{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,15]],"date-time":"2026-03-15T00:54:48Z","timestamp":1773536088139,"version":"3.50.1"},"publisher-location":"New York, NY, USA","reference-count":44,"publisher":"ACM","content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2026,3,16]]},"DOI":"10.1145\/3757279.3785579","type":"proceedings-article","created":{"date-parts":[[2026,3,10]],"date-time":"2026-03-10T00:27:38Z","timestamp":1773102458000},"page":"744-753","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["GeoSACS: Geometric Shared Autonomy via Canal Surfaces"],"prefix":"10.1145","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-1428-0694","authenticated-orcid":false,"given":"Shalutha","family":"Rajapakshe","sequence":"first","affiliation":[{"name":"Idiap Research Institute, Martigny, Switzerland"},{"name":"EPFL, Lausanne, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-6182-6415","authenticated-orcid":false,"given":"Atharva","family":"Dastenavar","sequence":"additional","affiliation":[{"name":"Idiap Research Institute, Martigny, Switzerland"},{"name":"EPFL, Lausanne, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4532-2949","authenticated-orcid":false,"given":"Michael","family":"Hagenow","sequence":"additional","affiliation":[{"name":"University of Wisconsin-Madison, Madison, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9537-9898","authenticated-orcid":false,"given":"Jean-Marc","family":"Odobez","sequence":"additional","affiliation":[{"name":"Idiap Research Institute, Martigny, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7160-4352","authenticated-orcid":false,"given":"Emmanuel","family":"Senft","sequence":"additional","affiliation":[{"name":"Idiap Research Institute, Martigny, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2026,3,16]]},"reference":[{"key":"e_1_3_2_2_1_1","volume-title":"Trajectory-Based Skill Learning Using Generalized Cylinders. Frontiers in Robotics and AI, 5","author":"Reza Ahmadzadeh S.","year":"2018","unstructured":"S. Reza Ahmadzadeh and Sonia Chernova. 2018. Trajectory-Based Skill Learning Using Generalized Cylinders. Frontiers in Robotics and AI, 5 (2018), issn:2296-9144"},{"key":"e_1_3_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803328"},{"key":"e_1_3_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.10.024"},{"key":"e_1_3_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1145\/3319502.3374818"},{"key":"e_1_3_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.2307\/2319846"},{"key":"e_1_3_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917706418"},{"key":"e_1_3_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1097\/PHM.0b013e3181cf569b"},{"key":"e_1_3_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-015-0187-9"},{"key":"e_1_3_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2006.886952"},{"key":"e_1_3_2_2_10_1","volume-title":"Recent Advances in Robot Learning from Demonstration. Annu. Rev. Control. Robotics Auton. Syst., 3","author":"Ravichandar Harish","year":"2020","unstructured":"Harish chaandar Ravichandar, Athanasios S. Polydoros, Sonia Chernova, and Aude Billard. 2020. Recent Advances in Robot Learning from Demonstration. Annu. Rev. Control. Robotics Auton. Syst., 3 (2020)."},{"key":"e_1_3_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649241273668"},{"key":"e_1_3_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1145\/3568162.3578623"},{"key":"e_1_3_2_2_13_1","unstructured":"B. P. DeJong J. E. Colgate and M. A. Peshkin. 