{"id":"https://openalex.org/W2004707451","doi":"https://doi.org/10.1109/humanoids.2013.7029975","title":"Action sequence reproduction based on automatic segmentation and Object-Action Complexes","display_name":"Action sequence reproduction based on automatic segmentation and Object-Action Complexes","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2004707451","doi":"https://doi.org/10.1109/humanoids.2013.7029975","mag":"2004707451"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2013.7029975","doi":"https://doi.org/10.1109/humanoids.2013.7029975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2013.7029975","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"IEEE-RAS International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037778920","display_name":"Mirko W\u00e4chter","orcid":"https://orcid.org/0000-0001-5219-2938","observed_orcids":["https://orcid.org/0000-0001-5219-2938"]},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mirko Wachter","raw_affiliation_strings":["Institute for Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany","Institute for Anthropomatics, Karlsruhe Institute of Technology, Adenauerring 2, 76131, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics, Karlsruhe Institute of Technology, Adenauerring 2, 76131, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sebastian Schulz","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sebastian Schulz","raw_affiliation_strings":["Institute for Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany","Institute for Anthropomatics, Karlsruhe Institute of Technology, Adenauerring 2, 76131, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics, Karlsruhe Institute of Technology, Adenauerring 2, 76131, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680","observed_orcids":["https://orcid.org/0000-0003-4879-7680"]},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["Institute for Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany","Institute for Anthropomatics, Karlsruhe Institute of Technology, Adenauerring 2, 76131, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics, Karlsruhe Institute of Technology, Adenauerring 2, 76131, Germany","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021872962","display_name":"Eren Erdal Aksoy","orcid":"https://orcid.org/0000-0002-5712-6777","observed_orcids":["https://orcid.org/0000-0002-5712-6777"]},"institutions":[{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]},{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Eren Aksoy","raw_affiliation_strings":["Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen III. Physikalisches Institut, G\u00f6ttingen, Germany","Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, III. Physikalisches Institut, Friedrich-Hund Platz 1, 37077, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen III. Physikalisches Institut, G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171","https://openalex.org/I74656192"]},{"raw_affiliation_string":"Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, III. Physikalisches Institut, Friedrich-Hund Platz 1, 37077, Germany","institution_ids":["https://openalex.org/I4210087171","https://openalex.org/I74656192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023811677","display_name":"Florentin W\u00f6rg\u00f6tter","orcid":"https://orcid.org/0000-0001-8206-9738","observed_orcids":["https://orcid.org/0000-0001-8206-9738"]},"institutions":[{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]},{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florentin Worgotter","raw_affiliation_strings":["Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen III. Physikalisches Institut, G\u00f6ttingen, Germany","Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, III. Physikalisches Institut, Friedrich-Hund Platz 1, 37077, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen III. Physikalisches Institut, G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171","https://openalex.org/I74656192"]},{"raw_affiliation_string":"Bernstein Center for Computational Neuroscience, University of G\u00f6ttingen, III. Physikalisches Institut, Friedrich-Hund Platz 1, 37077, Germany","institution_ids":["https://openalex.org/I4210087171","https://openalex.org/I74656192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":"https://orcid.org/0000-0002-2049-8219","observed_orcids":["https://orcid.org/0000-0002-2049-8219"]},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudiger Dillmann","raw_affiliation_strings":["Institute for Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany","Institute for Anthropomatics, Karlsruhe Institute of Technology, Adenauerring 2, 76131, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"Institute for Anthropomatics, Karlsruhe Institute of Technology, Adenauerring 2, 76131, Germany","institution_ids":["https://openalex.org/I102335020"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.8131,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.98345063,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":87,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"189","last_page":"195"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9868000149726868,"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":0.9868000149726868,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.003000000026077032,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.002199999988079071,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"programming by