{"id":"https://openalex.org/W7137884724","doi":"https://doi.org/10.1609/aaai.v40i2.37061","title":"FreeAskWorld: An Interactive and Closed-Loop Simulator for Human-Centric Embodied AI","display_name":"FreeAskWorld: An Interactive and Closed-Loop Simulator for Human-Centric Embodied AI","publication_year":2026,"publication_date":"2026-03-14","ids":{"openalex":"https://openalex.org/W7137884724","doi":"https://doi.org/10.1609/aaai.v40i2.37061"},"language":null,"primary_location":{"id":"doi:10.1609/aaai.v40i2.37061","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i2.37061","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.1609/aaai.v40i2.37061","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129743992","display_name":"Yuhang Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuhang Peng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Yizhou Pan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yizhou Pan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129726693","display_name":"Xinning He","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xinning He","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111332144","display_name":"Jihaoyu Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jihaoyu Yang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129655415","display_name":"Xinyu Yin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xinyu Yin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129732189","display_name":"Han Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han Wang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100652158","display_name":"Xiaoji Zheng","orcid":"https://orcid.org/0009-0007-0868-8216"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaoji Zheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129719144","display_name":"Chao Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chao Gao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129723223","display_name":"Jiangtao Gong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiangtao Gong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":9,"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":0.10470085,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":"2","first_page":"926","last_page":"934"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.6194000244140625,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.6194000244140625,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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":0.1891999989748001,"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/T11431","display_name":"Action Observation and Synchronization","score":0.05000000074505806,"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/embodied-cognition","display_name":"Embodied cognition","score":0.8348000049591064},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6561999917030334},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5848000049591064},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.534500002861023},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.45980000495910645},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.3864000141620636},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.38370001316070557},{"id":"https://openalex.org/keywords/core","display_name":"Core (optical fiber)","score":0.3781999945640564}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.8348000049591064},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7263000011444092},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6561999917030334},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5848000049591064},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5598000288009644},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.534500002861023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46860000491142273},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.45980000495910645},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3864000141620636},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.38370001316070557},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.3781999945640564},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.3391999900341034},{"id":"https://openalex.org/C45801056","wikidata":"https://www.wikidata.org/wiki/Q2273844","display_name":"Social intelligence","level":2,"score":0.310699999332428},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.2752000093460083},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.27320000529289246},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.267300009727478},{"id":"https://openalex.org/C2781162219","wikidata":"https://www.wikidata.org/wiki/Q26250693","display_name":"Replicate","level":2,"score":0.257999986410141},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1609/aaai.v40i2.37061","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i2.37061","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1609/aaai.v40i2.37061","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i2.37061","pdf_url":null,"source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"As":[0],"embodied":[1,72,140,187],"intelligence":[2,10],"emerges":[3],"as":[4],"a":[5,64,86,107],"core":[6,119],"frontier":[7],"in":[8,185],"artificial":[9],"research,":[11],"simulation":[12,31,183],"platforms":[13],"must":[14],"evolve":[15],"beyond":[16],"low-level":[17],"physical":[18],"interactions":[19],"to":[20,134],"capture":[21],"complex,":[22],"human-centered":[23],"social":[24,53],"behaviors.":[25],"We":[26,101,143],"introduce":[27],"FreeAskWorld,":[28,106],"an":[29],"interactive":[30],"framework":[32,56],"that":[33,159],"integrates":[34],"large":[35],"language":[36],"models":[37,160],"(LLMs)":[38],"for":[39,70],"high-level":[40,192],"behavior":[41],"planning":[42,193],"and":[43,52,62,97,103,126,137,147,153,172,194],"semantically":[44,87],"grounded":[45,182],"interaction,":[46],"informed":[47],"by":[48],"theories":[49],"of":[50,131,139,180],"intention":[51],"cognition.":[54],"Our":[55],"supports":[57],"scalable,":[58],"realistic":[59],"human-agent":[60,197],"simulations":[61],"includes":[63],"modular":[65],"data":[66,133],"generation":[67],"pipeline":[68],"tailored":[69],"diverse":[71,115],"tasks.To":[73],"validate":[74],"the":[75,79,178],"framework,":[76],"we":[77],"extend":[78],"classic":[80],"Vision-and-Language":[81],"Navigation":[82],"(VLN)":[83],"task":[84,116],"into":[85],"enriched":[88],"Direction":[89],"Inquiry":[90],"setting,":[91],"wherein":[92],"agents":[93],"can":[94],"actively":[95],"seek":[96],"interpret":[98],"navigational":[99],"guidance.":[100],"present":[102],"publicly":[104],"release":[105],"large-scale":[108],"benchmark":[109,144],"dataset":[110],"comprising":[111],"reconstructed":[112],"environments,":[113],"six":[114],"types,":[117],"16":[118],"object":[120],"categories,":[121],"63,429":[122],"annotated":[123],"sample":[124],"frames,":[125],"more":[127,195],"than":[128],"17":[129],"hours":[130],"interaction":[132,173],"support":[135],"training":[136],"evaluation":[138],"AI":[141,188],"systems.":[142],"VLN":[145],"models,":[146],"human":[148],"participants":[149],"under":[150],"both":[151],"open-loop":[152],"closed-loop":[154],"settings.":[155],"Experimental":[156],"results":[157],"demonstrate":[158],"fine-tuned":[161],"on":[162],"FreeAskWorld":[163],"outperform":[164],"their":[165],"original":[166],"counterparts,":[167],"achieving":[168],"enhanced":[169],"semantic":[170],"understanding":[171],"competency.":[174],"These":[175],"findings":[176],"underscore":[177],"efficacy":[179],"socially":[181],"frameworks":[184],"advancing":[186],"systems":[189],"toward":[190],"sophisticated":[191],"naturalistic":[196],"interaction.":[198]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-18T00:00:00"}