2011. Mental Transformations in Human-Robot Interaction. Springer Netherlands Dordrecht. isbn:978-94-007-0582-1"},{"key":"e_1_3_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.18637\/jss.v031.i07"},{"key":"e_1_3_2_2_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3327625"},{"key":"e_1_3_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3064500"},{"key":"e_1_3_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3094480"},{"key":"e_1_3_2_2_18_1","volume-title":"Staveland","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 Human Mental Workload, Peter A. Hancock and Najmedin Meshkati (Eds.) (Advances in Psychology, Vol. 52). North-Holland. issn:0166-4115"},{"key":"e_1_3_2_2_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282130"},{"key":"e_1_3_2_2_20_1","volume-title":"Geometry and the Imagination. Physics Today, 6, 5","author":"Hilbert D.","year":"1953","unstructured":"D. Hilbert and S. Cohn\u2010Vossen. 1953. Geometry and the Imagination. Physics Today, 6, 5 (1953), 05, 19\u201319. issn:0031-9228"},{"key":"e_1_3_2_2_21_1","volume-title":"Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors. Neural computation, 25","author":"Ijspeert A.J.","year":"2012","unstructured":"A.J. Ijspeert, Jun Nakanishi, Heiko Hoffmann, Peter Pastor, and Stefan Schaal. 2012. Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors. Neural computation, 25 (2012), 11."},{"key":"e_1_3_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918776060"},{"key":"e_1_3_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2159412"},{"key":"e_1_3_2_2_24_1","volume-title":"Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation. International Design Engineering Technical Conferences and Computers and Information in Engineering Conference","volume":"010","author":"Laha Riddhiman","year":"2021","unstructured":"Riddhiman Laha, Anjali Rao, Luis F. C. Figueredo, Qing Chang, Sami Haddadin, and Nilanjan Chakraborty. 2021. Point-to-Point Path Planning Based on User Guidance and Screw Linear Interpolation. International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Vol. Volume 8B: 45th Mechanisms and Robotics Conference (MR). V08BT08A010."},{"key":"e_1_3_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1186\/s10033-022-00813-1"},{"key":"e_1_3_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197197"},{"key":"e_1_3_2_2_27_1","first-page":"01","article-title":"Measuring Usability with the USE Questionnaire","volume":"8","author":"Lund Arnold","year":"2001","unstructured":"Arnold Lund. 2001. Measuring Usability with the USE Questionnaire. Usability and User Experience Newsletter of the STC Usability SIG, 8 (2001), 01.","journal-title":"Usability and User Experience Newsletter of the STC Usability SIG"},{"key":"e_1_3_2_2_28_1","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.2476"},{"key":"e_1_3_2_2_29_1","doi-asserted-by":"crossref","unstructured":"Justinas Mi\u0161eikis Pietro Caroni Patricia Duchamp Alina Gasser Rastislav Marko Nelija Mi\u0161eikien\u0117 Frederik Zwilling Charles de Castelbajac Lucas Eicher Michael Fr\u00fch and Hansruedi Fr\u00fch. 2020. Lio-A Personal Robot Assistant for Human-Robot Interaction and Care Applications.","DOI":"10.1109\/LRA.2020.3007462"},{"key":"e_1_3_2_2_30_1","volume-title":"HARMONIC: A multimodal dataset of assistive human\u2013robot collaboration. The International Journal of Robotics Research, 41","author":"Newman Benjamin A.","year":"2018","unstructured":"Benjamin A. Newman, Reuben M. Aronson, Siddhartha S. Srinivasa, Kris Kitani, and Henny Admoni. 2018. HARMONIC: A multimodal dataset of assistive human\u2013robot collaboration. The International Journal of Robotics Research, 41 (2018)."},{"key":"e_1_3_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1561\/2300000053"},{"key":"e_1_3_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/3610977.3634964"},{"key":"e_1_3_2_2_33_1","volume-title":"Advances in Neural Information Processing Systems","author":"Paraschos Alexandros","unstructured":"Alexandros Paraschos, Christian Daniel, Jan R Peters, and Gerhard Neumann. 2013. Probabilistic Movement Primitives. In Advances in Neural Information Processing Systems, C.J. Burges, L. Bottou, M. Welling, Z. Ghahramani, and K.Q. Weinberger (Eds.). 