{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,23]],"date-time":"2026-01-23T11:04:02Z","timestamp":1769166242833,"version":"3.49.0"},"reference-count":58,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2023,5,5]],"date-time":"2023-05-05T00:00:00Z","timestamp":1683244800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-sa\/4.0\/"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["J. Hum.-Robot Interact."],"published-print":{"date-parts":[[2023,9,30]]},"abstract":"<jats:p>A limitation for collaborative robots (cobots) is their lack of ability to adapt to human partners, who typically exhibit an immense diversity of behaviors. We present an autonomous framework as a cobot\u2019s real-time decision-making mechanism to anticipate a variety of human characteristics and behaviors, including human errors, toward a personalized collaboration. Our framework handles such behaviors in two levels: (1) short-term human behaviors are adapted through our novel Anticipatory Partially Observable Markov Decision Process (A-POMDP) models, covering a human\u2019s changing intent (motivation), availability, and capability; (2) long-term changing human characteristics are adapted by our novel Adaptive Bayesian Policy Selection (ABPS) mechanism that selects a short-term decision model, e.g., an A-POMDP, according to an estimate of a human\u2019s workplace characteristics, such as her expertise and collaboration preferences. To design and evaluate our framework over a diversity of human behaviors, we propose a pipeline where we first train and rigorously test the framework in simulation over novel human models. Then, we deploy and evaluate it on our novel physical experiment setup that induces cognitive load on humans to observe their dynamic behaviors, including their mistakes, and their changing characteristics such as their expertise. We conduct user studies and show that our framework effectively collaborates non-stop for hours and adapts to various changing human behaviors and characteristics in real-time. That increases the efficiency and naturalness of the collaboration with a higher perceived collaboration, positive teammate traits, and human trust. We believe that such an extended human-adaptation is a key to the long-term use of cobots.<\/jats:p>","DOI":"10.1145\/3585276","type":"journal-article","created":{"date-parts":[[2023,3,17]],"date-time":"2023-03-17T12:07:14Z","timestamp":1679054834000},"page":"1-54","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":12,"title":["FABRIC: A Framework for the Design and Evaluation of Collaborative Robots with Extended Human Adaptation"],"prefix":"10.1145","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5140-5580","authenticated-orcid":false,"given":"O. Can","family":"G\u00f6r\u00fcr","sequence":"first","affiliation":[{"name":"DAI-Labor, Technische Universit\u00e4t Berlin, Berlin, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0284-4114","authenticated-orcid":false,"given":"Benjamin","family":"Rosman","sequence":"additional","affiliation":[{"name":"University of the Witwatersrand, Johannesburg, South Africa"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0067-4761","authenticated-orcid":false,"given":"Fikret","family":"Sivrikaya","sequence":"additional","affiliation":[{"name":"GT-ARC gemeinn\u00fctzige GmbH, Berlin, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5092-4584","authenticated-orcid":false,"given":"Sahin","family":"Albayrak","sequence":"additional","affiliation":[{"name":"DAI-Labor, Technische Universit\u00e4t Berlin, Berlin, Germany"}]}],"member":"320","published-online":{"date-parts":[[2023,5,5]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1007\/978-3-319-52503-7_1","volume-title":"Proceedings of the Intelligent Human Computer Interaction","author":"Akkaladevi Sharath Chandra","year":"2017","unstructured":"Sharath Chandra Akkaladevi, Matthias Plasch, Christian Eitzinger, Sriniwas Chowdhary Maddukuri, and Bernhard Rinner. 