{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T09:10:06Z","timestamp":1779268206097,"version":"3.51.4"},"reference-count":57,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2020,3,18]],"date-time":"2020-03-18T00:00:00Z","timestamp":1584489600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"name":"OTTO Motors"},{"DOI":"10.13039\/501100000038","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000038","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2020,5]]},"abstract":"<jats:p>An important challenge in human\u2013robot interaction (HRI) is enabling non-expert users to specify complex tasks for autonomous robots. Recently, active preference learning has been applied in HRI to interactively shape a robot\u2019s behavior. We study a framework where users specify constraints on allowable robot movements on a graphical interface, yielding a robot task specification. However, users may not be able to accurately assess the impact of such constraints on the performance of a robot. Thus, we revise the specification by iteratively presenting users with alternative solutions where some constraints might be violated, and learn about the importance of the constraints from the users\u2019 choices between these alternatives. We demonstrate our framework in a user study with a material transport task in an industrial facility. We show that nearly all users accept alternative solutions and thus obtain a revised specification through the learning process, and that the revision leads to a substantial improvement in robot performance. Further, the learning process reduces the variances between the specifications from different users and, thus, makes the specifications more similar. As a result, the users whose initial specifications had the largest impact on performance benefit the most from the interactive learning.<\/jats:p>","DOI":"10.1177\/0278364920910802","type":"journal-article","created":{"date-parts":[[2020,3,18]],"date-time":"2020-03-18T09:39:45Z","timestamp":1584524385000},"page":"651-667","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":29,"title":["Improving user specifications for robot behavior through active preference learning: Framework and evaluation"],"prefix":"10.1177","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3238-8153","authenticated-orcid":false,"given":"Nils","family":"Wilde","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alexandru","family":"Blidaru","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stephen L","family":"Smith","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dana","family":"Kuli\u0107","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada"},{"name":"Monash University, Melbourne, Victoria, Australia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2020,3,18]]},"reference":[{"key":"bibr1-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1145\/1015330.1015430"},{"key":"bibr2-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1145\/2157689.2157815"},{"key":"bibr3-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-33486-3_8"},{"key":"bibr4-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2007.4414027"},{"key":"bibr5-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.10.024"},{"key":"bibr6-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1080\/10447310802205776"},{"key":"bibr7-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1145\/3171221.3171284"},{"key":"bibr8-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509503"},{"key":"bibr9-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1_74"},{"key":"bibr10-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2018.8525546"},{"key":"bibr11-0278364920910802","first-page":"4299","author":"Christiano PF","year":"2017","journal-title":"Advances in Neural Information Processing Systems"},{"key":"bibr12-0278364920910802","author":"Crandall JW","year":"2003","journal-title":"Towards Developing Effective Human\u2013Robot Systems"},{"key":"bibr13-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1043932"},{"key":"bibr14-0278364920910802","author":"Crandall JW","year":"2003","journal-title":"Proceedings of PERMIS"},{"key":"bibr15-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2005.850587"},{"key":"bibr16-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460854"},{"key":"bibr17-0278364920910802","author":"Daniel C","year":"2014","journal-title":"Robotics: Science and Systems (RSS)"},{"key":"bibr18-0278364920910802","doi-asserted-by":"publisher","DOI":"10.5772\/5611"},{"key":"bibr19-0278364920910802","first-page":"1988","author":"Finucane C","year":"2010","journal-title":"IROS 2010"},{"key":"bibr20-0278364920910802","first-page":"766","author":"Golovin D","year":"2010","journal-title":"Advances in Neural Information Processing Systems"},{"key":"bibr21-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979757"},{"key":"bibr22-0278364920910802","first-page":"289","volume-title":"Proceedings of the Thirteenth International Conference on Artificial Intelligence and Statistics","author":"Guo S","year":"2010"},{"key":"bibr23-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913507795"},{"key":"bibr24-0278364920910802","volume-title":"RSS Workshop on Model Learning for Human-Robot Communication","author":"Holladay R","year":"2016"},{"key":"bibr25-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915581193"},{"key":"bibr26-0278364920910802","first-page":"2240","author":"Jamieson KG","year":"2011","journal-title":"Advances in Neural Information Processing Systems"},{"key":"bibr27-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462968"},{"key":"bibr28-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-02675-6_46"},{"key":"bibr29-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913495721"},{"key":"bibr30-0278364920910802","volume-title":"Combinatorial Optimization: Theory and Algorithms","author":"Korte B","year":"2007","edition":"4"},{"key":"bibr31-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1145\/3277904"},{"key":"bibr32-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2016.7799414"},{"key":"bibr33-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2017.3121552"},{"key":"bibr34-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642325"},{"key":"bibr35-0278364920910802","volume-title":"European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases (ECMLPKDD 2013)","volume":"3","author":"Le\u00f3n LA","year":"2013"},{"key":"bibr36-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225222"},{"key":"bibr37-0278364920910802","volume":"9","author":"Niekum S","year":"2013","journal-title":"Robotics: Science and Systems"},{"key":"bibr38-0278364920910802","unstructured":"OTTO Motors (2016) AGV vs. SDV: A comparison of automated material transport. White paper. Available at: https:\/\/www.ottomotors.com\/agv-vs-sdv (accessed 7 November 2016)."},{"key":"bibr39-0278364920910802","author":"Palan M","year":"2019","journal-title":"arXiv preprint arXiv:1906.08928"},{"key":"bibr40-0278364920910802","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.053"},{"key":"bibr41-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1145\/2909824.3020225"},{"key":"bibr42-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014237"},{"key":"bibr43-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9502-8"},{"key":"bibr44-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2013.6739543"},{"key":"bibr45-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1307477"},{"key":"bibr46-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1177\/105971230501300301"},{"key":"bibr47-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1137\/0208032"},{"key":"bibr48-0278364920910802","first-page":"1481","author":"Vasile CI","year":"2017","journal-title":"IEEE ICRA"},{"key":"bibr49-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2018.02.009"},{"key":"bibr50-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460586"},{"key":"bibr51-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2897342"},{"key":"bibr52-0278364920910802","first-page":"1133","author":"Wilson A","year":"2012","journal-title":"Advances in Neural Information Processing Systems"},{"key":"bibr53-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-012-0144-0"},{"key":"bibr54-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21568"},{"key":"bibr55-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.2011.6084136"},{"key":"bibr56-0278364920910802","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2016.2563403"},{"key":"bibr57-0278364920910802","first-page":"1433","volume-title":"Proceedings of the Twenty-Third AAAI Conference on Artificial Intelligence","volume":"8","author":"Ziebart BD","year":"2008"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364920910802","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364920910802","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364920910802","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:29Z","timestamp":1777457789000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364920910802"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,3,18]]},"references-count":57,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2020,5]]}},"alternative-id":["10.1177\/0278364920910802"],"URL":"https:\/\/doi.org\/10.1177\/0278364920910802","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,3,18]]}}}