26, Curran Associates, Inc.."},{"key":"e_1_3_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.5555\/3523760.3523818"},{"key":"e_1_3_2_2_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160585"},{"key":"e_1_3_2_2_36_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610956"},{"key":"e_1_3_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.1109\/HRI61500.2025.10973914"},{"key":"e_1_3_2_2_38_1","doi-asserted-by":"crossref","unstructured":"Daniel Rakita Bilge Mutlu and Michael Gleicher. 2018. RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion. Robotics: Science and Systems XIV.","DOI":"10.15607\/RSS.2018.XIV.043"},{"key":"e_1_3_2_2_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3100603"},{"key":"e_1_3_2_2_40_1","unstructured":"TRI LBM Team Jose Barreiros Andrew Beaulieu Aditya Bhat Rick Cory Eric Cousineau Hongkai Dai Ching-Hsin Fang Kunimatsu Hashimoto Muhammad Zubair Irshad Masha Itkina Naveen Kuppuswamy Kuan-Hui Lee Katherine Liu Dale McConachie Ian McMahon Haruki Nishimura Calder Phillips-Grafflin Charles Richter Paarth Shah Krishnan Srinivasan Blake Wulfe Chen Xu Mengchao Zhang Alex Alspach Maya Angeles Kushal Arora Vitor Campagnolo Guizilini Alejandro Castro Dian Chen Ting-Sheng Chu Sam Creasey Sean Curtis Richard Denitto Emma Dixon Eric Dusel Matthew Ferreira Aimee Goncalves Grant Gould Damrong Guoy Swati Gupta Xuchen Han Kyle Hatch Brendan Hathaway Allison Henry Hillel Hochsztein Phoebe Horgan Shun Iwase Donovon Jackson Siddharth Karamcheti Sedrick Keh Joseph Masterjohn Jean Mercat Patrick Miller Paul Mitiguy Tony Nguyen Jeremy Nimmer Yuki Noguchi Reko Ong Aykut Onol Owen Pfannenstiehl Richard Poyner Leticia Priebe Mendes Rocha Gordon Richardson Christopher Rodriguez Derick Seale Michael Sherman Mariah Smith-Jones David Tago Pavel Tokmakov Matthew Tran Basile Van Hoorick Igor Vasiljevic Sergey Zakharov Mark Zolotas Rares Ambrus Kerri Fetzer-Borelli Benjamin Burchfiel Hadas Kress-Gazit Siyuan Feng Stacie Ford and Russ Tedrake. 2025. A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulation. arxiv:2507.05331. arxiv:2507.05331"},{"key":"e_1_3_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-020-02180-5"},{"key":"e_1_3_2_2_42_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3309230"},{"key":"e_1_3_2_2_43_1","doi-asserted-by":"publisher","unstructured":"Dan-Dan Zhang Zicong Wu Junhong Chen Ruiqi Zhu Adnan Munawar Bo Xiao Yuan Guan Hang Su Wuzhou Hong Yao Guo Gregory Fischer Benny Lo and Guang-Zhong Yang. 2022. Human-Robot Shared Control for Surgical Robot Based on Context-Aware Sim-to-Real Adaptation. 7694\u20137700. https:\/\/doi.org\/10.1109\/ICRA46639.2022.9812379 10.1109\/ICRA46639.2022.9812379","DOI":"10.1109\/ICRA46639.2022.9812379"},{"key":"e_1_3_2_2_44_1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.016"}],"event":{"name":"HRI '26: 21st ACM\/IEEE International Conference on Human-Robot Interaction","location":"Edinburgh Scotland UK","acronym":"HRI '26","sponsor":["SIGAI ACM Special Interest Group on Artificial Intelligence","SIGCHI ACM Special Interest Group on Computer-Human Interaction","IEEE RAS"]},"container-title":["Proceedings of the 21st ACM\/IEEE International Conference on Human-Robot Interaction"],"original-title":[],"deposited":{"date-parts":[[2026,3,15]],"date-time":"2026-03-15T00:32:47Z","timestamp":1773534767000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3757279.3785579"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,16]]},"references-count":44,"alternative-id":["10.1145\/3757279.3785579","10.1145\/3757279"],"URL":"https:\/\/doi.org\/10.1145\/3757279.3785579","relation":{},"subject":[],"published":{"date-parts":[[2026,3,16]]},"assertion":[{"value":"2026-03-16","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}