{"id":"https://openalex.org/W4323537003","doi":"https://doi.org/10.1145/3568294.3580136","title":"Towards Online Adaptation for Autonomous Household Assistants","display_name":"Towards Online Adaptation for Autonomous Household Assistants","publication_year":2023,"publication_date":"2023-03-08","ids":{"openalex":"https://openalex.org/W4323537003","doi":"https://doi.org/10.1145/3568294.3580136"},"language":"en","primary_location":{"id":"doi:10.1145/3568294.3580136","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3568294.3580136","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3568294.3580136","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3568294.3580136","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040122144","display_name":"Benjamin A. Newman","orcid":"https://orcid.org/0000-0002-9651-3470"},"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":true,"raw_author_name":"Benjamin A. Newman","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, USA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079767648","display_name":"Christopher Jason Paxton","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Christopher Jason Paxton","raw_affiliation_strings":["Meta AI, Pittsburgh, USA"],"affiliations":[{"raw_affiliation_string":"Meta AI, Pittsburgh, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037322163","display_name":"Kris Kitani","orcid":"https://orcid.org/0000-0002-9389-4060"},"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":"Kris Kitani","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, USA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061653312","display_name":"Henny Admoni","orcid":"https://orcid.org/0000-0003-1796-2196"},"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":"Henny Admoni","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, USA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5040122144"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.1748,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51411284,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"506","last_page":"510"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991999864578247,"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":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9930999875068665,"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":0.987500011920929,"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/generalizability-theory","display_name":"Generalizability theory","score":0.8558433055877686},{"id":"https://openalex.org/keywords/overfitting","display_name":"Overfitting","score":0.7586596012115479},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.7116208076477051},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6979226469993591},{"id":"https://openalex.org/keywords/crowdsourcing","display_name":"Crowdsourcing","score":0.6424995064735413},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6284038424491882},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.590362548828125},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5378503203392029},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5317562818527222},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.523400604724884},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5072497725486755},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4917657673358917},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.47809073328971863},{"id":"https://openalex.org/keywords/sample-complexity","display_name":"Sample complexity","score":0.4471455514431},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.44398295879364014},{"id":"https://openalex.org/keywords/domain-adaptation","display_name":"Domain adaptation","score":0.4132389426231384},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.1784982681274414},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1508375108242035},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11312735080718994},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10727804899215698},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.0886458158493042}],"concepts":[{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.8558433055877686},{"id":"https://openalex.org/C22019652","wikidata":"https://www.wikidata.org/wiki/Q331309","display_name":"Overfitting","level":3,"score":0.7586596012115479},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.7116208076477051},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6979226469993591},{"id":"https://openalex.org/C62230096","wikidata":"https://www.wikidata.org/wiki/Q275969","display_name":"Crowdsourcing","level":2,"score":0.6424995064735413},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6284038424491882},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.590362548828125},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5378503203392029},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5317562818527222},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.523400604724884},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5072497725486755},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4917657673358917},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.47809073328971863},{"id":"https://openalex.org/C2778445095","wikidata":"https://www.wikidata.org/wiki/Q18354077","display_name":"Sample complexity","level":2,"score":0.4471455514431},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.44398295879364014},{"id":"https://openalex.org/C2776434776","wikidata":"https://www.wikidata.org/wiki/Q19246213","display_name":"Domain adaptation","level":3,"score":0.4132389426231384},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.1784982681274414},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1508375108242035},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11312735080718994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10727804899215698},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0886458158493042},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"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/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"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/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3568294.3580136","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3568294.3580136","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3568294.3580136","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3568294.3580136","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3568294.3580136","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3568294.3580136","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4323537003.pdf","grobid_xml":"https://content.openalex.org/works/W4323537003.grobid-xml"},"referenced_works_count":6,"referenced_works":["https://openalex.org/W1964695965","https://openalex.org/W1999874108","https://openalex.org/W2594908799","https://openalex.org/W2963507484","https://openalex.org/W4220654348","https://openalex.org/W4285194984"],"related_works":["https://openalex.org/W4362597605","https://openalex.org/W1574414179","https://openalex.org/W3032998312","https://openalex.org/W135177976","https://openalex.org/W4297676672","https://openalex.org/W3009056573","https://openalex.org/W4384486036","https://openalex.org/W4220972140","https://openalex.org/W3161120485","https://openalex.org/W4387968020"],"abstract_inverted_index":{"Many":[0],"assistive":[1,40],"home":[2],"robotics":[3],"applications":[4],"assume":[5],"open-loop":[6],"interactions:":[7],"robots":[8],"incorporate":[9],"little":[10],"feedback":[11],"from":[12],"people":[13,23],"while":[14],"autonomously":[15],"completing":[16],"tasks.":[17],"This":[18],"places":[19],"undue":[20],"burden":[21],"on":[22],"to":[24,30,55,61,102],"condition":[25],"their":[26,35,93],"actions":[27],"and":[28,59,69,100],"environment":[29],"maximize":[31],"the":[32],"likelihood":[33],"of":[34,71,75,104],"desired":[36],"outcomes.":[37],"We":[38,84],"formalize":[39],"household":[41,81],"rearrangement":[42,82],"as":[43],"collaborative":[44],"online":[45,51],"inverse":[46],"reinforcement":[47],"learning":[48],"(IRL).":[49],"Since":[50],"IRL":[52],"can":[53,96],"lead":[54],"sample":[56,67,98],"inefficient":[57],"interactions":[58],"overfit":[60],"specific":[62],"user":[63],"objectives,":[64],"we":[65],"compare":[66],"efficiency":[68,99],"generalizability":[70,101],"two":[72],"initial":[73],"choices":[74],"action":[76],"representations":[77],"in":[78],"a":[79],"simulated":[80],"task.":[83],"show,":[85],"under":[86],"certain":[87],"assumptions,":[88],"that":[89],"representing":[90],"objects":[91],"by":[92],"material":[94],"properties":[95],"increase":[97],"out":[103],"domain":[105],"objects.":[106]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