2017. Towards learning to handle deviations using user preferences in a human robot collaboration scenario. In Proceedings of the Intelligent Human Computer Interaction. Anupam Basu, Sukhendu Das, Patrick Horain, and Samit Bhattacharya (Eds.), Springer International Publishing, Cham, 3\u201314."},{"issue":"4","key":"e_1_3_3_3_2","doi-asserted-by":"crossref","first-page":"315","DOI":"10.1177\/027836499801700402","article-title":"An architecture for autonomy","volume":"17","author":"Alami R.","year":"1998","unstructured":"R. Alami, R. Chatila, S. Fleury, M. Ghallab, and F. Ingrand. 1998. An architecture for autonomy. The International Journal of Robotics Research 17, 4 (1998), 315\u2013337.","journal-title":"The International Journal of Robotics Research"},{"key":"e_1_3_3_4_2","doi-asserted-by":"crossref","first-page":"66","DOI":"10.1016\/j.artint.2018.01.002","article-title":"Autonomous agents modelling other agents: A comprehensive survey and open problems","volume":"258","author":"Albrecht Stefano V.","year":"2018","unstructured":"Stefano V. Albrecht and Peter Stone. 2018. Autonomous agents modelling other agents: A comprehensive survey and open problems. Artificial Intelligence 258 (2018), 66\u201395.","journal-title":"Artificial Intelligence"},{"issue":"3","key":"e_1_3_3_5_2","doi-asserted-by":"crossref","first-page":"639","DOI":"10.1007\/s12369-019-00606-y","article-title":"Short-term human\u2013robot interaction adaptability in real-world environments","volume":"12","author":"Andriella Antonio","year":"2019","unstructured":"Antonio Andriella, Carme Torras, and Guillem Aleny\u00e0. 2019. Short-term human\u2013robot interaction adaptability in real-world environments. International Journal of Social Robotics 12, 3 (2019), 639\u2013657.","journal-title":"International Journal of Social Robotics"},{"key":"e_1_3_3_6_2","doi-asserted-by":"crossref","first-page":"177","DOI":"10.1016\/B978-0-12-398532-3.00007-5","volume-title":"Proceedings of the Plan, Activity, and Intent Recognition: Theory and Practice","author":"Baker Chris L.","year":"2014","unstructured":"Chris L. Baker and Joshua B. Tenenbaum. 2014. Modeling human plan recognition using bayesian theory of mind. In Proceedings of the Plan, Activity, and Intent Recognition: Theory and Practice. 177\u2013204."},{"key":"e_1_3_3_7_2","doi-asserted-by":"crossref","first-page":"475","DOI":"10.1007\/978-3-642-36279-8_29","volume-title":"Proceedings of the Algorithmic Foundations of Robotics X","author":"Bandyopadhyay Tirthankar","year":"2013","unstructured":"Tirthankar Bandyopadhyay, Kok Sung Won, Emilio Frazzoli, David Hsu, Wee Sun Lee, and Daniela Rus. 2013. Intention-aware motion planning. In Proceedings of the Algorithmic Foundations of Robotics X. Emilio Frazzoli, Tomas Lozano-Perez, Nicholas Roy, and Daniela Rus (Eds.), Springer, Berlin 475\u2013491."},{"issue":"01","key":"e_1_3_3_8_2","doi-asserted-by":"crossref","first-page":"47","DOI":"10.1142\/S0219843608001303","article-title":"Human-robot collaboration: A survey","volume":"05","author":"Bauer Andrea","year":"2008","unstructured":"Andrea Bauer, Dirk Wollherr, and Martin Buss. 2008. Human-robot collaboration: A survey. International Journal of Humanoid Robotics 05, 01 (2008), 47\u201366.","journal-title":"International Journal of Humanoid Robotics"},{"issue":"2","key":"e_1_3_3_9_2","doi-asserted-by":"crossref","first-page":"193","DOI":"10.1007\/s12369-013-0185-z","article-title":"Planning for human-robot interaction in socially situated tasks: The impact of representing time and intention","volume":"5","author":"Broz Frank","year":"2013","unstructured":"Frank Broz, Illah Nourbakhsh, and Reid Simmons. 