{"id":"https://openalex.org/W4399115237","doi":"https://doi.org/10.48550/arxiv.2405.16021","title":"VADER: Visual Affordance Detection and Error Recovery for Multi Robot Human Collaboration","display_name":"VADER: Visual Affordance Detection and Error Recovery for Multi Robot Human Collaboration","publication_year":2024,"publication_date":"2024-05-25","ids":{"openalex":"https://openalex.org/W4399115237","doi":"https://doi.org/10.48550/arxiv.2405.16021"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2405.16021","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.16021","pdf_url":"https://arxiv.org/pdf/2405.16021","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2405.16021","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050964166","display_name":"Michael J. Ahn","orcid":"https://orcid.org/0000-0002-4018-8584"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"Google DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Ahn, Michael","raw_affiliation_strings":["Google DeepMind"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104142242","display_name":"Montserrat Gonzalez Arenas","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"Google DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Arenas, Montserrat Gonzalez","raw_affiliation_strings":["Google DeepMind"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058726487","display_name":"Matthew Bennice","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bennice, Matthew","raw_affiliation_strings":["Everyday Robots"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Everyday Robots","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103122635","display_name":"Noah Brown","orcid":"https://orcid.org/0009-0007-2963-3425"},"institutions":[{"id":"https://openalex.org/I4210135478","display_name":"HB Studio","ror":"https://ror.org/03y298h26","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210135478"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brown, Noah","raw_affiliation_strings":["FS Studio"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FS Studio","institution_ids":["https://openalex.org/I4210135478"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061931079","display_name":"Christine Chan","orcid":"https://orcid.org/0000-0002-8457-9560"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"Google DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Chan, Christine","raw_affiliation_strings":["Google DeepMind"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109005188","display_name":"Byron David","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"Google DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"David, Byron","raw_affiliation_strings":["Google DeepMind"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043268931","display_name":"Anthony Francis","orcid":"https://orcid.org/0000-0001-7772-7601"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Francis, Anthony","raw_affiliation_strings":["Logical Robotics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Logical Robotics","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105727247","display_name":"Gavin Gonzalez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142764","display_name":"Healing Foundation","ror":"https://ror.org/041kwj007","country_code":"AU","type":"other","lineage":["https://openalex.org/I4210142764"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gonzalez, Gavin","raw_affiliation_strings":["Relentless Adrenalin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Relentless Adrenalin","institution_ids":["https://openalex.org/I4210142764"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098921349","display_name":"Rainer Hessmer","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hessmer, Rainer","raw_affiliation_strings":["Everyday Robots"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Everyday Robots","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022376977","display_name":"Tomas Jackson","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142764","display_name":"Healing Foundation","ror":"https://ror.org/041kwj007","country_code":"AU","type":"other","lineage":["https://openalex.org/I4210142764"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jackson, Tomas","raw_affiliation_strings":["Relentless Adrenalin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Relentless Adrenalin","institution_ids":["https://openalex.org/I4210142764"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085810270","display_name":"Nikhil J Joshi","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"Google DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Joshi, Nikhil J","raw_affiliation_strings":["Google DeepMind"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074656648","display_name":"Daniel Lam","orcid":"https://orcid.org/0000-0002-6536-5575"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lam, Daniel","raw_affiliation_strings":["Everyday Robots"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Everyday Robots","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077425326","display_name":"Tsang-Wei Edward Lee","orcid":"https://orcid.org/0000-0002-9462-015X"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"Google DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Lee, Tsang-Wei Edward","raw_affiliation_strings":["Google DeepMind"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111214502","display_name":"Alex Luong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142764","display_name":"Healing Foundation","ror":"https://ror.org/041kwj007","country_code":"AU","type":"other","lineage":["https://openalex.org/I4210142764"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Luong, Alex","raw_affiliation_strings":["Relentless Adrenalin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Relentless Adrenalin","institution_ids":["https://openalex.org/I4210142764"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014521485","display_name":"Sharath Maddineni","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"Google DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Maddineni, Sharath","raw_affiliation_strings":["Google DeepMind"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101409233","display_name":"Harsh Patel","orcid":"https://orcid.org/0009-0008-0436-9290"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Patel, Harsh","raw_affiliation_strings":["Everyday Robots"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Everyday Robots","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025072836","display_name":"Jodilyn Peralta","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142764","display_name":"Healing Foundation","ror":"https://ror.org/041kwj007","country_code":"AU","type":"other","lineage":["https://openalex.org/I4210142764"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Peralta, Jodilyn","raw_affiliation_strings":["Relentless Adrenalin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Relentless Adrenalin","institution_ids":["https://openalex.org/I4210142764"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049634735","display_name":"Jornell Quiambao","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135478","display_name":"HB Studio","ror":"https://ror.org/03y298h26","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210135478"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Quiambao, Jornell","raw_affiliation_strings":["FS Studio"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FS