{"id":"https://openalex.org/W4392633849","doi":"https://doi.org/10.1145/3610977.3634947","title":"Online Behavior Modification for Expressive User Control of RL-Trained Robots","display_name":"Online Behavior Modification for Expressive User Control of RL-Trained Robots","publication_year":2024,"publication_date":"2024-03-10","ids":{"openalex":"https://openalex.org/W4392633849","doi":"https://doi.org/10.1145/3610977.3634947"},"language":"en","primary_location":{"id":"doi:10.1145/3610977.3634947","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610977.3634947","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610977.3634947","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":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3610977.3634947","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070000164","display_name":"Isaac Sheidlower","orcid":"https://orcid.org/0009-0004-4487-8357"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Isaac Sheidlower","raw_affiliation_strings":["Tufts University, Medford, MA, USA"],"raw_orcid":"https://orcid.org/0009-0004-4487-8357","affiliations":[{"raw_affiliation_string":"Tufts University, Medford, MA, USA","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070797891","display_name":"M. Casey Murdock","orcid":"https://orcid.org/0009-0008-5289-7098"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mavis Murdock","raw_affiliation_strings":["Tufts University, Medford, MA, USA"],"raw_orcid":"https://orcid.org/0009-0008-5289-7098","affiliations":[{"raw_affiliation_string":"Tufts University, Medford, MA, USA","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105828405","display_name":"E. Wes Bethel","orcid":"https://orcid.org/0009-0007-8653-4474"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emma Bethel","raw_affiliation_strings":["Tufts University, Medford, MA, USA"],"raw_orcid":"https://orcid.org/0009-0007-8653-4474","affiliations":[{"raw_affiliation_string":"Tufts University, Medford, MA, USA","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017028387","display_name":"Reuben M. Aronson","orcid":"https://orcid.org/0000-0002-8615-3715"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reuben M. Aronson","raw_affiliation_strings":["Tufts University, Medford, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-8615-3715","affiliations":[{"raw_affiliation_string":"Tufts University, Medford, MA, USA","institution_ids":["https://openalex.org/I121934306"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077011363","display_name":"Elaine Schaertl Short","orcid":"https://orcid.org/0000-0002-4789-9979"},"institutions":[{"id":"https://openalex.org/I121934306","display_name":"Tufts University","ror":"https://ror.org/05wvpxv85","country_code":"US","type":"education","lineage":["https://openalex.org/I121934306"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elaine Schaertl Short","raw_affiliation_strings":["Tufts University, Medford, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4789-9979","affiliations":[{"raw_affiliation_string":"Tufts University, Medford, MA, USA","institution_ids":["https://openalex.org/I121934306"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I121934306"],"apc_list":null,"apc_paid":null,"fwci":0.3556,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47422534,"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":"639","last_page":"648"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987000226974487,"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":0.9987000226974487,"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/T11704","display_name":"Mobile Crowdsensing and Crowdsourcing","score":0.9812999963760376,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9800999760627747,"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/robot","display_name":"Robot","score":0.7354980707168579},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7074258327484131},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6955222487449646},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6949914693832397},{"id":"https://openalex.org/keywords/behavior-based-robotics","display_name":"Behavior-based robotics","score":0.607003390789032},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5069477558135986},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4876183569431305},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.45117631554603577},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43014711141586304},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3724960684776306},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1495322287082672}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7354980707168579},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7074258327484131},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6955222487449646},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6949914693832397},{"id":"https://openalex.org/C19766214","wikidata":"https://www.wikidata.org/wiki/Q4880688","display_name":"Behavior-based