{"id":"https://openalex.org/W4391335180","doi":"https://doi.org/10.1145/3610977.3634999","title":"Generative Expressive Robot Behaviors using Large Language Models","display_name":"Generative Expressive Robot Behaviors using Large Language Models","publication_year":2024,"publication_date":"2024-03-10","ids":{"openalex":"https://openalex.org/W4391335180","doi":"https://doi.org/10.1145/3610977.3634999"},"language":"en","primary_location":{"id":"doi:10.1145/3610977.3634999","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610977.3634999","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610977.3634999","source":null,"license":null,"license_id":null,"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":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3610977.3634999","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000737212","display_name":"Karthik Mahadevan","orcid":"https://orcid.org/0000-0002-3178-267X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Karthik Mahadevan","raw_affiliation_strings":["University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-3178-267X","affiliations":[{"raw_affiliation_string":"University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079340772","display_name":"Jonathan Chien","orcid":"https://orcid.org/0009-0002-9822-7491"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Chien","raw_affiliation_strings":["Google Deepmind, Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0009-0002-9822-7491","affiliations":[{"raw_affiliation_string":"Google Deepmind, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103122635","display_name":"Noah Brown","orcid":"https://orcid.org/0009-0007-2963-3425"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Noah Brown","raw_affiliation_strings":["Google Deepmind, Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0009-0007-2963-3425","affiliations":[{"raw_affiliation_string":"Google Deepmind, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114310433","display_name":"Zhuo Xu","orcid":"https://orcid.org/0009-0008-0251-6816"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhuo Xu","raw_affiliation_strings":["Google Deepmind, Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0009-0008-0251-6816","affiliations":[{"raw_affiliation_string":"Google Deepmind, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090570382","display_name":"Carolina Parada","orcid":"https://orcid.org/0009-0000-7772-4646"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carolina Parada","raw_affiliation_strings":["Google Deepmind, Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0009-0000-7772-4646","affiliations":[{"raw_affiliation_string":"Google Deepmind, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100676785","display_name":"Fei Xia","orcid":"https://orcid.org/0000-0003-4343-1444"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fei Xia","raw_affiliation_strings":["Google Deepmind, Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4343-1444","affiliations":[{"raw_affiliation_string":"Google Deepmind, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005577303","display_name":"Andy Zeng","orcid":"https://orcid.org/0000-0002-4319-2159"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andy Zeng","raw_affiliation_strings":["Google Deepmind, Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4319-2159","affiliations":[{"raw_affiliation_string":"Google Deepmind, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066958631","display_name":"Leila Takayama","orcid":"https://orcid.org/0000-0003-0790-6123"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Leila Takayama","raw_affiliation_strings":["Hoku Labs, Santa Cruz, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0790-6123","affiliations":[{"raw_affiliation_string":"Hoku Labs, Santa Cruz, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080725225","display_name":"Dorsa Sadigh","orcid":"https://orcid.org/0000-0002-7802-9183"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dorsa Sadigh","raw_affiliation_strings":["Google Deepmind, Mountain View, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7802-9183","affiliations":[{"raw_affiliation_string":"Google Deepmind, Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.7178,"has_fulltext":true,"cited_by_count":49,"citation_normalized_percentile":{"value":0.98979343,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"482","last_page":"491"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9994999766349792,"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":0.9994999766349792,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9983999729156494,"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/T10181","display_name":"Natural Language Processing Techniques","score":0.9965000152587891,"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":0.755839467048645},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7019994258880615},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.642501711845398},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5825513601303101},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5750793218612671},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.5362237095832825},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.5290723443031311},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.48156192898750305},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4794175326824188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43773266673088074},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.4248446822166443},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