{"id":"https://openalex.org/W4405345150","doi":"https://doi.org/10.1177/02783649241301075","title":"Investigating strategies enabling novice users to teach plannable hierarchical tasks to robots","display_name":"Investigating strategies enabling novice users to teach plannable hierarchical tasks to robots","publication_year":2024,"publication_date":"2024-12-11","ids":{"openalex":"https://openalex.org/W4405345150","doi":"https://doi.org/10.1177/02783649241301075"},"language":"en","primary_location":{"id":"doi:10.1177/02783649241301075","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241301075","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","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":"https://openalex.org/A5020550513","display_name":"Nina Moorman","orcid":"https://orcid.org/0000-0003-2697-1318"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nina Moorman","raw_affiliation_strings":["Interactive Computing, Georgia Institute of Technology","Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0003-2697-1318","affiliations":[{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073215738","display_name":"Aman Singh","orcid":"https://orcid.org/0000-0001-6571-327X"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aman Singh","raw_affiliation_strings":["Interactive Computing, Georgia Institute of Technology","Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080835210","display_name":"Manisha Natarajan","orcid":"https://orcid.org/0000-0001-7583-9685"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manisha Natarajan","raw_affiliation_strings":["Interactive Computing, Georgia Institute of Technology","Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7583-9685","affiliations":[{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001734584","display_name":"Erin Hedlund-Botti","orcid":"https://orcid.org/0000-0001-9890-4873"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erin Hedlund-Botti","raw_affiliation_strings":["Interactive Computing, Georgia Institute of Technology","Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046734455","display_name":"Mariah Schrum","orcid":"https://orcid.org/0000-0001-6277-4720"},"institutions":[{"id":"https://openalex.org/I2803209242","display_name":"University of California System","ror":"https://ror.org/00pjdza24","country_code":"US","type":"education","lineage":["https://openalex.org/I2803209242"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mariah Schrum","raw_affiliation_strings":["Electrical Engineering and Computer Science, University of California","Electrical Engineering and Computer Science, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science, University of California","institution_ids":["https://openalex.org/I2803209242"]},{"raw_affiliation_string":"Electrical Engineering and Computer Science, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114223424","display_name":"Chuxuan Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chuxuan Yang","raw_affiliation_strings":["Interactive Computing, Georgia Institute of Technology","Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092782737","display_name":"Lakshmi Seelam","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lakshmi Seelam","raw_affiliation_strings":["Interactive Computing, Georgia Institute of Technology","Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008211323","display_name":"Matthew Gombolay","orcid":"https://orcid.org/0000-0002-5321-6038"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew C. Gombolay","raw_affiliation_strings":["Interactive Computing, Georgia Institute of Technology","Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5321-6038","affiliations":[{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Interactive Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089421543","display_name":"Nakul Gopalan","orcid":"https://orcid.org/0000-0002-6947-5501"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nakul Gopalan","raw_affiliation_strings":["School of Computing and Augmented Intelligence, Arizona State University","School of Computing and Augmented Intelligence, Arizona State University, Tempe, AZ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computing and Augmented Intelligence, Arizona State University","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"School of Computing and Augmented Intelligence, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5020550513"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.2612352,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"44","issue":"10-11","first_page":"1814","last_page":"1839"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9970999956130981,"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":0.9884999990463257,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6145449280738831},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6135258078575134},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5509724020957947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4009195566177368}],"concepts":[{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6145449280738831},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6135258078575134},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5509724020957947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4009195566177368}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783649241301075","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783649241301075","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3611504697","display_name":null,"funder_award_id":"IIS-2112633","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6438257714","display_name":null,"funder_award_id":"7000437192","funder_id":"https://openalex.org/F4320332503","funder_display_name":"Lincoln