{"id":"https://openalex.org/W7134852373","doi":"https://doi.org/10.1145/3757279.3785606","title":"Investigating the Impact of Robot Degree of Redundancy on Learning from Demonstration","display_name":"Investigating the Impact of Robot Degree of Redundancy on Learning from Demonstration","publication_year":2026,"publication_date":"2026-03-10","ids":{"openalex":"https://openalex.org/W7134852373","doi":"https://doi.org/10.1145/3757279.3785606"},"language":null,"primary_location":{"id":"doi:10.1145/3757279.3785606","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3757279.3785606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Muhammad Bilal","orcid":"https://orcid.org/0000-0002-4261-7645"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Muhammad Bilal","raw_affiliation_strings":["The University of Melbourne, Melbourne, Australia"],"raw_orcid":"https://orcid.org/0000-0002-4261-7645","affiliations":[{"raw_affiliation_string":"The University of Melbourne, Melbourne, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014732164","display_name":"D. Antony Chacon","orcid":"https://orcid.org/0000-0001-5888-1646"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"D. Antony Chacon","raw_affiliation_strings":["The University of Melbourne, Melbourne, Australia"],"raw_orcid":"https://orcid.org/0000-0001-5888-1646","affiliations":[{"raw_affiliation_string":"The University of Melbourne, Melbourne, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128672680","display_name":"Nir Lipovetzky","orcid":null},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Nir Lipovetzky","raw_affiliation_strings":["The University of Melbourne, Melbourne, Australia"],"raw_orcid":"https://orcid.org/0000-0002-8667-3681","affiliations":[{"raw_affiliation_string":"The University of Melbourne, Melbourne, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004224258","display_name":"Denny Oetomo","orcid":"https://orcid.org/0000-0002-2680-6489"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Denny Oetomo","raw_affiliation_strings":["The University of Melbourne, Melbourne, Australia"],"raw_orcid":"https://orcid.org/0000-0002-2680-6489","affiliations":[{"raw_affiliation_string":"The University of Melbourne, Melbourne, Australia","institution_ids":["https://openalex.org/I165779595"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048175000","display_name":"Wafa Johal","orcid":"https://orcid.org/0000-0001-9118-0454"},"institutions":[{"id":"https://openalex.org/I165779595","display_name":"The University of Melbourne","ror":"https://ror.org/01ej9dk98","country_code":"AU","type":"education","lineage":["https://openalex.org/I165779595"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Wafa Johal","raw_affiliation_strings":["The University of Melbourne, Melbourne, Australia"],"raw_orcid":"https://orcid.org/0000-0001-9118-0454","affiliations":[{"raw_affiliation_string":"The University of Melbourne, Melbourne, Australia","institution_ids":["https://openalex.org/I165779595"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165779595"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"825","last_page":"833"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.23899999260902405,"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":0.23899999260902405,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.1647000014781952,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.07460000365972519,"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/redundancy","display_name":"Redundancy (engineering)","score":0.5896000266075134},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5376999974250793},{"id":"https://openalex.org/keywords/degree","display_name":"Degree (music)","score":0.3352000117301941},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3086000084877014},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.27720001339912415}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6040999889373779},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5896000266075134},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5376999974250793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5259000062942505},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34790000319480896},{"id":"https://openalex.org/C2775997480","wikidata":"https://www.wikidata.org/wiki/Q586277","display_name":"Degree (music)","level":2,"score":0.3352000117301941},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3086000084877014},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2906000018119812},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.27720001339912415},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.27399998903274536}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3757279.3785606","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3757279.3785606","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G183890490","display_name":"Balancing Autonomy and Control in Interactive Social Agent Design","funder_award_id":"FT250100459","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G3646358780","display_name":"Robotic Trainers for a Skilled Workforce of the Future","funder_award_id":"DP260101082","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G5239468464","display_name":"ARC Centre of Excellence for Quality Work in a Digital Age","funder_award_id":"CE260100108","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"},{"id":"https://openalex.org/G7919401723","display_name":"Human-Centred Robot Training","funder_award_id":"DE210100858","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"}],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1501005121","https://openalex.org/W1986014385","https://openalex.org/W2072500831","https://openalex.org/W2100993276","https://openalex.org/W2104678592","https://openalex.org/W2104999980","https://openalex.org/W2128677288","https://openalex.org/W2157289187","https://openalex.org/W2527925052","https://openalex.org/W2738231311","https://openalex.org/W2994446013","https://openalex.org/W3101780148","https://openalex.org/W3130985948","https://openalex.org/W3134834355","https://openalex.org/W4285819051","https://openalex.org/W4292672317","https://openalex.org/W4393275031","https://openalex.org/W4399557849","https://openalex.org/W4401798392"],"related_works":[],"abstract_inverted_index":{"Learning":[0],"from":[1,8],"Demonstration":[2],"allows":[3,26],"robots":[4,43],"to":[5,15,28,51,73,90,106,176,248],"acquire":[6],"skills":[7],"human":[9,59,117],"demonstrations,":[10,121],"making":[11,34],"them":[12],"more":[13,71],"accessible":[14],"a":[16,53,144,151,172],"wider":[17],"range":[18],"of":[19,86,99,111,113,139,208,237],"users.":[20],"Among":[21],"different":[22],"approaches,":[23],"kinesthetic":[24,120],"teaching":[25,60],"humans":[27],"manipulate":[29],"the":[30,75,79,84,100,109,140,182,198,215,229,235],"robot":[31,128,141,183,222,239],"joints":[32,87],"directly,":[33],"it":[35,65,68,81,103],"effective":[36,250],"method":[37],"for":[38],"demonstrating":[39,185,242],"constrained":[40,166,243],"tasks.":[41],"However,":[42],"with":[44,158,181,214],"kinematic":[45],"redundancy":[46,114],"enable":[47],"multiple":[48],"joint":[49,142,218],"configurations":[50],"achieve":[52],"desired":[54],"task,":[55,76],"which":[56],"could":[57,66],"influence":[58,127,221],"performance.":[61,129],"One":[62],"one":[63,138],"hand,":[64],"make":[67],"easier,":[69],"allowing":[70,245],"freedom":[72],"demonstrate":[74],"but":[77],"on":[78,143],"other,":[80],"also":[82],"increases":[83],"number":[85,110,207],"that":[88,197],"needs":[89],"be":[91],"manipulated,":[92],"potentially":[93],"affecting":[94],"cognitive":[95],"and":[96,122,133,165,190,211],"physical":[97,179,212],"load":[98],"demonstrator.":[101],"Therefore,":[102],"is":[104],"crucial":[105],"investigate":[107],"how":[108,124],"degrees":[112],"(DoR)":[115],"impact":[116],"performance":[118],"during":[119,241],"then":[123],"these":[125],"demonstrations":[126],"We":[130,149,170],"simulated":[131],"high":[132],"low":[134],"DoR":[135,200,240],"by":[136,225],"locking":[137],"7-DoF":[145],"Panda":[146],"robotic":[147],"arm.":[148],"conducted":[150],"within-subject":[152],"user":[153],"study":[154],"(N":[155],"=":[156],"24)":[157],"two":[159,186],"conditions:":[160],"unconstrained":[161],"condition":[162,167],"(high":[163],"DoR)":[164],"(low":[168],"DoR).":[169],"used":[171],"motion":[173],"capture":[174,177],"system":[175],"participants":[178],"interaction":[180,213],"when":[184],"tasks:":[187],"button":[188],"pressing":[189],"cuboid":[191],"block":[192],"insertion.":[193],"The":[194],"results":[195],"show":[196],"robot\u2019s":[199],"significantly":[201,220],"affects":[202],"mental":[203],"workload,":[204],"demonstration":[205],"time,":[206],"failed":[209],"attempts,":[210],"robot.":[216],"Likewise,":[217],"constraints":[219],"performance,":[223],"measured":[224],"task":[226],"completion":[227],"using":[228],"learned":[230],"model.":[231],"These":[232],"findings":[233],"highlight":[234],"importance":[236],"considering":[238],"tasks,":[244],"novice":[246],"users":[247],"provide":[249],"demonstrations.":[251]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-03-11T00:00:00"}
