{"id":"https://openalex.org/W2974048616","doi":"https://doi.org/10.1109/icra40945.2020.9197197","title":"Controlling Assistive Robots with Learned Latent Actions","display_name":"Controlling Assistive Robots with Learned Latent Actions","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2974048616","doi":"https://doi.org/10.1109/icra40945.2020.9197197","mag":"2974048616"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197197","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197197","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.09674","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063608480","display_name":"Dylan P. Losey","orcid":"https://orcid.org/0000-0002-8787-5293"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dylan P. Losey","raw_affiliation_strings":["Stanford University,Stanford Intelligent and Interactive Autonomous Systems Group (ILIAD),Stanford,CA,94305","Stanford University ()"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford Intelligent and Interactive Autonomous Systems Group (ILIAD),Stanford,CA,94305","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University ()","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101973028","display_name":"Krishnan Srinivasan","orcid":"https://orcid.org/0000-0002-0692-1332"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Krishnan Srinivasan","raw_affiliation_strings":["Stanford University,Stanford Intelligent and Interactive Autonomous Systems Group (ILIAD),Stanford,CA,94305"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford Intelligent and Interactive Autonomous Systems Group (ILIAD),Stanford,CA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026180478","display_name":"Ajay Mandlekar","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ajay Mandlekar","raw_affiliation_strings":["Stanford University,Stanford Intelligent and Interactive Autonomous Systems Group (ILIAD),Stanford,CA,94305"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford Intelligent and Interactive Autonomous Systems Group (ILIAD),Stanford,CA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061193324","display_name":"Animesh Garg","orcid":"https://orcid.org/0000-0003-0482-4296"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I4210127509","display_name":"Vector Institute","ror":"https://ror.org/03kqdja62","country_code":"CA","type":"facility","lineage":["https://openalex.org/I4210127509"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Animesh Garg","raw_affiliation_strings":["University of Toronto,Vector Institute, and Nvidia"],"affiliations":[{"raw_affiliation_string":"University of Toronto,Vector Institute, and Nvidia","institution_ids":["https://openalex.org/I4210127509","https://openalex.org/I4210127875","https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080725225","display_name":"Dorsa Sadigh","orcid":"https://orcid.org/0000-0002-7802-9183"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dorsa Sadigh","raw_affiliation_strings":["Stanford University,Stanford Intelligent and Interactive Autonomous Systems Group (ILIAD),Stanford,CA,94305"],"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford Intelligent and Interactive Autonomous Systems Group (ILIAD),Stanford,CA,94305","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5063608480"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":1.1871,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.77691092,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"378","last_page":"384"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9979000091552734,"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":0.9950000047683716,"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/computer-science","display_name":"Computer science","score":0.70444256067276},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.687433123588562},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6526010036468506},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5961236953735352},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.566076397895813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4878880977630615},{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.45439696311950684},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.44379180669784546},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.4261695444583893},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.21028491854667664},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10161173343658447}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.70444256067276},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.687433123588562},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6526010036468506},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5961236953735352},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.566076397895813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4878880977630615},{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.45439696311950684},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.44379180669784546},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.4261695444583893},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.21028491854667664},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10161173343658447},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9197197","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197197","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