2013. Planning for human-robot interaction in socially situated tasks: The impact of representing time and intention. International Journal of Social Robotics 5, 2 (2013), 193\u2013214.","journal-title":"International Journal of Social Robotics"},{"key":"e_1_3_3_10_2","first-page":"418","volume-title":"Proceedings of the 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication","author":"Calisgan E.","year":"2012","unstructured":"E. Calisgan, A. Haddadi, H. F. M. Van der Loos, J. A. Alcazar, and E. A. Croft. 2012. Identifying nonverbal cues for automated human-robot turn-taking. In Proceedings of the 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication. IEEE, Paris, France, 418\u2013423."},{"key":"e_1_3_3_11_2","doi-asserted-by":"publisher","DOI":"10.5898\/JHRI.1.1.Chao"},{"key":"e_1_3_3_12_2","first-page":"307","volume-title":"Proceedings of the 2018 ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201918)","author":"Chen Min","year":"2018","unstructured":"Min Chen, Stefanos Nikolaidis, Harold Soh, David Hsu, and Siddhartha Srinivasa. 2018. Planning with trust for human-robot collaboration. In Proceedings of the 2018 ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201918). ACM, 307\u2013315."},{"key":"e_1_3_3_13_2","first-page":"319","volume-title":"Proceedings of the 11th ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201916)","author":"Devin Sandra","year":"2016","unstructured":"Sandra Devin and Rachid Alami. 2016. An implemented theory of mind to improve human-robot shared plans execution. In Proceedings of the 11th ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201916). 319\u2013326."},{"issue":"5","key":"e_1_3_3_14_2","doi-asserted-by":"crossref","first-page":"597","DOI":"10.1177\/0278364916688255","article-title":"Computational design of mixed-initiative human-robot teaming that considers human factors","volume":"36","author":"Gombolay Matthew","year":"2017","unstructured":"Matthew Gombolay, Anna Bair, Cindy Huang, and Julie Shah. 2017. Computational design of mixed-initiative human-robot teaming that considers human factors. The International Journal of Robotics Research 36, 5-7 (2017), 597\u2013617.","journal-title":"The International Journal of Robotics Research"},{"key":"e_1_3_3_15_2","volume-title":"Proceedings of the Workshop on Bio-inspired Social Robot Learning in Home Scenarios at IEEE\/RSJ International Conference on Intelligent Robots and Systems 2016 (IROS\u201916)","author":"G\u00f6r\u00fcr O. Can","year":"2016","unstructured":"O. Can G\u00f6r\u00fcr and \u015eahin Albayrak. 2016. A cognitive architecture incorporating theory of mind in social robots towards their personal assistance at home. In Proceedings of the Workshop on Bio-inspired Social Robot Learning in Home Scenarios at IEEE\/RSJ International Conference on Intelligent Robots and Systems 2016 (IROS\u201916)."},{"key":"e_1_3_3_16_2","first-page":"77","volume-title":"Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS\u201919)","author":"G\u00f6r\u00fcr O. Can","year":"2019","unstructured":"O. Can G\u00f6r\u00fcr, Benjamin Rosman, and Sahin Albayrak. 2019. Anticipatory Bayesian policy selection for online adaptation of collaborative robots to unknown human types. In Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS\u201919). International Foundation for Autonomous Agents and Multiagent Systems, Richland, SC, 77\u201385."},{"key":"e_1_3_3_17_2","first-page":"398","volume-title":"Proceedings of the 2018 ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201918)","author":"G\u00f6r\u00fcr O. Can","year":"2018","unstructured":"O. Can G\u00f6r\u00fcr, Benjamin Rosman, Fikret Sivrikaya, and Sahin Albayrak. 2018. Social cobots: Anticipatory decision-making for collaborative robots incorporating unexpected human behaviors. In Proceedings of the 2018 ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201918). 