demonstration","score":0.8880000114440918},{"id":"https://openalex.org/keywords/action-segmentation","display_name":"action segmentation","score":0.621999979019165},{"id":"https://openalex.org/keywords/humanoid-robots","display_name":"humanoid robots","score":0.628000020980835},{"id":"https://openalex.org/keywords/domestic-robots","display_name":"home robots","score":0.6510000228881836},{"id":"https://openalex.org/keywords/object-manipulation","display_name":"object manipulation","score":0.7429999709129333},{"id":"https://openalex.org/keywords/human-motion-data","display_name":"human motion data","score":0.527999997138977},{"id":"https://openalex.org/keywords/preconditions-and-effects","display_name":"preconditions and effects","score":0.8289999961853027},{"id":"https://openalex.org/keywords/kitchen-tasks","display_name":"kitchen tasks","score":0.45100000500679016},{"id":"https://openalex.org/keywords/dough-preparation","display_name":"dough preparation","score":0.6930000185966492}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7712364792823792},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6342931389808655},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6334868669509888},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6106609106063843},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6097102761268616},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6067758798599243},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5854071378707886},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5580471158027649},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5411208868026733},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.5201523900032043},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46405020356178284},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4132731854915619},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11518901586532593},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2013.7029975","doi":"https://doi.org/10.1109/humanoids.2013.7029975","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2013.7029975","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"IEEE-RAS International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W114056620","https://openalex.org/W131063383","https://openalex.org/W639262085","https://openalex.org/W1696716473","https://openalex.org/W1990654347","https://openalex.org/W2005870832","https://openalex.org/W2019048916","https://openalex.org/W2019842267","https://openalex.org/W2045225768","https://openalex.org/W2047039583","https://openalex.org/W2066407408","https://openalex.org/W2085287628","https://openalex.org/W2086871434","https://openalex.org/W2109306844","https://openalex.org/W2109485196","https://openalex.org/W2110304639","https://openalex.org/W2110331760","https://openalex.org/W2116226448","https://openalex.org/W2120591602","https://openalex.org/W2122364547","https://openalex.org/W2126850308","https://openalex.org/W2129202194","https://openalex.org/W2130726249","https://openalex.org/W2132905014","https://openalex.org/W2148163433","https://openalex.org/W2249800031","https://openalex.org/W3139397654","https://openalex.org/W4248876013","https://openalex.org/W4248990817","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W110929968","https://openalex.org/W1492952184","https://openalex.org/W2571411619","https://openalex.org/W2182807430","https://openalex.org/W4312961651","https://openalex.org/W2946846990","https://openalex.org/W2215472617","https://openalex.org/W2546143719","https://openalex.org/W4391695376","https://openalex.org/W4252287909"],"abstract_inverted_index":{"Teaching":[0],"robots":[1,29],"object":[2],"manipulation":[3],"skills":[4],"is":[5,76,118,147],"a":[6,25,34,51,56,66,99,124,160],"complex":[7],"task":[8],"that":[9,54],"involves":[10],"multimodal":[11],"perception":[12],"and":[13,39,90,108,133],"knowledge":[14],"about":[15],"processing":[16],"the":[17,42,83,88,91,106,121,129,135,138,155],"sensor":[18],"data.":[19],"In":[20],"this":[21,145],"paper,":[22],"we":[23,49],"show":[24],"concept":[26],"for":[27,120],"humanoid":[28,125],"in":[30,149],"household":[31],"environments":[32],"with":[33,73],"variety":[35],"of":[36,44,85,101,110,116,137,144],"related":[37],"objects":[38,75,89],"actions.":[40],"Following":[41],"paradigms":[43],"Programming":[45],"by":[46,65,82],"Demonstration":[47],"(PbD),":[48],"provide":[50],"flexible":[52],"approach":[53,146],"enables":[55],"robot":[57,126,156],"to":[58,158],"adaptively":[59],"reproduce":[60],"an":[61,150],"action":[62,131],"sequence":[63,115,132],"demonstrated":[64],"human.":[67],"The":[68,113,142],"obtained":[69],"human":[70,92],"motion":[71],"data":[72],"involved":[74],"segmented":[77],"into":[78],"semantic":[79],"conclusive":[80],"sub-actions":[81],"detection":[84],"relations":[86],"between":[87],"actor.":[93],"Matching":[94],"actions":[95],"are":[96],"chosen":[97],"from":[98],"library":[100],"Object-Action":[102],"Complexes":[103],"(OACs)":[104],"using":[105],"preconditions":[107],"effects":[109],"each":[111],"sub-action.":[112],"resulting":[114],"OACs":[117],"parameterized":[119],"execution":[122],"on":[123,128,134],"depending":[127],"observed":[130],"state":[136],"environment":[139],"during":[140],"execution.":[141],"feasibility":[143],"shown":[148],"exemplary":[151],"kitchen":[152],"scenario,":[153],"where":[154],"has":[157],"prepare":[159],"dough.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":3}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2016-06-24T00:00:00"}
