{"id":"https://openalex.org/W4392633655","doi":"https://doi.org/10.1145/3610977.3634930","title":"Preference-Conditioned Language-Guided Abstraction","display_name":"Preference-Conditioned Language-Guided Abstraction","publication_year":2024,"publication_date":"2024-03-10","ids":{"openalex":"https://openalex.org/W4392633655","doi":"https://doi.org/10.1145/3610977.3634930"},"language":"en","primary_location":{"id":"doi:10.1145/3610977.3634930","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610977.3634930","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610977.3634930","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 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/10.1145/3610977.3634930","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020921993","display_name":"Andi Peng","orcid":"https://orcid.org/0000-0001-8136-6175"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Andi Peng","raw_affiliation_strings":["MIT, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034978137","display_name":"Andreea Bobu","orcid":"https://orcid.org/0000-0002-9507-7427"},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andreea Bobu","raw_affiliation_strings":["Boston Dynamics AI Institute, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Boston Dynamics AI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015729879","display_name":"Belinda Z. Li","orcid":"https://orcid.org/0000-0002-9961-180X"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Belinda Z. Li","raw_affiliation_strings":["MIT, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047918106","display_name":"Theodore R. Sumers","orcid":"https://orcid.org/0000-0002-6128-0291"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Theodore R. Sumers","raw_affiliation_strings":["Princeton, Princeton, NJ, USA"],"affiliations":[{"raw_affiliation_string":"Princeton, Princeton, NJ, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053200092","display_name":"Ilia Sucholutsky","orcid":"https://orcid.org/0000-0003-4121-7479"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ilia Sucholutsky","raw_affiliation_strings":["Princeton, Princeton, NJ, USA"],"affiliations":[{"raw_affiliation_string":"Princeton, Princeton, NJ, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030871891","display_name":"Nishanth Kumar","orcid":"https://orcid.org/0000-0001-9291-3728"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nishanth Kumar","raw_affiliation_strings":["MIT, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077079119","display_name":"Thomas L. Griffiths","orcid":"https://orcid.org/0000-0002-5138-7255"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thomas L. Griffiths","raw_affiliation_strings":["Princeton, Princeton, NJ, USA"],"affiliations":[{"raw_affiliation_string":"Princeton, Princeton, NJ, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044369720","display_name":"Julie Shah","orcid":"https://orcid.org/0000-0003-1338-8107"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Julie A. Shah","raw_affiliation_strings":["MIT, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210110987"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5020921993"],"corresponding_institution_ids":["https://openalex.org/I4210110987"],"apc_list":null,"apc_paid":null,"fwci":1.2464,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.79161162,"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":"572","last_page":"581"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9970999956130981,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9970999956130981,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.993399977684021,"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/T10028","display_name":"Topic Modeling","score":0.9890000224113464,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8202069997787476},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.8016982078552246},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.7787762880325317},{"id":"https://openalex.org/keywords/preference","display_name":"Preference","score":0.6394981741905212},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.607011079788208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5128829479217529},{"id":"https://openalex.org/keywords/ask-price","display_name":"Ask price","score":0.490996390581131},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.47999948263168335},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4763113260269165},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.462932288646698},{"id":"https://openalex.org/keywords/spurious-relationship","display_name":"Spurious relationship","score":0.45201948285102844},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.414899080991745},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.41249412298202515},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3238792419433594},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2939119040966034},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.18663010001182556}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8202069997787476},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.8016982078552246},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.7787762880325317},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.6394981741905212},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.607011079788208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5128829479217529},{"id":"https://openalex.org/C90329073","wikidata":"https://www.wikidata.org/wiki/Q914232","display_name":"Ask