398\u2013406."},{"key":"e_1_3_3_18_2","first-page":"4441","volume-title":"Proceedings of the 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Grigore Elena Corina","year":"2018","unstructured":"Elena Corina Grigore, Alessandro Roncone, Olivier Mangin, and Brian Scassellati. 2018. Preference-based assistance prediction for human-robot collaboration tasks. In Proceedings of the 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). 4441\u20134448."},{"key":"e_1_3_3_19_2","first-page":"139","volume-title":"Proceedings of the Advances in Psychology","author":"Hart Sandra G.","year":"1988","unstructured":"Sandra G. Hart and Lowell E. Staveland. 1988. Development of NASA-TLX (task load index): Results of empirical and theoretical research. In Proceedings of the Advances in Psychology. Elsevier, 139\u2013183."},{"key":"e_1_3_3_20_2","first-page":"2066","volume-title":"Proceedings of the 22nd International Joint Conference on Artificial Intelligence (IJCAI\u201911)","author":"Hiatt Laura M.","year":"2011","unstructured":"Laura M. Hiatt, Anthony M. Harrison, and J. Gregory Trafton. 2011. Accommodating human variability in human-robot teams through theory of mind. In Proceedings of the 22nd International Joint Conference on Artificial Intelligence (IJCAI\u201911). 2066\u20132071."},{"issue":"5","key":"e_1_3_3_21_2","doi-asserted-by":"crossref","first-page":"580","DOI":"10.1177\/0278364917690592","article-title":"Human modeling for human-robot collaboration","volume":"36","author":"Hiatt Laura M.","year":"2017","unstructured":"Laura M. Hiatt, Cody Narber, Esube Bekele, Sangeet S. Khemlani, and J. Gregory Trafton. 2017. Human modeling for human-robot collaboration. The International Journal of Robotics Research 36, 5-7 (2017), 580\u2013596.","journal-title":"The International Journal of Robotics Research"},{"key":"e_1_3_3_22_2","volume-title":"Anki, Jibo, and Kuri: What We Can Learn from Social Robots That Didn\u2019t Make It","author":"Hoffman Guy","year":"2019","unstructured":"Guy Hoffman. 2019. Anki, Jibo, and Kuri: What We Can Learn from Social Robots That Didn\u2019t Make It. Technical Report. IEEE Spectrum."},{"key":"e_1_3_3_23_2","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1109\/THMS.2019.2904558","article-title":"Evaluating fluency in human-robot collaboration","volume":"49","author":"Hoffman Guy","year":"2019","unstructured":"Guy Hoffman. 2019. Evaluating fluency in human-robot collaboration. IEEE Transactions on Human-Machine Systems 49, 3 (2019), 209\u2013218.","journal-title":"IEEE Transactions on Human-Machine Systems"},{"key":"e_1_3_3_24_2","first-page":"1","volume-title":"Proceedings of the ACM\/IEEE International Conference on Human-robot Interaction (HRI\u201907)","author":"Hoffman Guy","year":"2007","unstructured":"Guy Hoffman and Cynthia Breazeal. 2007. Effects of anticipatory action on human-robot teamwork efficiency, fluency, and perception of team. In Proceedings of the ACM\/IEEE International Conference on Human-robot Interaction (HRI\u201907). 1\u20138."},{"key":"e_1_3_3_25_2","first-page":"1489","volume-title":"Proceedings of the 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201916)","author":"Holtzen Steven","year":"2016","unstructured":"Steven Holtzen, Yibiao Zhao, Tao Gao, and Song-chun Zhu. 2016. Inferring human intent from video by sampling hierarchical plans. In Proceedings of the 2016 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201916). 1489\u20131496."},{"key":"e_1_3_3_26_2","first-page":"83","volume-title":"Proceedings of the 11th ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201916)","author":"Huang Chien Ming","year":"2016","unstructured":"Chien Ming Huang and Bilge Mutlu. 