{"id":"https://openalex.org/W4386958470","doi":"https://doi.org/10.1145/3623387","title":"UHTP: A User-Aware Hierarchical Task Planning Framework for Communication-Free, Mutually-Adaptive Human-Robot Collaboration","display_name":"UHTP: A User-Aware Hierarchical Task Planning Framework for Communication-Free, Mutually-Adaptive Human-Robot Collaboration","publication_year":2023,"publication_date":"2023-09-22","ids":{"openalex":"https://openalex.org/W4386958470","doi":"https://doi.org/10.1145/3623387"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1145/3623387","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3623387","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3623387","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088004878","display_name":"Kartik Ramachandruni","orcid":"https://orcid.org/0000-0002-5409-6891"},"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":"Kartik Ramachandruni","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030081726","display_name":"David Kent","orcid":"https://orcid.org/0000-0002-5418-3602"},"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":"Cassandra Kent","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033265891","display_name":"Sonia Chernova","orcid":"https://orcid.org/0000-0001-6320-0825"},"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":"Sonia Chernova","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.377,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":1,"citation_normalized_percentile":{"value":0.491869,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":67,"max":78},"biblio":{"volume":"13","issue":"3","first_page":"1","last_page":"27"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9964,"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":0.9964,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9871,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9795,"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\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.58694464},{"id":"https://openalex.org/keywords/action-selection","display_name":"Action selection","score":0.563969}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.72952014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7071942},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6832323},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.67978746},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.58694464},{"id":"https://openalex.org/C2778476105","wikidata":"https://www.wikidata.org/wiki/Q628539","display_name":"Workload","level":2,"score":0.5817735},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.563969},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5570517},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3660122},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1421977},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.07597542},{"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.1145/3623387","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3623387","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.1145/3623387","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3623387","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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":38,"referenced_works":["https://openalex.org/W1482316244","https://openalex.org/W1505057001","https://openalex.org/W2004669996","https://openalex.org/W2011889120","https://openalex.org/W2080245757","https://openalex.org/W2112541583","https://openalex.org/W2153555639","https://openalex.org/W2157289187","https://openalex.org/W2409715576","https://openalex.org/W2588978360","https://openalex.org/W2738701519","https://openalex.org/W2786533237","https://openalex.org/W2796864868","https://openalex.org/W2963195134","https://openalex.org/W2963351448","https://openalex.org/W2994446013","https://openalex.org/W2999372975","https://openalex.org/W3001865277","https://openalex.org/W3024044737","https://openalex.org/W3103212359","https://openalex.org/W3120335880","https://openalex.org/W3127794374","https://openalex.org/W3130578294","https://openalex.org/W3149322120","https://openalex.org/W3179624327","https://openalex.org/W3194118445","https://openalex.org/W3206703428","https://openalex.org/W33891176","https://openalex.org/W4205969993","https://openalex.org/W4206579740","https://openalex.org/W4210327135","https://openalex.org/W4235285100","https://openalex.org/W4235804971","https://openalex.org/W4239380512","https://openalex.org/W4255876299","https://openalex.org/W4285529412","https://openalex.org/W4297683369","https://openalex.org/W4302367531"],"related_works":["https://openalex.org/W986318368","https://openalex.org/W4366547574","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3200191727","https://openalex.org/W3120459843","https://openalex.org/W2384410913","https://openalex.org/W2352878646","https://openalex.org/W2134057161","https://openalex.org/W2000785801"],"abstract_inverted_index":{"Collaborative":[0],"human-robot":[1,62],"task":[2,119,158,162],"execution":[3,67],"approaches":[4],"require":[5],"mutual":[6],"adaptation,":[7],"allowing":[8],"both":[9,135],"the":[10,44,48,53,74,81,85,91,100,104,109,118,121,130,182],"human":[11,110,141,173],"and":[12,22,94,120,138,160,186],"robot":[13,82,180,195],"partners":[14],"to":[15,25,83,190],"take":[16],"active":[17],"roles":[18],"in":[19,38,136,139],"action":[20],"selection":[21],"role":[23],"assignment":[24],"achieve":[26],"a":[27,35,60,127,140,145,169,178,197],"single":[28],"shared":[29],"goal.":[30],"Prior":[31],"works":[32],"have":[33],"utilized":[34],"leader-follower":[36,75],"paradigm":[37],"which":[39],"either":[40],"agent":[41],"must":[42],"follow":[43],"actions":[45,88,97,112],"specified":[46],"by":[47,126],"other":[49],"agent.":[50],"We":[51,132],"introduce":[52],"User-aware":[54],"Hierarchical":[55],"Task":[56],"Planning":[57],"(UHTP)":[58],"framework,":[59],"communication-free":[61],"collaborative":[63,105,146],"approach":[64,79],"for":[65],"adaptive":[66,194],"of":[68,103,117,144,172],"multi-step":[69],"tasks":[70],"that":[71,89,98,153,175,187],"moves":[72],"beyond":[73],"paradigm.":[76],"Specifically,":[77],"our":[78,193],"enables":[80],"observe":[84],"human,":[86],"perform":[87],"support":[90],"human\u2019s":[92,183],"decisions,":[93],"actively":[95],"select":[96],"maximize":[99],"expected":[101],"efficiency":[102],"task.":[106,149],"In":[107],"turn,":[108],"chooses":[111],"based":[113],"on":[114],"their":[115],"observation":[116],"robot,":[122],"without":[123],"being":[124],"dictated":[125],"scheduler":[128],"or":[129],"robot.":[131],"evaluate":[133],"UHTP":[134,154],"simulation":[137],"subjects":[142],"experiment":[143],"drill":[147],"assembly":[148],"Our":[150],"results":[151],"show":[152],"achieves":[155],"more":[156],"efficient":[157],"plans":[159],"shorter":[161],"completion":[163],"times":[164],"than":[165],"non-adaptive":[166],"baselines":[167],"across":[168],"wide":[170],"range":[171],"behaviors,":[174],"interacting":[176],"with":[177,192],"UHTP-controlled":[179],"reduces":[181],"cognitive":[184],"workload,":[185],"humans":[188],"prefer":[189],"work":[191],"over":[196],"fixed-policy":[198],"alternative.":[199]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4386958470","counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-01-16T09:11:47.763812","created_date":"2023-09-23"}