1909.09674","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.09674","pdf_url":"https://arxiv.org/pdf/1909.09674","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":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2974048616","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1909.09674v3","pdf_url":null,"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":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1909.09674","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.09674","pdf_url":null,"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":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.09674","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.09674","pdf_url":"https://arxiv.org/pdf/1909.09674","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":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2974048616.pdf","grobid_xml":"https://content.openalex.org/works/W2974048616.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1729873854","https://openalex.org/W1959608418","https://openalex.org/W2008359193","https://openalex.org/W2105925198","https://openalex.org/W2106215490","https://openalex.org/W2111340349","https://openalex.org/W2343408765","https://openalex.org/W2467604901","https://openalex.org/W2483674195","https://openalex.org/W2592007507","https://openalex.org/W2592413607","https://openalex.org/W2734800126","https://openalex.org/W2784881541","https://openalex.org/W2785342287","https://openalex.org/W2786110872","https://openalex.org/W2790215017","https://openalex.org/W2806098286","https://openalex.org/W2806711014","https://openalex.org/W2884642747","https://openalex.org/W2911108163","https://openalex.org/W2913552620","https://openalex.org/W2919872398","https://openalex.org/W2951434890","https://openalex.org/W2962776080","https://openalex.org/W2963344681","https://openalex.org/W2963430173","https://openalex.org/W2963507484","https://openalex.org/W2963511511","https://openalex.org/W2964158321","https://openalex.org/W4232476872","https://openalex.org/W4246215071","https://openalex.org/W6623316541","https://openalex.org/W6640963894","https://openalex.org/W6741265482","https://openalex.org/W6748566876","https://openalex.org/W6751526458","https://openalex.org/W6753175253","https://openalex.org/W6760439459"],"related_works":["https://openalex.org/W3157623683","https://openalex.org/W3038934110","https://openalex.org/W2947796103","https://openalex.org/W2070567559","https://openalex.org/W3199303436","https://openalex.org/W3040371426","https://openalex.org/W2563377210","https://openalex.org/W3128545355","https://openalex.org/W2342552005","https://openalex.org/W1492170285","https://openalex.org/W2766249070","https://openalex.org/W2890941478","https://openalex.org/W3134383769","https://openalex.org/W3046125856","https://openalex.org/W3091182126","https://openalex.org/W118891375","https://openalex.org/W3202727127","https://openalex.org/W3205570260","https://openalex.org/W2591592925","https://openalex.org/W2297709227"],"abstract_inverted_index":{"Assistive":[0],"robotic":[1,138],"arms":[2,24],"enable":[3],"users":[4],"with":[5,43],"physical":[6],"disabilities":[7],"to":[8,30,59,140,146,186],"perform":[9],"everyday":[10],"tasks":[11,167],"without":[12],"relying":[13],"on":[14,136],"a":[15,44,68,86,94,137,153],"caregiver.":[16],"Unfortunately,":[17],"the":[18,32,38,82,109,183],"very":[19],"dexterity":[20],"that":[21,50,100,115,179],"makes":[22,27],"these":[23,128],"useful":[25],"also":[26,176],"them":[28],"challenging":[29],"teleoperate:":[31],"robot":[33,73],"has":[34],"more":[35,168],"degrees-of-freedom":[36],"than":[37],"human":[39],"can":[40,52,193],"directly":[41],"coordinate":[42],"handheld":[45],"joystick.":[46],"Our":[47],"insight":[48],"is":[49],"we":[51,92,131],"make":[53],"assistive":[54,83,98,159,163],"robots":[55,99],"easier":[56,185],"for":[57,75,97],"humans":[58],"control":[60],"by":[61,158],"leveraging":[62,171],"latent":[63,78,102,117,143,173,180],"actions.":[64],"Latent":[65],"actions":[66,103,118,181],"provide":[67],"lowdimensional":[69,125],"embedding":[70],"of":[71],"high-dimensional":[72],"behavior:":[74],"example,":[76],"one":[77],"dimension":[79],"might":[80],"guide":[81],"arm":[84,139],"along":[85],"pouring":[87],"motion.":[88],"In":[89],"this":[90,191],"paper,":[91],"design":[93],"teleoperation":[95,154],"algorithm":[96],"learns":[101],"from":[104],"task":[105,184],"demonstrations.":[106],"We":[107],"formulate":[108],"controllability,":[110],"consistency,":[111],"and":[112,121,152,165,175],"scaling":[113],"properties":[114],"user-friendly":[116],"should":[119],"have,":[120],"evaluate":[122],"how":[123],"different":[124],"embeddings":[126],"capture":[127],"properties.":[129],"Finally,":[130],"conduct":[132],"two":[133],"user":[134],"studies":[135],"compare":[141],"our":[142,172],"action":[144],"approach":[145],"both":[147],"state-of-the-art":[148],"shared":[149],"autonomy":[150],"baselines":[151],"strategy":[155],"currently":[156],"used":[157],"arms.":[160],"Participants":[161],"completed":[162],"eating":[164],"cooking":[166],"efficiently":[169],"when":[170],"actions,":[174],"subjectively":[177],"reported":[178],"made":[182],"perform.":[187],"The":[188],"video":[189],"accompanying":[190],"paper":[192],"be":[194],"found":[195],"at:":[196],"https://youtu.be/wjnhrzugBj4.":[197]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-03-11T06:11:40.159057","created_date":"2025-10-10T00:00:00"}