2016. Anticipatory robot control for efficient human-robot collaboration. In Proceedings of the 11th ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201916). 83\u201390."},{"key":"e_1_3_3_27_2","first-page":"685","volume-title":"Proceedings of the 2019 14th ACM\/IEEE International Conference on Human-Robot Interaction (HRI)","author":"Irfan B.","year":"2019","unstructured":"B. Irfan, A. Ramachandran, S. Spaulding, D. F. Glas, I. Leite, and K. L. Koay. 2019. Personalization in long-term human-robot interaction. In Proceedings of the 2019 14th ACM\/IEEE International Conference on Human-Robot Interaction (HRI). 685\u2013686."},{"issue":"5","key":"e_1_3_3_28_2","doi-asserted-by":"crossref","first-page":"862","DOI":"10.1109\/TSMCA.2005.855922","article-title":"A probabilistic framework for modeling and real-time monitoring human fatigue","volume":"36","author":"Ji Qiang","year":"2006","unstructured":"Qiang Ji, Peilin Lan, and Carl Looney. 2006. A probabilistic framework for modeling and real-time monitoring human fatigue. IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans 36, 5 (2006), 862\u2013875.","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans"},{"key":"e_1_3_3_29_2","volume-title":"Toward User Studies in Real-World Settings: Application of an Autonomous Anticipatory Robotic System for Evaluating Human-Robot Collaboration on an Assembly Line","author":"Kargruber Elia Jona","year":"2019","unstructured":"Elia Jona Kargruber. 2019. Toward User Studies in Real-World Settings: Application of an Autonomous Anticipatory Robotic System for Evaluating Human-Robot Collaboration on an Assembly Line. Master\u2019s thesis. Technische Universit\u00e4t Berlin, Berlin, Germany."},{"issue":"4","key":"e_1_3_3_30_2","doi-asserted-by":"crossref","first-page":"197","DOI":"10.1002\/hfm.20703","article-title":"Effects of movement speed and predictability in human-robot collaboration","volume":"27","author":"Koppenborg Markus","year":"2017","unstructured":"Markus Koppenborg, Peter Nickel, Birgit Naber, Andy Lungfiel, and Michael Huelke. 2017. Effects of movement speed and predictability in human-robot collaboration. Human Factors and Ergonomics in Manufacturing and Service Industries 27, 4 (2017), 197\u2013209.","journal-title":"Human Factors and Ergonomics in Manufacturing and Service Industries"},{"key":"e_1_3_3_31_2","first-page":"453","volume-title":"Anticipatory Planning for Human-Robot Teams","author":"Koppula Hema S.","year":"2016","unstructured":"Hema S. Koppula, Ashesh Jain, and Ashutosh Saxena. 2016. Anticipatory Planning for Human-Robot Teams. Springer International Publishing, Cham, 453\u2013470."},{"key":"e_1_3_3_32_2","volume-title":"Hello Industrie 4.0 Glossary","year":"2016","unstructured":"KUKA. 2016. Hello Industrie 4.0 Glossary. Technical Report. Kuka AG. Retrieved from https:\/\/www.kuka.com\/-\/media\/kuka-corporate\/documents\/press\/industry-4-0-glossary.pdf."},{"key":"e_1_3_3_33_2","doi-asserted-by":"publisher","DOI":"10.1561\/2300000052"},{"issue":"3","key":"e_1_3_3_34_2","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1007\/s12369-014-0227-1","article-title":"Empathic robots for long-term interaction","volume":"6","author":"Leite Iolanda","year":"2014","unstructured":"Iolanda Leite, Ginevra Castellano, Andr\u00e9 Pereira, Carlos Martinho, and Ana Paiva. 2014. Empathic robots for long-term interaction. International Journal of Social Robotics 6, 3 (2014), 329\u2013341.","journal-title":"International Journal of Social Robotics"},{"issue":"2","key":"e_1_3_3_35_2","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1007\/s12369-013-0178-y","article-title":"Social robots for long-term interaction: A survey","volume":"5","author":"Leite Iolanda","year":"2013","unstructured":"Iolanda Leite, Carlos Martinho, and Ana Paiva. 