{"id":"https://openalex.org/W4394591929","doi":"https://doi.org/10.1145/3654777.3676401","title":"VoicePilot: Harnessing LLMs as Speech Interfaces for Physically Assistive Robots","display_name":"VoicePilot: Harnessing LLMs as Speech Interfaces for Physically Assistive Robots","publication_year":2024,"publication_date":"2024-10-11","ids":{"openalex":"https://openalex.org/W4394591929","doi":"https://doi.org/10.1145/3654777.3676401"},"language":"en","primary_location":{"id":"doi:10.1145/3654777.3676401","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3654777.3676401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 37th Annual ACM Symposium on User Interface Software and Technology","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2404.04066","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027347432","display_name":"Akhil Padmanabha","orcid":"https://orcid.org/0000-0001-8603-8146"},"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":"Akhil Padmanabha","raw_affiliation_strings":["Carnegie Mellon University, United States"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, United States","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101333360","display_name":"Jessie Yuan","orcid":null},"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":"Jessie Yuan","raw_affiliation_strings":["Carnegie Mellon University, United States"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, United States","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103102487","display_name":"Janavi Gupta","orcid":"https://orcid.org/0000-0001-7536-1685"},"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":"Janavi Gupta","raw_affiliation_strings":["Carnegie Mellon University, United States"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, United States","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035845660","display_name":"Zulekha Karachiwalla","orcid":null},"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":"Zulekha Karachiwalla","raw_affiliation_strings":["Carnegie Mellon University, United States"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, United States","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050506400","display_name":"Carmel Majidi","orcid":"https://orcid.org/0000-0002-6469-9645"},"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":"Carmel Majidi","raw_affiliation_strings":["Carnegie Mellon University, United States"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, United States","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","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":["Robotics Institute, Carnegie Mellon University, United States"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, United States","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075365855","display_name":"Zackory Erickson","orcid":"https://orcid.org/0000-0002-6760-6213"},"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":"Zackory Erickson","raw_affiliation_strings":["Carnegie Mellon University, United States"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, United States","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5027347432"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":9.8331,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.98407989,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.9772999882698059,"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/T12031","display_name":"Speech and dialogue systems","score":0.9772999882698059,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9549999833106995,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9501000046730042,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6939386129379272},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6105729937553406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45084643363952637},{"id":"https://openalex.org/keywords/assistive-device","display_name":"Assistive device","score":0.44774726033210754},{"id":"https://openalex.org/keywords/communication","display_name":"Communication","score":0.37968629598617554},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.3639093339443207},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1970335841178894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18902131915092468},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12800827622413635}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6939386129379272},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6105729937553406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45084643363952637},{"id":"https://openalex.org/C3018905694","wikidata":"https://www.wikidata.org/wiki/Q688498","display_name":"Assistive device","level":2,"score":0.44774726033210754},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.37968629598617554},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3639093339443207},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1970335841178894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18902131915092468},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12800827622413635}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3654777.3676401","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3654777.3676401","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 37th Annual ACM Symposium on User Interface Software and Technology","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2404.04066","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2404.04066","pdf_url":"https://arxiv.org/pdf/2404.04066","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":"pmh:oai:arXiv.org:2404.04066","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2404.04066","pdf_url":"https://arxiv.org/pdf/2404.04066","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"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.7599999904632568,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1964695965","https://openalex.org/W2055458476","https://openalex.org/W2084722860","https://openalex.org/W2128047661","https://openalex.org/W2139158987","https://openalex.org/W2156324385","https://openalex.org/W2537120235","https://openalex.org/W2563129138","https://openalex.org/W2743243568","https://openalex.org/W2801271260","https://openalex.org/W2896654476","https://openalex.org/W2963166639","https://openalex.org/W2963507484","https://openalex.org/W2966754145","https://openalex.org/W2981450372","https://openalex.org/W2991303041","https://openalex.org/W3009086013","https://openalex.org/W3045522824","https://openalex.org/W3194176109","https://openalex.org/W3217298356","https://openalex.org/W4294680543","https://openalex.org/W4323871205","https://openalex.org/W4383097638","https://openalex.org/W4383108457","https://openalex.org/W4383552038","https://openalex.org/W4388182168","https://openalex.org/W4388720459","https://openalex.org/W4389665575","https://openalex.org/W4390305886","https://openalex.org/W4391335180","https://openalex.org/W4391407102","https://openalex.org/W4392633770","https://openalex.org/W4392645923","https://openalex.org/W4392646041","https://openalex.org/W4392646123"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2931662336","https://openalex.org/W2077865380","https://openalex.org/W2765597752","https://openalex.org/W2134894512","https://openalex.org/W2083375246","https://openalex.org/W137955098","https://openalex.org/W2067108088","https://openalex.org/W2085372204"],"abstract_inverted_index":{"Physically":[0],"assistive":[1,87,104,157],"robots":[2,64],"present":[3,93],"an":[4,119,126],"opportunity":[5],"to":[6,26,45,55,63,78,141],"significantly":[7],"increase":[8],"the":[9,138],"well-being":[10],"and":[11,47,52,70,134,145,161],"independence":[12],"of":[13,21,29,111],"individuals":[14,44],"with":[15,108,121],"motor":[16],"impairments":[17],"or":[18],"other":[19],"forms":[20],"disability":[22],"who":[23],"are":[24,83,164],"unable":[25],"complete":[27],"activities":[28],"daily":[30],"living.":[31],"Speech":[32],"interfaces,":[33],"especially":[34],"ones":[35],"that":[36],"utilize":[37],"Large":[38],"Language":[39],"Models":[40],"(LLMs),":[41],"can":[42],"enable":[43],"effectively":[46],"naturally":[48],"communicate":[49],"high-level":[50],"commands":[51],"nuanced":[53],"preferences":[54],"robots.":[56,158],"Frameworks":[57],"for":[58,65,96,102,150,156],"integrating":[59],"LLMs":[60,98,152],"as":[61,99,153],"interfaces":[62,101,155],"high":[66],"level":[67],"task":[68],"planning":[69],"code":[71],"generation":[72],"have":[73],"been":[74],"proposed,":[75],"but":[76],"fail":[77],"incorporate":[79],"human-centric":[80],"considerations":[81],"which":[82],"essential":[84],"while":[85],"developing":[86],"interfaces.":[88],"In":[89],"this":[90],"work,":[91],"we":[92],"a":[94,114],"framework":[95,144],"incorporating":[97],"speech":[100,154],"physically":[103],"robots,":[105],"constructed":[106],"iteratively":[107],"3":[109],"stages":[110],"testing":[112],"involving":[113],"feeding":[115],"robot,":[116],"culminating":[117],"in":[118],"evaluation":[120],"11":[122],"older":[123],"adults":[124],"at":[125],"independent":[127],"living":[128],"facility.":[129],"We":[130],"use":[131],"both":[132],"quantitative":[133],"qualitative":[135],"data":[136],"from":[137],"final":[139],"study":[140],"validate":[142],"our":[143,167],"additionally":[146],"provide":[147],"design":[148],"guidelines":[149],"using":[151],"Videos,":[159],"code,":[160],"supporting":[162],"files":[163],"located":[165],"on":[166],"project":[168],"website1":[169]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}