{"id":"https://openalex.org/W4403990304","doi":"https://doi.org/10.1145/3702246","title":"Online Correction of Task Registration and Robot Models from User Input","display_name":"Online Correction of Task Registration and Robot Models from User Input","publication_year":2024,"publication_date":"2024-11-01","ids":{"openalex":"https://openalex.org/W4403990304","doi":"https://doi.org/10.1145/3702246"},"language":"en","primary_location":{"id":"doi:10.1145/3702246","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3702246","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3702246","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3702246","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068200195","display_name":"Thibault Poignonec","orcid":"https://orcid.org/0000-0002-7016-7397"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thibault Poignonec","raw_affiliation_strings":["ICube Laboratory, University of Strasbourg-CNRS-INSERM, Strasbourg, France","ICube laboratory, University of Strasbourg-CNRS-INSERM, France"],"raw_orcid":"https://orcid.org/0000-0002-7016-7397","affiliations":[{"raw_affiliation_string":"ICube Laboratory, University of Strasbourg-CNRS-INSERM, Strasbourg, France","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I68947357","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"ICube laboratory, University of Strasbourg-CNRS-INSERM, France","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080665291","display_name":"Florent Nageotte","orcid":"https://orcid.org/0000-0002-9267-3792"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Florent Nageotte","raw_affiliation_strings":["ICube Laboratory, University of Strasbourg-CNRS-INSERM, Strasbourg, France","ICube laboratory, University of Strasbourg-CNRS-INSERM, France"],"raw_orcid":"https://orcid.org/0000-0002-9267-3792","affiliations":[{"raw_affiliation_string":"ICube Laboratory, University of Strasbourg-CNRS-INSERM, Strasbourg, France","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I68947357","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"ICube laboratory, University of Strasbourg-CNRS-INSERM, France","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024843434","display_name":"Nabil Zemiti","orcid":"https://orcid.org/0000-0003-2052-6037"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nabil Zemiti","raw_affiliation_strings":["LIRMM Laboratory, CNRS, University of Montpellier, Montpellier, France","LIRMM laboratory, CNRS, University of Montpellier, France"],"raw_orcid":"https://orcid.org/0000-0003-2052-6037","affiliations":[{"raw_affiliation_string":"LIRMM Laboratory, CNRS, University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM laboratory, CNRS, University of Montpellier, France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064223962","display_name":"Bernard Bayle","orcid":"https://orcid.org/0000-0003-4728-8593"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I154526488","display_name":"Inserm","ror":"https://ror.org/02vjkv261","country_code":"FR","type":"government","lineage":["https://openalex.org/I154526488"]},{"id":"https://openalex.org/I68947357","display_name":"Universit\u00e9 de Strasbourg","ror":"https://ror.org/00pg6eq24","country_code":"FR","type":"education","lineage":["https://openalex.org/I68947357"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Bernard Bayle","raw_affiliation_strings":["ICube Laboratory, University of Strasbourg-CNRS-INSERM, Strasbourg, France","ICube laboratory, University of Strasbourg-CNRS-INSERM, France"],"raw_orcid":"https://orcid.org/0000-0003-4728-8593","affiliations":[{"raw_affiliation_string":"ICube Laboratory, University of Strasbourg-CNRS-INSERM, Strasbourg, France","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I68947357","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"ICube laboratory, University of Strasbourg-CNRS-INSERM, France","institution_ids":["https://openalex.org/I154526488","https://openalex.org/I68947357","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21355653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":"2","first_page":"1","last_page":"31"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/computer-science","display_name":"Computer science","score":0.676875650882721},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6550374031066895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5128653049468994},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.49416235089302063},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4316408038139343},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41845694184303284},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11968505382537842}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.676875650882721},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6550374031066895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5128653049468994},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.49416235089302063},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4316408038139343},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41845694184303284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11968505382537842},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/3702246","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3702246","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3702246","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},{"id":"pmh:oai:HAL:lirmm-04763338v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-04763338","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ACM Transactions