2013. Social robots for long-term interaction: A survey. International Journal of Social Robotics 5, 2 (2013), 291\u2013308.","journal-title":"International Journal of Social Robotics"},{"issue":"6","key":"e_1_3_3_36_2","doi-asserted-by":"crossref","first-page":"706","DOI":"10.1109\/THMS.2021.3107675","article-title":"Individualized mutual adaptation in human-agent teams","volume":"51","author":"Li Huao","year":"2021","unstructured":"Huao Li, Tianwei Ni, Siddharth Agrawal, Fan Jia, Suhas Raja, Yikang Gui, Dana Hughes, Michael Lewis, and Katia Sycara. 2021. Individualized mutual adaptation in human-agent teams. IEEE Transactions on Human-Machine Systems 51, 6 (2021), 706\u2013714.","journal-title":"IEEE Transactions on Human-Machine Systems"},{"key":"e_1_3_3_37_2","first-page":"1","volume-title":"Proceedings of the 2018 11th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI)","author":"Li J.","year":"2018","unstructured":"J. Li, T. Lei, and F. Zhang. 2018. An gaussian-mixture hidden markov models for action recognition based on key frame. In Proceedings of the 2018 11th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics (CISP-BMEI). 1\u20135."},{"issue":"3","key":"e_1_3_3_38_2","doi-asserted-by":"crossref","first-page":"1639","DOI":"10.1109\/LRA.2018.2801468","article-title":"Failure is not an option: Policy learning for adaptive recovery in space operations","volume":"3","author":"McGuire S.","year":"2018","unstructured":"S. McGuire, P. M. Furlong, C. Heckman, S. Julier, D. Szafir, and N. Ahmed. 2018. Failure is not an option: Policy learning for adaptive recovery in space operations. IEEE Robotics and Automation Letters 3, 3 (2018), 1639\u20131646.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"e_1_3_3_39_2","first-page":"43","volume-title":"Proceedings of the 11th ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201916)","author":"Milliez Gr\u00e9goire","year":"2016","unstructured":"Gr\u00e9goire Milliez, Rapha\u00ebl Lallement, Michelangelo Fiore, and Rachid Alami. 2016. Using human knowledge awareness to adapt collaborative plan generation, explanation and monitoring. In Proceedings of the 11th ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201916). 43\u201350."},{"issue":"5","key":"e_1_3_3_40_2","doi-asserted-by":"crossref","first-page":"1103","DOI":"10.1007\/s10514-017-9674-5","article-title":"Efficient behavior learning in human\u2014robot collaboration","volume":"42","author":"Munzer Thibaut","year":"2018","unstructured":"Thibaut Munzer, Marc Toussaint, and Manuel Lopes. 2018. Efficient behavior learning in human\u2014robot collaboration. Autonomous Robots 42, 5 (2018), 1103\u20131115.","journal-title":"Autonomous Robots"},{"key":"e_1_3_3_41_2","doi-asserted-by":"crossref","first-page":"3487","DOI":"10.1109\/ICRA48506.2021.9561649","volume-title":"Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA)","author":"Nemlekar Heramb","year":"2021","unstructured":"Heramb Nemlekar, Jignesh Modi, Satyandra K. Gupta, and Stefanos Nikolaidis. 2021. Two-stage clustering of human preferences for action prediction in assembly tasks. In Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA). 3487\u20133494."},{"key":"e_1_3_3_42_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917690593"},{"issue":"14","key":"e_1_3_3_43_2","doi-asserted-by":"crossref","first-page":"1711","DOI":"10.1177\/0278364915609673","article-title":"Improved human\u2013robot team performance through cross-training, an approach inspired by human team training practices","volume":"34","author":"Nikolaidis Stefanos","year":"2015","unstructured":"Stefanos Nikolaidis, Przemyslaw Lasota, Ramya Ramakrishnan, and Julie Shah. 2015. Improved human\u2013robot team performance through cross-training, an approach inspired by human team training practices. The International Journal of Robotics Research 34, 14 (2015), 1711\u20131730.","journal-title":"The International Journal of Robotics Research"},{"key":"e_1_3_3_44_2","first-page":"189","volume-title":"Proceedings of the 10th ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201915)","author":"Nikolaidis Stefanos","year":"2015","unstructured":"Stefanos Nikolaidis, Ramya Ramakrishnan, Keren Gu, and Julie Shah. 2015. Efficient model learning from joint-action demonstrations for human-robot collaborative tasks. In Proceedings of the 10th ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201915). 