorded":[95],"healthy":[97],"volunteers.":[98],"experiments":[100],"demonstrate":[101],"that":[102,120],"models":[104],"learned":[105],"our":[107],"provide":[110],"more":[112],"efficient":[113],"natural":[115],"than":[117],"reactive":[118],"simply":[121],"respond":[122],"patients\u2019":[124],"commands.":[125],"Additionally,":[126],"we":[127],"show":[128],"how":[129],"behavior":[132],"varies":[133],"as":[134],"function":[136],"of":[137,139],"factors":[138],"interest":[140],"modelling":[141],"both":[142],"human":[143],"preferences":[144],"physical":[147],"skills.":[148]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
