{"id":"https://openalex.org/W3105079111","doi":"https://doi.org/10.1145/2909824.3020221","title":"Expressive Robot Motion Timing","display_name":"Expressive Robot Motion Timing","publication_year":2017,"publication_date":"2017-03-01","ids":{"openalex":"https://openalex.org/W3105079111","doi":"https://doi.org/10.1145/2909824.3020221","mag":"3105079111"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1145/2909824.3020221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"preprint","type_crossref":"proceedings-article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1802.01536","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063400595","display_name":"Allan Zhou","orcid":"https://orcid.org/0000-0001-9448-8075"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"funder","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Allan Zhou","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076757561","display_name":"Dylan Hadfield-Menell","orcid":"https://orcid.org/0000-0002-6168-4763"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"funder","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dylan Hadfield-Menell","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030973600","display_name":"Anusha Nagabandi","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"funder","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anusha Nagabandi","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005997281","display_name":"Anca D. Dragan","orcid":"https://orcid.org/0000-0001-6312-5466"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"funder","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anca D. Dragan","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":42,"citation_normalized_percentile":{"value":0.949527,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9985,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9985,"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/T12290","display_name":"Human Motion and Animation","score":0.9983,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9979,"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/leverage","display_name":"Leverage (statistics)","score":0.68082535}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7901191},{"id":"https://openalex.org/C134537474","wikidata":"https://www.wikidata.org/wiki/Q17144832","display_name":"Naturalness","level":2,"score":0.71732545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.70270103},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.68082535},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6591656},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5144418},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.49538624},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47469133},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4606739},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42900437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09746599},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08333856},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1145/2909824.3020221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/1802.01536","pdf_url":"https://arxiv.org/pdf/1802.01536","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":false,"landing_page_url":"https://api.datacite.org/dois/10.48550/arxiv.1802.01536","pdf_url":null,"source":{"id":"https://openalex.org/S4393179698","display_name":"DataCite API","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":"https://openalex.org/I4210145204","host_organization_name":"DataCite","host_organization_lineage":["https://openalex.org/I4210145204"],"host_organization_lineage_names":["DataCite"],"type":"metadata"},"license":null,"license_id":null,"version":null}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/1802.01536","pdf_url":"https://arxiv.org/pdf/1802.01536","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_indexed_in_scopus":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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, justice, and strong institutions","score":0.42}],"grants":[{"funder":"https://openalex.org/F4320310688","funder_display_name":"Center for Information Technology Research in the Interest of Society","award_id":null}],"datasets":[],"versions":["https://openalex.org/W2594712139","https://openalex.org/W3105079111"],"referenced_works_count":41,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W137420995","https://openalex.org/W1518553298","https://openalex.org/W1876498182","https://openalex.org/W1885639605","https://openalex.org/W1954175174","https://openalex.org/W1992154343","https://openalex.org/W1999657641","https://openalex.org/W2000359213","https://openalex.org/W2002206192","https://openalex.org/W2009812633","https://openalex.org/W2011652428","https://openalex.org/W2016721335","https://openalex.org/W2020244510","https://openalex.org/W2028073245","https://openalex.org/W2036623140","https://openalex.org/W2050731184","https://openalex.org/W2057752206","https://openalex.org/W2058518679","https://openalex.org/W2068357230","https://openalex.org/W2088958698","https://openalex.org/W2105934661","https://openalex.org/W2112539290","https://openalex.org/W2115091574","https://openalex.org/W2145313322","https://openalex.org/W2151516755","https://openalex.org/W2151768748","https://openalex.org/W2161304996","https://openalex.org/W2161819990","https://openalex.org/W2293883387","https://openalex.org/W2507135045","https://openalex.org/W2606747632","https://openalex.org/W2770202429","https://openalex.org/W3144691963","https://openalex.org/W3150075013","https://openalex.org/W4232881043","https://openalex.org/W4235949734","https://openalex.org/W4239352679","https://openalex.org/W4242073862","https://openalex.org/W4248056173","https://openalex.org/W4400954549"],"related_works":["https://openalex.org/W4387098302","https://openalex.org/W4288365855","https://openalex.org/W3165080709","https://openalex.org/W2948317131","https://openalex.org/W2945105049","https://openalex.org/W2909357361","https://openalex.org/W2626699140","https://openalex.org/W2134215012","https://openalex.org/W2029561777","https://openalex.org/W172797710"],"abstract_inverted_index":{"Our":[0],"goal":[1],"is":[2,14,37,88],"to":[3,6,25,96,110,143,151],"enable":[4],"robots":[5,138],"time":[7],"their":[8,18,149],"motion":[9,35,72,150],"in":[10],"a":[11,93,126],"way":[12],"that":[13,57,85,137],"purposefully":[15],"expressive":[16],"of":[17,33,39,65,70,76,82,103,148],"internal":[19],"states,":[20],"making":[21],"them":[22],"more":[23],"transparent":[24],"people.":[26],"We":[27,55,90,124],"start":[28],"by":[29],"investigating":[30],"what":[31],"types":[32],"states":[34],"timing":[36,147],"capable":[38],"expressing,":[40],"focusing":[41],"on":[42,62],"robot":[43,67,87],"manipulation":[44],"and":[45,101,106,132],"keeping":[46],"the":[47,53,66,71,77,80,83,86,99,122,130,146],"path":[48],"constant":[49],"while":[50],"systematically":[51],"varying":[52],"timing.":[54,123],"find":[56,125],"users":[58,117],"naturally":[59],"pick":[60],"up":[61],"certain":[63],"properties":[64],"(like":[68,73,79],"confidence),":[69],"naturalness),":[74],"or":[75],"task":[78],"weight":[81],"object":[84],"carrying).":[89],"then":[91],"conduct":[92],"hypothesis-driven":[94],"experiment":[95],"tease":[97],"out":[98],"directions":[100],"magnitudes":[102],"these":[104,119,141],"effects,":[105],"use":[107],"our":[108],"findings":[109],"develop":[111],"candidate":[112],"mathematical":[113],"models":[114,131,142],"for":[115],"how":[116],"make":[118],"inferences":[120],"from":[121],"strong":[127],"correlation":[128],"between":[129],"real":[133],"user":[134],"data,":[135],"suggesting":[136],"can":[139],"leverage":[140],"autonomously":[144],"optimize":[145],"be":[152],"expressive.":[153]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3105079111","counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":2}],"updated_date":"2025-04-13T18:09:39.829699","created_date":"2020-11-23"}