Laboratory, Massachusetts Institute of Technology"},{"id":"https://openalex.org/G95748060","display_name":null,"funder_award_id":"20-604","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332503","display_name":"Lincoln Laboratory, Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":69,"referenced_works":["https://openalex.org/W90861027","https://openalex.org/W187005120","https://openalex.org/W1516385419","https://openalex.org/W1641003075","https://openalex.org/W1963873191","https://openalex.org/W1969897050","https://openalex.org/W1978178295","https://openalex.org/W1986014385","https://openalex.org/W1999874108","https://openalex.org/W2000637358","https://openalex.org/W2000995154","https://openalex.org/W2025427190","https://openalex.org/W2031065193","https://openalex.org/W2031738727","https://openalex.org/W2032568497","https://openalex.org/W2036973314","https://openalex.org/W2041753526","https://openalex.org/W2042962409","https://openalex.org/W2044995998","https://openalex.org/W2051704406","https://openalex.org/W2085679424","https://openalex.org/W2098774185","https://openalex.org/W2102128251","https://openalex.org/W2109910161","https://openalex.org/W2119542771","https://openalex.org/W2121517924","https://openalex.org/W2134932665","https://openalex.org/W2136719407","https://openalex.org/W2137496616","https://openalex.org/W2141841102","https://openalex.org/W2144576818","https://openalex.org/W2149356016","https://openalex.org/W2156869222","https://openalex.org/W2157289187","https://openalex.org/W2193071416","https://openalex.org/W2199215277","https://openalex.org/W2199658141","https://openalex.org/W2203521679","https://openalex.org/W2220638545","https://openalex.org/W2296594443","https://openalex.org/W2327737026","https://openalex.org/W2550336733","https://openalex.org/W2551105876","https://openalex.org/W2577664326","https://openalex.org/W2597289420","https://openalex.org/W2753709519","https://openalex.org/W2758731390","https://openalex.org/W2768962507","https://openalex.org/W2792089292","https://openalex.org/W2794922736","https://openalex.org/W2807684261","https://openalex.org/W2811233214","https://openalex.org/W2890721972","https://openalex.org/W2910988768","https://openalex.org/W2911923469","https://openalex.org/W2926786214","https://openalex.org/W3014235025","https://openalex.org/W3040621713","https://openalex.org/W3108379454","https://openalex.org/W3128894241","https://openalex.org/W3205570260","https://openalex.org/W4211008118","https://openalex.org/W4221079296","https://openalex.org/W4226366105","https://openalex.org/W4237279138","https://openalex.org/W4239943352","https://openalex.org/W4255827778","https://openalex.org/W4309698321","https://openalex.org/W6605863956"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Learning":[0],"from":[1,78],"demonstration":[2,159],"(LfD)":[3],"seeks":[4],"to":[5,11,15,111,145,176,179,223],"democratize":[6],"robotics":[7,59],"by":[8,188],"enabling":[9],"non-experts":[10],"intuitively":[12],"program":[13],"robots":[14,181],"perform":[16],"novel":[17],"skills":[18],"through":[19],"human":[20],"task":[21,29],"demonstration.":[22],"Yet,":[23],"LfD":[24,175,206],"is":[25,98],"challenging":[26],"under":[27],"a":[28,79,102,157,200,208,239],"and":[30,88,198],"motion":[31],"planning":[32],"(TAMP)":[33],"setting,":[34],"as":[35,235,237],"solving":[36],"long-horizon":[37,183],"manipulation":[38],"tasks":[39,184],"requires":[40],"the":[41,96,147,168,247],"use":[42],"of":[43,70,104,127,160,202],"hierarchical":[44,56,73,116,133],"abstractions.":[45,117],"Prior":[46],"work":[47],"has":[48,62],"studied":[49],"mechanisms":[50],"for":[51,58,81,170,205],"eliciting":[52],"demonstrations":[53,74,113,131,225],"that":[54,95,107,114,122,142,214],"include":[55],"specifications":[57],"applications":[60],"but":[61],"not":[63,136,155],"examined":[64],"whether":[65],"non-roboticist":[66],"end-users":[67,178],"are":[68],"capable":[69],"providing":[71,238],"such":[72],"without":[75,185],"explicit":[76],"training":[77,105,219],"roboticist":[80],"each":[82],"task.":[83],"We":[84],"characterize":[85],"whether,":[86],"how,":[87],"which":[89],"users":[90,110,143,222],"can":[91],"do":[92],"so.":[93],"Finding":[94],"result":[97],"negative,":[99],"we":[100,196,212],"develop":[101],"series":[103],"domains":[106,204,220,233],"successfully":[108],"enable":[109,177],"provide":[112,130,224],"exhibit":[115],"Our":[118,138,165],"first":[119],"experiment":[120,140],"shows":[121],"fewer":[123],"than":[124],"half":[125],"(35.71%)":[126],"our":[128],"subjects":[129],"with":[132,149,226],"abstractions":[134,229],"when":[135,154],"primed.":[137],"second":[139],"demonstrates":[141],"fail":[144],"teach":[146,180],"robot":[148],"adequately":[150],"detailed":[151],"TAMP":[152,203],"abstractions,":[153],"shown":[156],"video":[158,240],"an":[161,242],"expert\u2019s":[162,243],"teaching":[163,244],"strategy.":[164],"experiments":[166],"reveal":[167],"need":[169],"fundamentally":[171],"different":[172],"approaches":[173],"in":[174,207,217,246],"generalizable":[182],"being":[186],"coached":[187],"experts":[189],"at":[190],"every":[191],"step.":[192],"Toward":[193],"this":[194],"goal,":[195],"developed":[197],"evaluated":[199],"set":[201],"third":[209],"study.":[210],"Positively,":[211],"find":[213],"experience":[215],"obtained":[216],"different,":[218],"enables":[221],"useful,":[227],"plannable":[228],"on":[230],"new,":[231],"test":[232],"just":[234],"well":[236],"prescribing":[241],"strategy":[245],"new":[248],"domain.":[249]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}