Studio","institution_ids":["https://openalex.org/I4210135478"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108552605","display_name":"Diego Reyes","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135478","display_name":"HB Studio","ror":"https://ror.org/03y298h26","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I4210135478"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reyes, Diego","raw_affiliation_strings":["FS Studio"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FS Studio","institution_ids":["https://openalex.org/I4210135478"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098921347","display_name":"Rosario M Jauregui Ruano","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142764","display_name":"Healing Foundation","ror":"https://ror.org/041kwj007","country_code":"AU","type":"other","lineage":["https://openalex.org/I4210142764"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ruano, Rosario M Jauregui","raw_affiliation_strings":["Relentless Adrenalin"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Relentless Adrenalin","institution_ids":["https://openalex.org/I4210142764"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080725225","display_name":"Dorsa Sadigh","orcid":"https://orcid.org/0000-0002-7802-9183"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"Google DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Sadigh, Dorsa","raw_affiliation_strings":["Google DeepMind"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064611781","display_name":"Pannag Sanketi","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"Google DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Sanketi, Pannag","raw_affiliation_strings":["Google DeepMind"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066958631","display_name":"Leila Takayama","orcid":"https://orcid.org/0000-0003-0790-6123"},"institutions":[{"id":"https://openalex.org/I2801034194","display_name":"Hokuriku Electric Power Company (Japan)","ror":"https://ror.org/00k98ea94","country_code":"JP","type":"company","lineage":["https://openalex.org/I2801034194"]},{"id":"https://openalex.org/I49155475","display_name":"Hokuriku University","ror":"https://ror.org/04wcpjy25","country_code":"JP","type":"education","lineage":["https://openalex.org/I49155475"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayama, Leila","raw_affiliation_strings":["Hoku Labs"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hoku Labs","institution_ids":["https://openalex.org/I2801034194","https://openalex.org/I49155475"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098921348","display_name":"Pavel Vodenski","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vodenski, Pavel","raw_affiliation_strings":["Everyday Robots"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Everyday Robots","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100676785","display_name":"Fei Xia","orcid":"https://orcid.org/0000-0003-4343-1444"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]},{"id":"https://openalex.org/I4210090411","display_name":"Google DeepMind (United Kingdom)","ror":"https://ror.org/00971b260","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210090411","https://openalex.org/I4210128969"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Xia, Fei","raw_affiliation_strings":["Google DeepMind"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Google DeepMind","institution_ids":["https://openalex.org/I1291425158","https://openalex.org/I4210090411"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9912999868392944,"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":0.9912999868392944,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9587000012397766,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9426000118255615,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.9419407844543457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5901180505752563},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5825397372245789},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5383753180503845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5100558400154114},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.485202819108963}],"concepts":[{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.9419407844543457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5901180505752563},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5825397372245789},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5383753180503845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5100558400154114},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.485202819108963}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2405.16021","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.16021","pdf_url":"https://arxiv.org/pdf/2405.16021","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2405.16021","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2405.16021","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2405.16021","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.16021","pdf_url":"https://arxiv.org/pdf/2405.16021","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4399115237.pdf","grobid_xml":"https://content.openalex.org/works/W4399115237.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1559800691","https://openalex.org/W2417026147","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407"],"abstract_inverted_index":{"Robots":[0],"today":[1],"can":[2],"exploit":[3],"the":[4,61,114,178,181],"rich":[5],"world":[6],"knowledge":[7],"of":[8,63,116,131,155,180],"large":[9],"language":[10,89],"models":[11],"to":[12,29,54,75,96,104,143,167],"chain":[13],"simple":[14],"behavioral":[15],"skills":[16],"into":[17],"long-horizon":[18,26,58,109,120,134,158],"tasks.":[19,122],"However,":[20],"robots":[21,53],"often":[22],"get":[23],"interrupted":[24],"during":[25],"tasks":[27,59,135,159],"due":[28],"primitive":[30],"skill":[31,50],"failures":[32],"and":[33,56,79],"dynamic":[34],"environments.":[35],"We":[36,112,171],"propose":[37],"VADER,":[38],"a":[39,48,88,145,165,169,185],"plan,":[40],"execute,":[41],"detect":[42,76],"framework":[43],"with":[44,60,118],"seeking":[45],"help":[46,62,98,139,163],"as":[47],"new":[49],"that":[51,127,151,187],"enables":[52],"recover":[55,105],"complete":[57],"humans":[64],"or":[65,102],"other":[66],"robots.":[67],"VADER":[68,117,128,152,182],"leverages":[69],"visual":[70,77],"question":[71],"answering":[72],"(VQA)":[73],"modules":[74],"affordances":[78],"recognize":[80],"execution":[81],"errors.":[82],"It":[83],"then":[84],"generates":[85],"prompts":[86],"for":[87,138,162,191],"model":[90],"planner":[91],"(LMP)":[92],"which":[93],"decides":[94],"when":[95],"seek":[97],"from":[99,106,140,164,174],"another":[100,141],"robot":[101,142,186],"human":[103,166],"errors":[107],"in":[108],"task":[110],"execution.":[111],"show":[113],"effectiveness":[115],"two":[119],"robotic":[121],"Our":[123,147],"pilot":[124],"study":[125,149],"showed":[126,150],"is":[129,153],"capable":[130,154],"performing":[132,156],"complex":[133,157],"by":[136,160],"asking":[137,161],"clear":[144,168],"table.":[146],"user":[148],"path.":[170],"gathered":[172],"feedback":[173],"people":[175],"(N=19)":[176],"about":[177],"performance":[179,183],"vs.":[184],"did":[188],"not":[189],"ask":[190],"help.":[192],"https://google-vader.github.io/":[193]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-23T07:36:19.812096","created_date":"2024-05-29T00:00:00"}