{"id":"https://openalex.org/W4385437407","doi":"https://doi.org/10.24963/kr.2023/4","title":"Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations","display_name":"Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations","publication_year":2023,"publication_date":"2023-07-31","ids":{"openalex":"https://openalex.org/W4385437407","doi":"https://doi.org/10.24963/kr.2023/4"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.24963/kr.2023/4","pdf_url":"https://proceedings.kr.org/2023/4/kr2023-0004-alt-et-al.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://proceedings.kr.org/2023/4/kr2023-0004-alt-et-al.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042555050","display_name":"Benjamin Alt","orcid":null},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Benjamin Alt","raw_affiliation_strings":["ArtiMinds Robotics","University of Bremen"],"affiliations":[{"raw_affiliation_string":"ArtiMinds Robotics","institution_ids":[]},{"raw_affiliation_string":"University of Bremen","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089314280","display_name":"Franklin Kenghagho Kenfack","orcid":null},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Franklin Kenghagho Kenfack","raw_affiliation_strings":["University of Bremen"],"affiliations":[{"raw_affiliation_string":"University of Bremen","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024443484","display_name":"Andrei Haidu","orcid":"https://orcid.org/0000-0003-4565-5409"},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andrei Haidu","raw_affiliation_strings":["University of Bremen"],"affiliations":[{"raw_affiliation_string":"University of Bremen","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068983877","display_name":"Darko Kati\u0107","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Darko Katic","raw_affiliation_strings":["ArtiMinds Robotics"],"affiliations":[{"raw_affiliation_string":"ArtiMinds Robotics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002178630","display_name":"Rainer J\u00e4kel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rainer J\u00e4kel","raw_affiliation_strings":["ArtiMinds Robotics"],"affiliations":[{"raw_affiliation_string":"ArtiMinds Robotics","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003274224","display_name":"Michael Beetz","orcid":"https://orcid.org/0000-0002-7888-7444"},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Beetz","raw_affiliation_strings":["University of Bremen"],"affiliations":[{"raw_affiliation_string":"University of Bremen","institution_ids":["https://openalex.org/I180437899"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.421,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":1,"citation_normalized_percentile":{"value":0.620722,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":67,"max":78},"biblio":{"volume":null,"issue":null,"first_page":"34","last_page":"43"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995,"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":0.9995,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9951,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9947,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.6606318},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5818503},{"id":"https://openalex.org/keywords/scene-graph","display_name":"Scene graph","score":0.5163766}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.77527386},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.6606318},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6399677},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.60209405},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5818503},{"id":"https://openalex.org/C179372163","wikidata":"https://www.wikidata.org/wiki/Q1406181","display_name":"Scene graph","level":3,"score":0.5163766},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5068043},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.45498884},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.42707583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36605844},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.22499678},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.092621446},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.08914876},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.24963/kr.2023/4","pdf_url":"https://proceedings.kr.org/2023/4/kr2023-0004-alt-et-al.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/2306.02739","pdf_url":"https://arxiv.org/pdf/2306.02739","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":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}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.24963/kr.2023/4","pdf_url":"https://proceedings.kr.org/2023/4/kr2023-0004-alt-et-al.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"score":0.78,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":23,"referenced_works":["https://openalex.org/W2120044059","https://openalex.org/W2124032835","https://openalex.org/W2135639338","https://openalex.org/W2529470062","https://openalex.org/W2750537464","https://openalex.org/W2783894900","https://openalex.org/W2804838341","https://openalex.org/W2810685774","https://openalex.org/W2903072071","https://openalex.org/W2954147548","https://openalex.org/W2964055695","https://openalex.org/W3003894547","https://openalex.org/W3061815531","https://openalex.org/W3105350979","https://openalex.org/W3119206490","https://openalex.org/W3182006211","https://openalex.org/W3205062082","https://openalex.org/W3207010694","https://openalex.org/W4205459215","https://openalex.org/W4282981352","https://openalex.org/W4286858859","https://openalex.org/W4383097638","https://openalex.org/W4383108457"],"related_works":["https://openalex.org/W4299534542","https://openalex.org/W4239401009","https://openalex.org/W4234371507","https://openalex.org/W2350278424","https://openalex.org/W2141018266","https://openalex.org/W2071432835","https://openalex.org/W2053441600","https://openalex.org/W2047586841","https://openalex.org/W1990401748","https://openalex.org/W1628824497"],"abstract_inverted_index":{"Aging":[0],"societies,":[1],"labor":[2],"shortages":[3],"and":[4,32,48,79,94,98,102],"increasing":[5],"wage":[6],"costs":[7],"call":[8],"for":[9,39,60,121],"assistance":[10],"robots":[11,43],"capable":[12],"of":[13,19,118],"autonomously":[14],"performing":[15],"a":[16,58,107,122],"wide":[17],"array":[18],"real-world":[20],"tasks.":[21],"Such":[22],"open-ended":[23],"robotic":[24,123],"manipulation":[25],"requires":[26],"not":[27],"only":[28],"powerful":[29],"knowledge":[30,78],"representations":[31],"reasoning":[33],"(KR&R)":[34],"algorithms,":[35],"but":[36],"also":[37],"methods":[38],"humans":[40],"to":[41,46,50,83],"instruct":[42],"what":[44],"tasks":[45],"perform":[47,51],"how":[49],"them.":[52],"In":[53],"this":[54],"paper,":[55],"we":[56],"present":[57],"system":[59],"automatically":[61],"generating":[62],"executable":[63],"robot":[64],"control":[65],"programs":[66],"from":[67],"human":[68,86],"task":[69,96],"demonstrations":[70],"in":[71,115],"virtual":[72],"reality":[73],"(VR).":[74],"We":[75,111],"leverage":[76],"common-sense":[77],"game":[80],"engine-based":[81],"physics":[82],"semantically":[84],"interpret":[85],"VR":[87],"demonstrations,":[88],"as":[89,91],"well":[90],"an":[92],"expressive":[93],"general":[95],"representation":[97],"automatic":[99],"path":[100],"planning":[101],"code":[103,128],"generation,":[104],"embedded":[105],"into":[106],"state-of-the-art":[108],"cognitive":[109],"architecture.":[110],"demonstrate":[112],"our":[113],"approach":[114],"the":[116],"context":[117],"force-sensitive":[119],"fetch-and-place":[120],"shopping":[124],"assistant.":[125],"The":[126],"source":[127],"is":[129],"available":[130],"at":[131],"https://github.com/ease-crc/vr-program-synthesis.":[132]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4385437407","counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-01-02T09:12:06.787794","created_date":"2023-08-01"}