{"id":"https://openalex.org/W2011343364","doi":"https://doi.org/10.1109/roman.2014.6926256","title":"Legible robot pointing","display_name":"Legible robot pointing","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2011343364","doi":"https://doi.org/10.1109/roman.2014.6926256","mag":"2011343364"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2014.6926256","is_oa":true,"landing_page_url":"https://doi.org/10.1109/roman.2014.6926256","pdf_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6926256","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6926256","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057672771","display_name":"Rachel Holladay","orcid":"https://orcid.org/0000-0002-1947-4180"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rachel M. Holladay","raw_affiliation_strings":["School of Computer Science, Carnegie Mellon University","School of Computer Science, Carnegie Mellon University, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"School of Computer Science, Carnegie Mellon University, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005997281","display_name":"Anca D. Dragan","orcid":"https://orcid.org/0000-0001-6312-5466"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anca D. Dragan","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University","Robotics Institute, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University","Robotics Institute, Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":8.0637,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.97907648,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"217","last_page":"223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9997000098228455,"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":0.9997000098228455,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9979000091552734,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9940999746322632,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/legibility","display_name":"Legibility","score":0.8657466173171997},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7559893131256104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7342827320098877},{"id":"https://openalex.org/keywords/deixis","display_name":"Deixis","score":0.6869646906852722},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6840500831604004},{"id":"https://openalex.org/keywords/clarity","display_name":"CLARITY","score":0.6548908352851868},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.6499143838882446},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.627639889717102},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6079105138778687},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5012147426605225},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.43267521262168884},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4268782138824463}],"concepts":[{"id":"https://openalex.org/C2779332521","wikidata":"https://www.wikidata.org/wiki/Q1820694","display_name":"Legibility","level":2,"score":0.8657466173171997},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7559893131256104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7342827320098877},{"id":"https://openalex.org/C13077596","wikidata":"https://www.wikidata.org/wiki/Q340015","display_name":"Deixis","level":2,"score":0.6869646906852722},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6840500831604004},{"id":"https://openalex.org/C2777146004","wikidata":"https://www.wikidata.org/wiki/Q14949826","display_name":"CLARITY","level":2,"score":0.6548908352851868},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.6499143838882446},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.627639889717102},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6079105138778687},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5012147426605225},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.43267521262168884},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4268782138824463},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/roman.2014.6926256","is_oa":true,"landing_page_url":"https://doi.org/10.1109/roman.2014.6926256","pdf_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6926256","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1109/roman.2014.6926256","is_oa":true,"landing_page_url":"https://doi.org/10.1109/roman.2014.6926256","pdf_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6926256","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 23rd IEEE International Symposium on Robot and Human Interactive Communication","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W587016256","https://openalex.org/W1497716120","https://openalex.org/W1581334392","https://openalex.org/W1726426282","https://openalex.org/W1971498681","https://openalex.org/W1980043766","https://openalex.org/W1983750998","https://openalex.org/W1992154343","https://openalex.org/W1997226678","https://openalex.org/W2002206192","https://openalex.org/W2016721335","https://openalex.org/W2019413317","https://openalex.org/W2024649868","https://openalex.org/W2036765125","https://openalex.org/W2064780509","https://openalex.org/W2068911002","https://openalex.org/W2083369407","https://openalex.org/W2098774185","https://openalex.org/W2111297944","https://openalex.org/W2111305343","https://openalex.org/W2139795879","https://openalex.org/W2161304996","https://openalex.org/W2250281182","https://openalex.org/W2540353188","https://openalex.org/W2543757304","https://openalex.org/W2579063557","https://openalex.org/W2924608561","https://openalex.org/W4205882492","https://openalex.org/W4248056173","https://openalex.org/W6645813900","https://openalex.org/W6674884181","https://openalex.org/W6732627134","https://openalex.org/W6760868207"],"related_works":["https://openalex.org/W565076200","https://openalex.org/W2473574490","https://openalex.org/W1429031248","https://openalex.org/W2406065423","https://openalex.org/W2756374334","https://openalex.org/W1506489156","https://openalex.org/W2584565262","https://openalex.org/W2359167368","https://openalex.org/W2082745131","https://openalex.org/W2020277666"],"abstract_inverted_index":{"Good":[0],"communication":[1,10],"is":[2],"critical":[3],"to":[4,31,42,76,112],"seamless":[5],"human-robot":[6],"interaction.":[7],"Among":[8],"numerous":[9],"channels,":[11],"here":[12],"we":[13,86],"focus":[14],"on":[15,20,67],"gestures,":[16],"and":[17],"in":[18,26,29,93,95],"particular":[19],"spacial":[21],"deixis:":[22],"pointing":[23,44,56,105],"at":[24],"objects":[25],"the":[27,48,63,71,81,103,108],"environment":[28],"order":[30],"reference":[32],"them.":[33],"We":[34,61],"propose":[35],"a":[36,96],"mathematical":[37],"model":[38,91],"that":[39,46,58,70,102],"enables":[40],"robots":[41],"generate":[43],"configurations":[45,57,106],"make":[47,107],"goal":[49,109],"object":[50,110],"as":[51,53],"clear":[52],"possible":[54],"-":[55],"are":[59],"legible.":[60],"study":[62],"implications":[64],"of":[65,83,98],"legibility":[66],"pointing,":[68],"e.g.":[69],"robot":[72],"will":[73],"sometimes":[74],"need":[75],"trade":[77],"off":[78],"efficiency":[79],"for":[80,114],"sake":[82],"clarity.":[84],"Finally,":[85],"test":[87],"how":[88],"well":[89],"our":[90],"works":[92],"practice":[94],"series":[97],"user":[99],"studies,":[100],"showing":[101],"resulting":[104],"easier":[111],"infer":[113],"novice":[115],"users.":[116]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
