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Yet, LfD is challenging under a task and motion planning (TAMP) setting, as solving long-horizon manipulation tasks requires the use of hierarchical abstractions. Prior work has studied mechanisms for eliciting demonstrations that include hierarchical specifications for robotics applications but has not examined whether non-roboticist end-users are capable of providing such hierarchical demonstrations without explicit training from a roboticist for each task. We characterize whether, how, and which users can do so. Finding that the result is negative, we develop a series of training domains that successfully enable users to provide demonstrations that exhibit hierarchical abstractions. Our first experiment shows that fewer than half (35.71%) of our subjects provide demonstrations with hierarchical abstractions when not primed. Our second experiment demonstrates that users fail to teach the robot with adequately detailed TAMP abstractions, when not shown a video demonstration of an expert\u2019s teaching strategy. Our experiments reveal the need for fundamentally different approaches in LfD to enable end-users to teach robots generalizable long-horizon tasks without being coached by experts at every step. Toward this goal, we developed and evaluated a set of TAMP domains for LfD in a third study. Positively, we find that experience obtained in different, training domains enables users to provide demonstrations with useful, plannable abstractions on new, test domains just as well as providing a video prescribing an expert\u2019s teaching strategy in the new domain.<\/jats:p>","DOI":"10.1177\/02783649241301075","type":"journal-article","created":{"date-parts":[[2024,12,12]],"date-time":"2024-12-12T00:20:43Z","timestamp":1733962843000},"page":"1814-1839","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Investigating strategies enabling novice users to teach plannable hierarchical tasks to robots"],"prefix":"10.1177","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2697-1318","authenticated-orcid":false,"given":"Nina","family":"Moorman","sequence":"first","affiliation":[{"name":"Interactive Computing, Georgia Institute of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aman","family":"Singh","sequence":"additional","affiliation":[{"name":"Interactive Computing, Georgia Institute of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7583-9685","authenticated-orcid":false,"given":"Manisha","family":"Natarajan","sequence":"additional","affiliation":[{"name":"Interactive Computing, Georgia Institute of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Erin","family":"Hedlund-Botti","sequence":"additional","affiliation":[{"name":"Interactive Computing, Georgia Institute of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mariah","family":"Schrum","sequence":"additional","affiliation":[{"name":"Electrical Engineering and Computer Science, University of California"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chuxuan","family":"Yang","sequence":"additional","affiliation":[{"name":"Interactive Computing, Georgia Institute of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lakshmi","family":"Seelam","sequence":"additional","affiliation":[{"name":"Interactive Computing, Georgia Institute of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5321-6038","authenticated-orcid":false,"given":"Matthew C.","family":"Gombolay","sequence":"additional","affiliation":[{"name":"Interactive Computing, Georgia Institute of Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nakul","family":"Gopalan","sequence":"additional","affiliation":[{"name":"School of Computing and Augmented Intelligence, Arizona State University"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2024,12,11]]},"reference":[{"key":"e_1_3_6_2_1","doi-asserted-by":"publisher","DOI":"10.1037\/0022-3514.78.1.53"},{"key":"e_1_3_6_3_1","doi-asserted-by":"crossref","unstructured":"Abbeel P Ng A (2004) Apprenticeship learning via inverse reinforcement learning. 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