price","level":2,"score":0.490996390581131},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.47999948263168335},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4763113260269165},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.462932288646698},{"id":"https://openalex.org/C97256817","wikidata":"https://www.wikidata.org/wiki/Q1462316","display_name":"Spurious relationship","level":2,"score":0.45201948285102844},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.414899080991745},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.41249412298202515},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3238792419433594},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2939119040966034},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.18663010001182556},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3610977.3634930","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610977.3634930","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610977.3634930","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3610977.3634930","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610977.3634930","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610977.3634930","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"sustainable_development_goals":[{"display_name":"Quality Education","score":0.47999998927116394,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392633655.pdf","grobid_xml":"https://content.openalex.org/works/W4392633655.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W2110064869","https://openalex.org/W2158582431","https://openalex.org/W2890721972","https://openalex.org/W2963544700","https://openalex.org/W2963825865","https://openalex.org/W2964352131","https://openalex.org/W3153128630","https://openalex.org/W3202187802","https://openalex.org/W3213695441","https://openalex.org/W4224279631","https://openalex.org/W4225537626","https://openalex.org/W4238216513","https://openalex.org/W4283324387","https://openalex.org/W4288269198","https://openalex.org/W4312424618","https://openalex.org/W4321455981","https://openalex.org/W4322806589","https://openalex.org/W4366851180","https://openalex.org/W4376117416","https://openalex.org/W4385572267"],"related_works":["https://openalex.org/W3113091479","https://openalex.org/W2162899405","https://openalex.org/W941090075","https://openalex.org/W2044987316","https://openalex.org/W3134374554","https://openalex.org/W2237480245","https://openalex.org/W2075065631","https://openalex.org/W2519167559","https://openalex.org/W4311248832","https://openalex.org/W1998132222"],"abstract_inverted_index":{"Learning":[0],"from":[1,31],"demonstrations":[2],"is":[3,14,95,196],"a":[4,34,47,54,137,155,223,230],"common":[5],"way":[6,35],"for":[7,50,109,130,172],"users":[8],"to":[9,16,36,60,64,75,128,186,199,215],"teach":[10],"robots,":[11],"but":[12],"it":[13],"prone":[15],"spurious":[17],"feature":[18],"correlations.":[19],"Recent":[20],"work":[21],"constructs":[22],"state":[23,117,189],"abstractions,":[24],"i.e.":[25,115],"visual":[26],"representations":[27],"containing":[28],"task-relevant":[29],"features,":[30],"language":[32,68,125],"as":[33,226,228],"perform":[37],"more":[38],"generalizable":[39],"learning.":[40],"However,":[41],"these":[42,77],"abstractions":[43,74,219],"also":[44,197],"depend":[45],"on":[46,229],"user's":[48],"preference":[49],"what":[51],"matters":[52],"in":[53,98,107,139,150,220],"task,":[55],"which":[56],"may":[57],"be":[58],"hard":[59],"describe":[61],"or":[62],"infeasible":[63],"exhaustively":[65],"specify":[66],"using":[67,124],"alone.":[69],"How":[70],"do":[71],"we":[72,122,146,168,182],"construct":[73,187,216],"capture":[76],"latent":[78],"preferences?":[79],"We":[80,210],"observe":[81],"that":[82,96,103,136],"how":[83,87,110],"humans":[84,111],"behave":[85],"reveals":[86],"they":[88],"see":[89,112],"the":[90,113,148,159,170,178,184,188,194,201],"world.":[91],"Our":[92],"key":[93],"insight":[94],"changes":[97],"human":[99,202],"behavior":[100,140],"inform":[101],"us":[102],"there":[104],"are":[105],"differences":[106],"preferences":[108,132],"world,":[114],"their":[116],"abstractions.":[118],"In":[119,143,191],"this":[120,192],"work,":[121],"propose":[123],"models":[126],"(LMs)":[127],"query":[129,169,183],"those":[131],"directly":[133,203],"given":[134,154,177],"knowledge":[135,162],"change":[138,165],"has":[141],"occurred.":[142],"our":[144,212],"framework,":[145,193],"use":[147],"LM":[149,171,185,195],"two":[151],"ways:":[152],"first,":[153],"text":[156],"description":[157],"of":[158,163],"task":[160],"and":[161],"behavioral":[164],"between":[166],"states,":[167],"possible":[173],"hidden":[174],"preferences;":[175],"second,":[176],"most":[179],"likely":[180],"preference,":[181],"abstraction.":[190],"able":[198],"ask":[200],"when":[204],"uncertain":[205],"about":[206],"its":[207],"own":[208],"estimate.":[209],"demonstrate":[211],"framework's":[213],"ability":[214],"effective":[217],"preference-conditioned":[218],"simulated":[221],"experiments,":[222],"user":[224],"study,":[225],"well":[227],"real":[231],"Spot":[232],"robot":[233],"performing":[234],"mobile":[235],"manipulation":[236],"tasks.":[237]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}