{"id":"https://openalex.org/W4323871697","doi":"https://doi.org/10.1145/3568162.3576982","title":"Lively: Enabling Multimodal, Lifelike, and Extensible Real-time Robot Motion","display_name":"Lively: Enabling Multimodal, Lifelike, and Extensible Real-time Robot Motion","publication_year":2023,"publication_date":"2023-03-09","ids":{"openalex":"https://openalex.org/W4323871697","doi":"https://doi.org/10.1145/3568162.3576982"},"language":"en","primary_location":{"id":"doi:10.1145/3568162.3576982","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3568162.3576982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction","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/A5087907210","display_name":"Andrew Schoen","orcid":"https://orcid.org/0000-0002-7273-9598"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Schoen","raw_affiliation_strings":["University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0002-7273-9598","affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072384195","display_name":"Dakota Sullivan","orcid":"https://orcid.org/0000-0002-4901-6375"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dakota Sullivan","raw_affiliation_strings":["University of Wisconsin - Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0002-4901-6375","affiliations":[{"raw_affiliation_string":"University of Wisconsin - Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031003826","display_name":"Ze Dong Zhang","orcid":"https://orcid.org/0000-0001-5095-8741"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ze Dong Zhang","raw_affiliation_strings":["University of Wisconsin - Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0001-5095-8741","affiliations":[{"raw_affiliation_string":"University of Wisconsin - Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006252401","display_name":"Daniel Rakita","orcid":"https://orcid.org/0000-0001-6292-8515"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Rakita","raw_affiliation_strings":["Yale University, New Haven, CT, USA"],"raw_orcid":"https://orcid.org/0000-0001-6292-8515","affiliations":[{"raw_affiliation_string":"Yale University, New Haven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017344436","display_name":"Bilge Mutlu","orcid":"https://orcid.org/0000-0002-9456-1495"},"institutions":[{"id":"https://openalex.org/I135310074","display_name":"University of Wisconsin\u2013Madison","ror":"https://ror.org/01y2jtd41","country_code":"US","type":"education","lineage":["https://openalex.org/I135310074"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bilge Mutlu","raw_affiliation_strings":["University of Wisconsin-Madison, Madison, WI, USA"],"raw_orcid":"https://orcid.org/0000-0002-9456-1495","affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison, Madison, WI, USA","institution_ids":["https://openalex.org/I135310074"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5163,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.627937,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"594","last_page":"602"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9998000264167786,"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/T12290","display_name":"Human Motion and Animation","score":0.9998000264167786,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9994000196456909,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9966999888420105,"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/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.7683998346328735},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6944155693054199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6931836009025574},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6119142770767212},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6086867451667786},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5634523034095764},{"id":"https://openalex.org/keywords/extensibility","display_name":"Extensibility","score":0.533535361289978},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.5024337768554688},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5023970603942871},{"id":"https://openalex.org/keywords/shared-space","display_name":"Shared space","score":0.48970845341682434},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48471593856811523},{"id":"https://openalex.org/keywords/graphical-user-interface","display_name":"Graphical user interface","score":0.4170994460582733},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.40416407585144043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.351418673992157},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.32067859172821045},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2143372893333435},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2082127332687378},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.143696129322052}],"concepts":[{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.7683998346328735},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6944155693054199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6931836009025574},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6119142770767212},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6086867451667786},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5634523034095764},{"id":"https://openalex.org/C32833848","wikidata":"https://www.wikidata.org/wiki/Q4115054","display_name":"Extensibility","level":2,"score":0.533535361289978},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.5024337768554688},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5023970603942871},{"id":"https://openalex.org/C2777311342","wikidata":"https://www.wikidata.org/wiki/Q578801","display_name":"Shared