robotics","level":4,"score":0.607003390789032},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5069477558135986},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4876183569431305},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.45117631554603577},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43014711141586304},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3724960684776306},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1495322287082672},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3610977.3634947","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610977.3634947","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610977.3634947","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"},{"id":"pmh:oai:arXiv.org:2408.16776","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2408.16776","pdf_url":"https://arxiv.org/pdf/2408.16776","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1145/3610977.3634947","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610977.3634947","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610977.3634947","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":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4392633849.pdf"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1964695965","https://openalex.org/W2000867344","https://openalex.org/W2100379340","https://openalex.org/W2156869222","https://openalex.org/W2166548528","https://openalex.org/W2167340365","https://openalex.org/W2483674195","https://openalex.org/W2592582799","https://openalex.org/W2884642747","https://openalex.org/W2900605005","https://openalex.org/W2947246097","https://openalex.org/W2962776080","https://openalex.org/W2963366811","https://openalex.org/W2963507484","https://openalex.org/W2968104655","https://openalex.org/W3009530552","https://openalex.org/W3039116038","https://openalex.org/W3039563104","https://openalex.org/W3090600213","https://openalex.org/W3098960920","https://openalex.org/W3162920521","https://openalex.org/W3176077694","https://openalex.org/W3188067267","https://openalex.org/W3192495122","https://openalex.org/W3197594072","https://openalex.org/W3207966700","https://openalex.org/W3213330367","https://openalex.org/W4206497039","https://openalex.org/W4212774754","https://openalex.org/W4224130159","https://openalex.org/W4285734657","https://openalex.org/W4288076204","https://openalex.org/W4295837900","https://openalex.org/W4298427539","https://openalex.org/W4299364435","https://openalex.org/W4312539161","https://openalex.org/W4323659700","https://openalex.org/W4323870299"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W2724299411","https://openalex.org/W4365788246"],"abstract_inverted_index":{"Reinforcement":[0],"Learning":[1],"(RL)":[2],"is":[3,163],"an":[4,68],"effective":[5],"method":[6],"for":[7,79,151,160],"robots":[8],"to":[9,19,97,128,145],"learn":[10],"tasks.":[11],"However,":[12],"in":[13,48,59,101],"typical":[14],"RL,":[15],"end-users":[16],"have":[17,51],"little":[18],"no":[20],"control":[21,52,141],"over":[22,53],"how":[23],"the":[24,27,30,40,73,108,114,149],"robot":[25,31,58,120],"does":[26],"task":[28,66],"after":[29],"has":[32],"been":[33],"deployed.":[34],"To":[35,71],"address":[36],"this,":[37],"we":[38,82],"introduce":[39],"idea":[41],"of":[42,56,75,116,140,156],"online":[43,98],"behavior":[44,54,99],"modification,":[45],"a":[46,57,65,84,104,119,122],"paradigm":[47],"which":[49],"users":[50,112],"features":[55],"real-time":[60],"as":[61,118],"it":[62],"autonomously":[63],"completes":[64],"using":[67],"RL-trained":[69],"policy.":[70],"show":[72,135],"value":[74],"this":[76,161],"user-centered":[77],"formulation":[78],"human-robot":[80],"interaction,":[81],"present":[83],"behavior-diversity--based":[85],"algorithm,":[86],"Adjustable":[87],"Control":[88],"Of":[89],"RL":[90,129],"Dynamics":[91],"(ACORD),":[92],"and":[93,103,130,134,142,154],"demonstrate":[94],"its":[95],"applicability":[96],"modification":[100],"simulation":[102],"user":[105],"study.":[106],"In":[107],"study":[109],"(n":[110],"=23),":[111],"adjust":[113],"style":[115],"paintings":[117],"traces":[121],"shape":[123],"autonomously.":[124],"We":[125],"compare":[126],"\\algoshort":[127,136],"Shared":[131],"Autonomy":[132],"(SA),":[133],"affords":[137],"user-preferred":[138],"levels":[139],"expression,":[143],"comparable":[144],"SA,":[146],"but":[147],"with":[148],"potential":[150],"autonomous":[152],"execution":[153],"robustness":[155],"RL.":[157],"The":[158],"code":[159],"paper":[162],"available":[164],"at":[165],"https://github.com/AABL-Lab/HRI2024_ACORD":[166]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}