{"id":"https://openalex.org/W2999620783","doi":"https://doi.org/10.1145/3319502.3374811","title":"LESS is More","display_name":"LESS is More","publication_year":2020,"publication_date":"2020-03-07","ids":{"openalex":"https://openalex.org/W2999620783","doi":"https://doi.org/10.1145/3319502.3374811","mag":"2999620783"},"language":"en","primary_location":{"id":"doi:10.1145/3319502.3374811","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3319502.3374811","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3319502.3374811","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3319502.3374811","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Andreea Bobu","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andreea Bobu","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Dexter R. R. Scobee","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dexter R. R. Scobee","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jaime F. Fisac","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaime F. Fisac","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":null,"display_name":"S. Shankar Sastry","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Shankar Sastry","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":null,"display_name":"Anca D. Dragan","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anca D. Dragan","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":1.9031,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.88590867,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"429","last_page":"437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9983000159263611,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9983000159263611,"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/T10042","display_name":"Neural and Behavioral Psychology Studies","score":0.9426000118255615,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12617","display_name":"Energy, Environment, and Transportation Policies","score":0.9412999749183655,"subfield":{"id":"https://openalex.org/subfields/2105","display_name":"Renewable Energy, Sustainability and the Environment"},"field":{"id":"https://openalex.org/fields/21","display_name":"Energy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7858999967575073},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6466000080108643},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5848000049591064},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5742999911308289},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4706000089645386},{"id":"https://openalex.org/keywords/behavior-based-robotics","display_name":"Behavior-based robotics","score":0.37209999561309814},{"id":"https://openalex.org/keywords/boltzmann-machine","display_name":"Boltzmann machine","score":0.3644999861717224}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7858999967575073},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6466000080108643},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6202999949455261},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5848000049591064},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5742999911308289},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5250999927520752},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4706000089645386},{"id":"https://openalex.org/C19766214","wikidata":"https://www.wikidata.org/wiki/Q4880688","display_name":"Behavior-based robotics","level":4,"score":0.37209999561309814},{"id":"https://openalex.org/C192576344","wikidata":"https://www.wikidata.org/wiki/Q194706","display_name":"Boltzmann machine","level":3,"score":0.3644999861717224},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.3549000024795532},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.3515999913215637},{"id":"https://openalex.org/C59594135","wikidata":"https://www.wikidata.org/wiki/Q5249242","display_name":"Decision model","level":2,"score":0.33809998631477356},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3305000066757202},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.30550000071525574},{"id":"https://openalex.org/C2776035688","wikidata":"https://www.wikidata.org/wiki/Q1606558","display_name":"Affect (linguistics)","level":2,"score":0.3010999858379364},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30090001225471497},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.28450000286102295},{"id":"https://openalex.org/C28901747","wikidata":"https://www.wikidata.org/wiki/Q177571","display_name":"Decision theory","level":2,"score":0.2590999901294708}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3319502.3374811","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3319502.3374811","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3319502.3374811","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2001.04465","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.04465","pdf_url":"https://arxiv.org/pdf/2001.04465","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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"}],"best_oa_location":{"id":"doi:10.1145/3319502.3374811","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3319502.3374811","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3319502.3374811","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2057452810","display_name":null,"funder_award_id":"IIS-1734633","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6543337669","display_name":null,"funder_award_id":"CNS-1545126","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2999620783.pdf","grobid_xml":"https://content.openalex.org/works/W2999620783.grobid-xml"},"referenced_works_count":9,"referenced_works":["https://openalex.org/W1496321300","https://openalex.org/W1992461594","https://openalex.org/W1994648061","https://openalex.org/W2050985708","https://openalex.org/W2057134775","https://openalex.org/W2121808626","https://openalex.org/W2131448191","https://openalex.org/W2155098712","https://openalex.org/W4250696540"],"related_works":[],"abstract_inverted_index":{"Robots":[0],"need":[1],"models":[2],"of":[3,54],"human":[4,9,79,158],"behavior":[5,159],"for":[6,125,171,190],"both":[7],"inferring":[8],"goals":[10],"and":[11,13,36,62,105,183,188],"preferences,":[12],"predicting":[14],"what":[15],"people":[16,30],"will":[17],"do.":[18],"A":[19],"common":[20],"model":[21,47,121,155],"is":[22,98],"the":[23,91,102,109,139,146,167],"Boltzmann":[24,103],"noisily-rational":[25],"decision":[26,140,147],"model,":[27,104],"which":[28],"assumes":[29],"approximately":[31],"optimize":[32],"a":[33,52,83,120,161,191],"reward":[34,92],"function":[35],"choose":[37],"trajectories":[38,80,143],"in":[39,51,60,63,82,160,175],"proportion":[40],"to":[41,100,112],"their":[42,132],"exponentiated":[43],"reward.":[44,76],"While":[45],"this":[46,169],"has":[48,170],"been":[49],"successful":[50],"variety":[53],"robotics":[55],"domains,":[56],"its":[57,72],"roots":[58],"lie":[59,81],"econometrics,":[61],"modeling":[64],"decisions":[65],"among":[66],"different":[67],"discrete":[68],"options,":[69],"each":[70,136],"with":[71,86],"own":[73],"utility":[74],"or":[75],"In":[77],"contrast,":[78],"continuous":[84],"space,":[85],"continuous-valued":[87],"features":[88],"that":[89,96,122,153],"influence":[90],"function.":[93],"We":[94,118,149,164],"propose":[95],"it":[97,107],"time":[99],"rethink":[101],"design":[106],"from":[108,196],"ground":[110,181],"up":[111],"operate":[113],"over":[114],"such":[115],"trajectory":[116,137],"spaces.":[117],"introduce":[119],"explicitly":[123],"accounts":[124],"distances":[126],"between":[127],"trajectories,":[128],"rather":[129],"than":[130,135],"only":[131],"rewards.":[133],"Rather":[134],"affecting":[138],"independently,":[141],"similar":[142],"now":[144],"affect":[145],"together.":[148],"start":[150],"by":[151],"showing":[152],"our":[154],"better":[156],"explains":[157],"user":[162,197],"study.":[163],"then":[165],"analyze":[166],"implications":[168],"robot":[172,193],"inference,":[173,187],"first":[174],"toy":[176],"environments":[177],"where":[178],"we":[179],"have":[180],"truth":[182],"find":[184],"more":[185],"accurate":[186],"finally":[189],"7DOF":[192],"arm":[194],"learning":[195],"demonstrations.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2020-01-23T00:00:00"}