on Human-Robot Interaction, 2024, 14 (2), pp.1-31/22. ⟨10.1145/3702246⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:univoak.eu:islandora_173286","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402449","display_name":"univOAK (4 institutions : Universit\u00e9 de Strasbourg, Universit\u00e9 de Haute Alsace, INSA Strasbourg, Biblioth\u00e8que Nationale et Universitaire de Strasbourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210100283","host_organization_name":"Laboratoire des Sciences de l'Ing\u00e9nieur, de l'Informatique et de l'Imagerie","host_organization_lineage":["https://openalex.org/I4210100283"],"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":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1145/3702246","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3702246","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3702246","source":{"id":"https://openalex.org/S4210193251","display_name":"ACM Transactions on Human-Robot Interaction","issn_l":"2573-9522","issn":["2573-9522"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Human-Robot Interaction","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1801824165","display_name":"Gestes M\u00e9dico-Chirurgicaux Assist\u00e9s par Ordinateur","funder_award_id":"ANR-11-LABX-0004","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403990304.pdf"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W1584069627","https://openalex.org/W2011393930","https://openalex.org/W2013002270","https://openalex.org/W2041564515","https://openalex.org/W2060866745","https://openalex.org/W2089145243","https://openalex.org/W2119938543","https://openalex.org/W2135784723","https://openalex.org/W2148687996","https://openalex.org/W2157289187","https://openalex.org/W2168914856","https://openalex.org/W2170193904","https://openalex.org/W2191886813","https://openalex.org/W2293748004","https://openalex.org/W2317096512","https://openalex.org/W2482827081","https://openalex.org/W2541723291","https://openalex.org/W2623660146","https://openalex.org/W2766253253","https://openalex.org/W2768152608","https://openalex.org/W2769520592","https://openalex.org/W2780633237","https://openalex.org/W2790374560","https://openalex.org/W2808933219","https://openalex.org/W2884325870","https://openalex.org/W2885575364","https://openalex.org/W2914707001","https://openalex.org/W2963507484","https://openalex.org/W2998338383","https://openalex.org/W3003858867","https://openalex.org/W3035091793","https://openalex.org/W3036306652","https://openalex.org/W3092948749","https://openalex.org/W3097968638","https://openalex.org/W3098198982","https://openalex.org/W3105789002","https://openalex.org/W3106171760","https://openalex.org/W3112335757","https://openalex.org/W3133184250","https://openalex.org/W3134935089","https://openalex.org/W3179229079","https://openalex.org/W3207929196","https://openalex.org/W4206477591","https://openalex.org/W4206540383","https://openalex.org/W4211151345","https://openalex.org/W4236156636","https://openalex.org/W4241363167","https://openalex.org/W4251454125","https://openalex.org/W4256504644","https://openalex.org/W4285673103","https://openalex.org/W4285750856","https://openalex.org/W4297578566","https://openalex.org/W4382935767"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"In":[0,20],"application":[1],"domains":[2],"such":[3],"as":[4],"surgical":[5],"robotics,":[6],"fully":[7,134],"autonomous":[8],"control":[9],"remains":[10],"a":[11,122,147],"long-term":[12],"ambition":[13],"and":[14,42,106,159,192],"the":[15,23,33,43,67,96,101,104,119,173,178,186,189,197],"systems":[16],"are":[17],"mostly":[18],"teleoperated.":[19],"this":[21,88],"article,":[22],"presence":[24],"of":[25,36,45,53,69,121,137,188],"an":[26,37,80,93],"operator":[27],"in-the-loop":[28],"is":[29,59,90,115,150],"exploited":[30],"to":[31,61,73,99,152],"perform":[32],"online":[34,63],"registration":[35,158],"initially":[38,155],"inaccurate":[39,156],"haptic":[40,64,190],"guidance":[41,65,191],"calibration":[44],"robot":[46,160],"kinematic":[47],"models":[48,161],"using":[49],"operator\u2019s":[50],"intention":[51],"instead":[52],"relying":[54],"on":[55,92],"exteroceptive":[56,130],"sensors.":[57],"This":[58,113],"used":[60],"improve":[62],"in":[66,87,95,182],"context":[68],"shared":[70],"control,":[71],"or":[72,140],"progress":[74],"toward":[75],"automatic":[76],"task":[77,97,124,149,157],"completion":[78],"after":[79],"initial":[81],"learning":[82],"phase.":[83],"The":[84,169],"method":[85],"presented":[86],"article":[89],"based":[91],"optimization":[94],"space":[98],"minimize":[100],"errors":[102,128],"between":[103],"executed":[105],"desired":[107],"trajectories,":[108],"both":[109],"estimated":[110],"from":[111,127,165],"models.":[112],"approach":[114],"particularly":[116],"relevant":[117],"when":[118],"execution":[120],"planned":[123],"would":[125],"suffer":[126],"that":[129,154,172],"measurements":[131],"could":[132],"not":[133],"correct,":[135],"because":[136],"sensor":[138],"inaccuracy":[139],"unavailability.":[141],"A":[142],"user":[143,166],"study":[144],"realized":[145],"for":[146],"drawing":[148],"detailed":[151],"illustrate":[153],"can":[162,176],"be":[163],"corrected":[164],"inputs":[167],"only.":[168],"results":[170],"show":[171],"proposed":[174],"algorithm":[175],"learn":[177],"correct":[179],"models,":[180],"which":[181],"turns":[183],"significantly":[184],"improves":[185],"quality":[187],"decreases":[193],"path":[194],"deviations":[195],"during":[196],"teleoperated":[198],"task.":[199]},"counts_by_year":[],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}