Inference of Human-derived Specifications of Object Placement via Demonstration

Cuellar, Alex; Siu, Ho Chit; Shah, Julie A.

doi:10.24963/ijcai.2025/460

Inference of Human-derived Specifications of Object Placement via Demonstration

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Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence. Main Track. Pages 4128-4136.

https://doi.org/10.24963/ijcai.2025/460

Keywords

Robotics: ROB: Human robot interaction
Humans and AI: HAI: Personalization and user modeling

Abstract

As robots' manipulation capabilities improve for pick-and-place tasks (e.g., object packing, sorting, and kitting), methods focused on understanding human-acceptable object configurations remain limited expressively with regard to capturing spatial relationships important to humans. To advance robotic understanding of human rules for object arrangement, we introduce positionally-augmented RCC (PARCC), a formal logic framework based on region connection calculus (RCC) for describing the relative position of objects in space. Additionally, we introduce an inference algorithm for learning PARCC specifications via demonstrations. Finally, we present the results from a human study, which demonstrate our framework's ability to capture a human's intended specification and the benefits of learning from demonstration approaches over human-provided specifications.

Alex Cuellar, Ho Chit Siu, and Julie A. Shah. 2025. Inference of Human-derived Specifications of Object Placement via Demonstration. In Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence, IJCAI-25. IJCAI, 4128–4136. https://doi.org/10.24963/ijcai.2025/460

@inproceedings{ijcai2025p460,
  title     = {Inference of Human-derived Specifications of Object Placement via Demonstration},
  author    = {Cuellar, Alex and Siu, Ho Chit and Shah, Julie A.},
  booktitle = {Proceedings of the Thirty-Fourth International Joint Conference on
               Artificial Intelligence, {IJCAI-25}},
  publisher = {International Joint Conferences on Artificial Intelligence Organization},
  editor    = {James Kwok},
  pages     = {4128--4136},
  year      = {2025},
  month     = {8},
  note      = {Main Track},
  doi       = {10.24963/ijcai.2025/460},
  url       = {https://doi.org/10.24963/ijcai.2025/460},
}

TY  - CPAPER
TI  - Inference of Human-derived Specifications of Object Placement via Demonstration
AU  - Cuellar, Alex
AU  - Siu, Ho Chit
AU  - Shah, Julie A.
T2  - Proceedings of the Thirty-Fourth International Joint Conference on Artificial Intelligence, IJCAI-25
PB  - International Joint Conferences on Artificial Intelligence Organization
PY  - 2025
SP  - 4128
EP  - 4136
DO  - 10.24963/ijcai.2025/460
UR  - https://doi.org/10.24963/ijcai.2025/460
ER  -