189\u2013196."},{"key":"e_1_3_3_45_2","first-page":"294","volume-title":"Proceedings of the 12th ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201917)","author":"Nikolaidis Stefanos","year":"2017","unstructured":"Stefanos Nikolaidis, Yu Xiang Zhu, David Hsu, and Siddhartha Srinivasa. 2017. Human-robot mutual adaptation in shared autonomy. In Proceedings of the 12th ACM\/IEEE International Conference on Human-Robot Interaction (HRI\u201917). 294\u2013302."},{"key":"e_1_3_3_46_2","volume-title":"Proceedings of the Robotics: Science and Systems (RSS), Workshop on Planning for Human-Robot Interaction","author":"Penkov Svetlin","year":"2016","unstructured":"Svetlin Penkov, Alejandro Bordallo, and Subramanian Ramamoorthy. 2016. Inverse eye tracking for intention inference and symbol grounding in human-robot collaboration. In Proceedings of the Robotics: Science and Systems (RSS), Workshop on Planning for Human-Robot Interaction."},{"key":"e_1_3_3_47_2","first-page":"6215","volume-title":"Proceedings of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201920)","author":"Rajendran Vidyasagar","year":"2020","unstructured":"Vidyasagar Rajendran, Pamela Carreno-Medrano, Wesley Fisher, Alexander Werner, and Dana Kulic. 2020. A framework for human-robot interaction user studies. In Proceedings of the 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS\u201920). 6215\u20136222."},{"issue":"1","key":"e_1_3_3_48_2","doi-asserted-by":"crossref","first-page":"495","DOI":"10.1613\/jair.5390","article-title":"Perturbation training for human-robot teams","volume":"59","author":"Ramakrishnan Ramya","year":"2017","unstructured":"Ramya Ramakrishnan, Chongjie Zhang, and Julie Shah. 2017. Perturbation training for human-robot teams. Journal of Artificial Intelligence Research 59, 1 (2017), 495\u2013541.","journal-title":"Journal of Artificial Intelligence Research"},{"key":"e_1_3_3_49_2","first-page":"1","volume-title":"Proceedings of the Signal and Information Processing Association Annual Summit and Conference (APSIPA), 2014 Asia-Pacific","author":"Roitberg Alina","year":"2014","unstructured":"Alina Roitberg, Alexander Perzylo, Nikhil Somani, Manuel Giuliani, Markus Rickert, and Alois Knoll. 2014. Human activity recognition in the context of industrial human-robot interaction. In Proceedings of the Signal and Information Processing Association Annual Summit and Conference (APSIPA), 2014 Asia-Pacific. 1\u201310."},{"issue":"1","key":"e_1_3_3_50_2","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1007\/s10994-016-5547-y","article-title":"Bayesian policy reuse","volume":"104","author":"Rosman Benjamin","year":"2016","unstructured":"Benjamin Rosman, Majd Hawasly, and Subramanian Ramamoorthy. 2016. Bayesian policy reuse. Machine Learning 104, 1 (2016), 99\u2013127.","journal-title":"Machine Learning"},{"key":"e_1_3_3_51_2","doi-asserted-by":"crossref","unstructured":"Valerio Sanelli Michael Cashmore Daniele Magazzeni and Luca Iocchi. 2017. Short-term human-robot interaction through conditional planning and execution. In Proceedings of the International Conference on Automated Planning and Scheduling .","DOI":"10.1609\/icaps.v27i1.13864"},{"key":"e_1_3_3_52_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3100603"},{"issue":"18","key":"e_1_3_3_53_2","doi-asserted-by":"crossref","first-page":"643","DOI":"10.1037\/h0054651","article-title":"Studies of interference in serial verbal reactions","author":"Stroop J. Ridley","year":"1935","unstructured":"J. Ridley Stroop. 