2654654383659363},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.16509166359901428}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.755839467048645},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7019994258880615},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.642501711845398},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5825513601303101},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5750793218612671},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.5362237095832825},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.5290723443031311},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.48156192898750305},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4794175326824188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43773266673088074},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.4248446822166443},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2654654383659363},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.16509166359901428},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3610977.3634999","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610977.3634999","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610977.3634999","source":null,"license":null,"license_id":null,"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:2401.14673","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2401.14673","pdf_url":"https://arxiv.org/pdf/2401.14673","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:10.1145/3610977.3634999","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610977.3634999","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610977.3634999","source":null,"license":null,"license_id":null,"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":[{"score":0.7599999904632568,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391335180.pdf"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1969784320","https://openalex.org/W2012844124","https://openalex.org/W2016721335","https://openalex.org/W2024986232","https://openalex.org/W2085436006","https://openalex.org/W2110727992","https://openalex.org/W2137020039","https://openalex.org/W2516310909","https://openalex.org/W2529170714","https://openalex.org/W2550647949","https://openalex.org/W2789347656","https://openalex.org/W2892287882","https://openalex.org/W2896381102","https://openalex.org/W2915273306","https://openalex.org/W2928416850","https://openalex.org/W2940678350","https://openalex.org/W2940721292","https://openalex.org/W2980931192","https://openalex.org/W2996457820","https://openalex.org/W3009807960","https://openalex.org/W3009953896","https://openalex.org/W3029258967","https://openalex.org/W3130828650","https://openalex.org/W3161050098","https://openalex.org/W4221143046","https://openalex.org/W4230193733","https://openalex.org/W4285414384","https://openalex.org/W4312800400","https://openalex.org/W4313952519","https://openalex.org/W4319653440","https://openalex.org/W4383097638","https://openalex.org/W4383108457","https://openalex.org/W4389667233"],"related_works":["https://openalex.org/W4365211920","https://openalex.org/W3014948380","https://openalex.org/W4380551139","https://openalex.org/W4317695495","https://openalex.org/W4395044357","https://openalex.org/W4287117424","https://openalex.org/W4387506531","https://openalex.org/W2087346071","https://openalex.org/W2967848559","https://openalex.org/W4299831724"],"abstract_inverted_index":{"People":[0],"employ":[1],"expressive":[2,41,105],"behaviors":[3,42,151],"to":[4,16,27,38,53,55,79,94,103,123,155,160],"effectively":[5],"communicate":[6],"and":[7,91,111,136,142,158],"coordinate":[8],"their":[9,92],"actions":[10],"with":[11],"others,":[12],"such":[13],"as":[14],"nodding":[15],"acknowledge":[17],"a":[18,31],"person":[19],"glancing":[20],"at":[21,167],"them":[22],"or":[23,59,100],"saying":[24],"\"excuse":[25],"me\"":[26],"pass":[28],"people":[29],"in":[30,43],"busy":[32],"corridor.":[33],"We":[34,77],"would":[35],"like":[36],"robots":[37],"also":[39],"demonstrate":[40,146],"human-robot":[44],"interaction.":[45],"Prior":[46],"work":[47],"proposes":[48],"rule-based":[49],"methods":[50,64],"that":[51,108,147,152],"struggle":[52],"scale":[54],"new":[56],"communication":[57],"modalities":[58],"social":[60,70,83],"situations,":[61],"while":[62],"data-driven":[63],"require":[65],"specialized":[66],"datasets":[67],"for":[68],"each":[69,115],"situation":[71],"the":[72,81,133],"robot":[73,106],"is":[74,109],"used":[75],"in.":[76],"propose":[78],"leverage":[80],"rich":[82],"context":[84],"available":[85,135],"from":[86],"large":[87],"language":[88,126],"models":[89],"(LLMs)":[90],"ability":[93],"generate":[95,104],"motion":[96,107],"based":[97],"on":[98],"instructions":[99,127],"user":[101,140],"preferences,":[102],"adaptable":[110],"composable,":[112],"building":[113],"upon":[114],"other.":[116],"Our":[117],"approach":[118,149],"utilizes":[119],"few-shot":[120],"chain-of-thought":[121],"prompting":[122],"translate":[124],"human":[125],"into":[128],"parametrized":[129],"control":[130],"code":[131],"using":[132],"robot's":[134],"learned":[137],"skills.":[138],"Through":[139],"studies":[141],"simulation":[143],"experiments,":[144],"we":[145],"our":[148],"produces":[150],"users":[153],"found":[154,166],"be":[156,165],"competent":[157],"easy":[159],"understand.":[161],"Supplementary":[162],"material":[163],"can":[164],"https://generative-expressive-motion.github.io/.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":13},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":11}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}