space","level":3,"score":0.48970845341682434},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48471593856811523},{"id":"https://openalex.org/C37789001","wikidata":"https://www.wikidata.org/wiki/Q782543","display_name":"Graphical user interface","level":2,"score":0.4170994460582733},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.40416407585144043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.351418673992157},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.32067859172821045},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2143372893333435},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2082127332687378},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.143696129322052},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"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/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3568162.3576982","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3568162.3576982","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1526205344","https://openalex.org/W1588031141","https://openalex.org/W1972244635","https://openalex.org/W1997713322","https://openalex.org/W1997969970","https://openalex.org/W1999657641","https://openalex.org/W2010883446","https://openalex.org/W2021641437","https://openalex.org/W2023397245","https://openalex.org/W2053604924","https://openalex.org/W2056257735","https://openalex.org/W2062165658","https://openalex.org/W2099840956","https://openalex.org/W2121378366","https://openalex.org/W2137267908","https://openalex.org/W2152377484","https://openalex.org/W2154030537","https://openalex.org/W2156880699","https://openalex.org/W2157837575","https://openalex.org/W2164686764","https://openalex.org/W2293431122","https://openalex.org/W2336763592","https://openalex.org/W2346451212","https://openalex.org/W2592007507","https://openalex.org/W2625141509","https://openalex.org/W2768049665","https://openalex.org/W2794056821","https://openalex.org/W2896381102","https://openalex.org/W2916105933","https://openalex.org/W2940678350","https://openalex.org/W2953600993","https://openalex.org/W3131709099","https://openalex.org/W3134396061","https://openalex.org/W4233491225","https://openalex.org/W4240195433","https://openalex.org/W4241006348","https://openalex.org/W4283787355"],"related_works":["https://openalex.org/W1948607442","https://openalex.org/W3004004161","https://openalex.org/W2044615423","https://openalex.org/W4247766898","https://openalex.org/W4244765761","https://openalex.org/W2361584951","https://openalex.org/W2365327041","https://openalex.org/W4225348249","https://openalex.org/W31122515","https://openalex.org/W2466086502"],"abstract_inverted_index":{"Robots":[0],"designed":[1],"to":[2,137],"interact":[3],"with":[4,18,92],"people":[5],"in":[6,13,29,35,103],"collaborative":[7,65,104],"or":[8,39,41,61],"social":[9,67,106],"scenarios":[10],"must":[11],"move":[12],"ways":[14],"that":[15,100],"are":[16,101],"consistent":[17],"the":[19,110,130],"robot's":[20],"task":[21],"and":[22,44,59,66,86,89,105,142,149],"communication":[23],"goals.":[24],"However,":[25],"combining":[26],"these":[27],"goals":[28],"a":[30,52,77,121],"na\u00efve":[31],"manner":[32],"can":[33],"result":[34],"mutually":[36],"exclusive":[37],"solutions,":[38],"infeasible":[40],"problematic":[42],"states":[43],"actions.":[45],"In":[46],"this":[47],"paper,":[48],"we":[49],"present":[50],"Lively,":[51,119],"framework":[53],"which":[54],"supports":[55,76],"configurable,":[56],"real-time,":[57],"task-based":[58],"communicative":[60],"socially-expressive":[62],"motion":[63,99],"for":[64,96,125,134,140,146],"robotics":[68],"across":[69],"multiple":[70],"levels":[71,114],"of":[72,80,112,115,118],"programmatic":[73,116],"accessibility.":[74],"Lively":[75,133],"wide":[78],"range":[79],"control":[81],"methods":[82],"(i.e.":[83],"position,":[84],"orientation,":[85],"joint-space":[87],"goals),":[88],"balances":[90],"them":[91],"complex":[93],"procedural":[94],"behaviors":[95],"natural,":[97],"lifelike":[98],"effective":[102],"contexts.":[107],"We":[108],"discuss":[109],"design":[111,127],"three":[113],"accessibility":[117],"including":[120],"graphical":[122],"user":[123],"interface":[124],"visual":[126],"called":[128],"LivelyStudio,":[129],"core":[131],"library":[132],"full":[135],"access":[136],"its":[138],"capabilities":[139],"developers,":[141],"an":[143],"extensible":[144],"architecture":[145],"greater":[147],"customizability":[148],"capability.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}