1935. Studies of interference in serial verbal reactions. Journal of Experimental Psychology18, 6 (1935), 643.","journal-title":"Journal of Experimental Psychology"},{"issue":"4","key":"e_1_3_3_54_2","doi-asserted-by":"crossref","first-page":"327","DOI":"10.1016\/j.cogsys.2005.09.001","article-title":"Modeling meta-cognition in a cognitive architecture","volume":"7","author":"Sun Ron","year":"2006","unstructured":"Ron Sun, Xi Zhang, and Robert Mathews. 2006. Modeling meta-cognition in a cognitive architecture. Cognitive Systems Research 7, 4 (2006), 327\u2013338.","journal-title":"Cognitive Systems Research"},{"issue":"1","key":"e_1_3_3_55_2","doi-asserted-by":"crossref","first-page":"35","DOI":"10.1109\/MRA.2007.339605","article-title":"The grand challenges in socially assistive robotics","volume":"14","author":"Tapus Adriana","year":"2007","unstructured":"Adriana Tapus, Maja J. Mataric, and Brian Scassellati. 2007. The grand challenges in socially assistive robotics. IEEE Robotics and Automation Magazine 14, 1 (2007), 35\u201342.","journal-title":"IEEE Robotics and Automation Magazine"},{"key":"e_1_3_3_56_2","volume-title":"Proceedings of the BNAIC\/BENELEARN","author":"Tulli Silvia","year":"2019","unstructured":"Silvia Tulli, Diego Agust\u00edn Ambrossio, Amro Najjar, and Francisco J. Rodr\u00edguez Lera. 2019. Great expectations and aborted business initiatives: The paradox of social robot between research and industry. In Proceedings of the BNAIC\/BENELEARN."},{"key":"e_1_3_3_57_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2018.02.009"},{"issue":"1","key":"e_1_3_3_58_2","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1177\/0278364919883338","article-title":"A corroborative approach to verification and validation of human\u2013robot teams","volume":"39","author":"Webster Matt","year":"2020","unstructured":"Matt Webster, David Western, Dejanira Araiza-Illan, Clare Dixon, Kerstin Eder, Michael Fisher, and Anthony G. Pipe. 2020. A corroborative approach to verification and validation of human\u2013robot teams. The International Journal of Robotics Research 39, 1 (2020), 73\u201399.","journal-title":"The International Journal of Robotics Research"},{"key":"e_1_3_3_59_2","doi-asserted-by":"crossref","first-page":"231","DOI":"10.1613\/jair.5328","article-title":"DESPOT: Online POMDP planning with regularization","volume":"58","author":"Ye Nan","year":"2017","unstructured":"Nan Ye, Adhiraj Somani, David Hsu, and Wee Sun Lee. 2017. DESPOT: Online POMDP planning with regularization. Journal of Artificial Intelligence Research 58, 1 (2017), 231\u2013266.","journal-title":"Journal of Artificial Intelligence Research"}],"container-title":["ACM Transactions on Human-Robot Interaction"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3585276","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3585276","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T16:37:56Z","timestamp":1750178276000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3585276"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,5]]},"references-count":58,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2023,9,30]]}},"alternative-id":["10.1145\/3585276"],"URL":"https:\/\/doi.org\/10.1145\/3585276","relation":{},"ISSN":["2573-9522","2573-9522"],"issn-type":[{"value":"2573-9522","type":"print"},{"value":"2573-9522","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,5,5]]},"assertion":[{"value":"2022-01-25","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-01-26","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2023-05-05","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}