{"id":"https://openalex.org/W4392652678","doi":"https://doi.org/10.1145/3610978.3640673","title":"Learning Action Conditions for Automatic Behavior Tree Generation from Human Demonstrations","display_name":"Learning Action Conditions for Automatic Behavior Tree Generation from Human Demonstrations","publication_year":2024,"publication_date":"2024-03-10","ids":{"openalex":"https://openalex.org/W4392652678","doi":"https://doi.org/10.1145/3610978.3640673"},"language":"en","primary_location":{"id":"doi:10.1145/3610978.3640673","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610978.3640673","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610978.3640673","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 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/10.1145/3610978.3640673","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082442455","display_name":"Lisa Scherf","orcid":"https://orcid.org/0009-0004-0950-5184"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Lisa Scherf","raw_affiliation_strings":["Interactive AI &amp; Cognitive Models for Human-AI Interaction (IKIDA), Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Interactive AI &amp; Cognitive Models for Human-AI Interaction (IKIDA), Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024005556","display_name":"Kevin Fr\u00f6hlich","orcid":"https://orcid.org/0009-0001-6810-7766"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kevin Fr\u00f6hlich","raw_affiliation_strings":["Interactive AI &amp; Cognitive Models for Human-AI Interaction (IKIDA), Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Interactive AI &amp; Cognitive Models for Human-AI Interaction (IKIDA), Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063353075","display_name":"Dorothea Koert","orcid":"https://orcid.org/0000-0002-3571-6848"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dorothea Koert","raw_affiliation_strings":["Interactive AI &amp; Cognitive Models for Human-AI Interaction (IKIDA), Technische Universit\u00e4t Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Interactive AI &amp; Cognitive Models for Human-AI Interaction (IKIDA), Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5082442455"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":1.8131,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.86271894,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"950","last_page":"954"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9972000122070312,"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":0.9972000122070312,"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":0.9955999851226807,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9848999977111816,"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":0.8153762817382812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6735251545906067},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6061797738075256},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5745605230331421},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5676031112670898},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.5598083138465881},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.535129725933075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5291695594787598},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5134733319282532},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.48821261525154114},{"id":"https://openalex.org/keywords/action-selection","display_name":"Action selection","score":0.4714028835296631},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4636560380458832},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.46031731367111206},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.45372676849365234},{"id":"https://openalex.org/keywords/tree","display_name":"Tree (set theory)","score":0.448555052280426},{"id":"https://openalex.org/keywords/feature-selection","display_name":"Feature selection","score":0.44714319705963135},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.42833593487739563},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.41095781326293945},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.1026121973991394},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09934920072555542},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08970633149147034}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8153762817382812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6735251545906067},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6061797738075256},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5745605230331421},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5676031112670898},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.5598083138465881},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.535129725933075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5291695594787598},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5134733319282532},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.48821261525154114},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.4714028835296631},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4636560380458832},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.46031731367111206},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45372676849365234},{"id":"https://openalex.org/C113174947","wikidata":"https://www.wikidata.org/wiki/Q2859736","display_name":"Tree (set theory)","level":2,"score":0.448555052280426},{"id":"https://openalex.org/C148483581","wikidata":"https://www.wikidata.org/wiki/Q446488","display_name":"Feature selection","level":2,"score":0.44714319705963135},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.42833593487739563},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.41095781326293945},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.1026121973991394},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09934920072555542},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08970633149147034},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3610978.3640673","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610978.3640673","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610978.3640673","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 2024 ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3610978.3640673","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3610978.3640673","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3610978.3640673","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 2024 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/W4392652678.pdf","grobid_xml":"https://content.openalex.org/works/W4392652678.grobid-xml"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W2002489204","https://openalex.org/W2013615880","https://openalex.org/W2182585001","https://openalex.org/W2770024602","https://openalex.org/W2967901646","https://openalex.org/W2994446013","https://openalex.org/W3145123113","https://openalex.org/W3198931217","https://openalex.org/W4313563147","https://openalex.org/W4366493161","https://openalex.org/W4387123604","https://openalex.org/W6927148000"],"related_works":["https://openalex.org/W2380784125","https://openalex.org/W3004057759","https://openalex.org/W2062350288","https://openalex.org/W2901891836","https://openalex.org/W2773759438","https://openalex.org/W1989667785","https://openalex.org/W2117552637","https://openalex.org/W4304140541","https://openalex.org/W2150818585","https://openalex.org/W1969897050"],"abstract_inverted_index":{"The":[0],"multitude":[1],"of":[2,16,65,104,170,176],"possible":[3],"tasks":[4,18,164],"and":[5,33,81,88,97,139,158,165,168],"user":[6],"preferences":[7],"in":[8,63,173],"real-world":[9],"human-robot":[10],"interaction":[11],"scenarios":[12],"renders":[13],"pure":[14],"pre-programming":[15],"robotic":[17],"inadequate.":[19],"Recently,":[20],"Behavior":[21],"Trees":[22],"(BTs)":[23],"gained":[24],"more":[25],"focus":[26],"as":[27,120,122],"a":[28,116,123,128],"modular":[29],"internal":[30],"task":[31,58,61],"representation":[32],"particularly":[34],"learning":[35,177],"BTs":[36,55,178],"directly":[37],"from":[38,56,102,179],"human":[39,57,105,180],"video":[40],"demonstrations":[41,59],"offers":[42],"also":[43],"non-programming":[44],"experts":[45],"an":[46],"opportunity":[47],"to":[48,92],"conveniently":[49],"teach":[50],"robots.":[51],"However,":[52],"automatically":[53,93],"building":[54],"requires":[60],"constraints":[62],"form":[64],"action":[66,95],"conditions.":[67],"While":[68],"existing":[69],"work":[70],"on":[71,77,127,145,161],"automated":[72],"BT":[73,100],"generation":[74,101],"often":[75],"relies":[76],"pre-defined":[78],"relevant":[79,137],"features":[80,134],"heuristic":[82],"condition":[83,159],"computation,":[84],"here":[85],"we":[86,109,132],"propose":[87],"evaluate":[89],"different":[90,147,153],"methods":[91,154,172],"extract":[94],"pre-":[96,138],"post-conditions":[98,140],"for":[99,141,155],"videos":[103],"demonstrations.":[106,181],"In":[107],"particular,":[108],"first":[110],"reduce":[111],"the":[112,152,174],"feature":[113,118,156],"space":[114],"using":[115],"correlation-based":[117],"pre-selection,":[119],"well":[121],"rule-based":[124],"pre-selection":[125],"based":[126,144],"Decision":[129],"Tree.":[130],"Then,":[131],"select":[133],"that":[135],"are":[136],"particular":[142],"actions":[143],"three":[146],"variance-based":[148],"methods.":[149],"We":[150],"compare":[151],"selection":[157],"extraction":[160],"two":[162],"pick-and-place":[163],"discuss":[166],"advantages":[167],"shortcomings":[169],"all":[171],"context":[175]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
