{"id":"https://openalex.org/W3131786984","doi":null,"title":"Gaze-Informed Multi-Objective Imitation Learning from Human Demonstrations.","display_name":"Gaze-Informed Multi-Objective Imitation Learning from Human Demonstrations.","publication_year":2021,"publication_date":"2021-02-25","ids":{"openalex":"https://openalex.org/W3131786984","mag":"3131786984"},"language":"en","primary_location":{"id":"mag:3131786984","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2102.13008.pdf","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,"listed_in":[],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2102.13008.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040988341","display_name":"Ritwik Bera","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ritwik Bera","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069949825","display_name":"Vinicius Guimaraes Goecks","orcid":"https://orcid.org/0000-0002-4481-671X","observed_orcids":["https://orcid.org/0000-0002-4481-671X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vinicius G. Goecks","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042275001","display_name":"Gregory M. Gremillion","orcid":"https://orcid.org/0000-0002-0205-688X","observed_orcids":["https://orcid.org/0000-0002-0205-688X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gregory M. Gremillion","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051690828","display_name":"Vernon J. Lawhern","orcid":"https://orcid.org/0000-0002-3921-8723","observed_orcids":["https://orcid.org/0000-0002-3921-8723"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vernon J. Lawhern","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-3921-8723","affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007706088","display_name":"John Valasek","orcid":"https://orcid.org/0000-0003-1999-0561","observed_orcids":["https://orcid.org/0000-0003-1999-0561"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"John Valasek","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0003-1999-0561","affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5079459509","display_name":"Nicholas R. Waytowich","orcid":"https://orcid.org/0000-0002-3786-0675","observed_orcids":["https://orcid.org/0000-0002-3786-0675"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nicholas R. Waytowich","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-3786-0675","affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9922000169754028,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9922000169754028,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.0035000001080334187,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.0006000000284984708,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/imitation-learning","display_name":"imitation learning","score":0.8510000109672546},{"id":"https://openalex.org/keywords/human-demonstrations","display_name":"human demonstrations","score":0.6489999890327454},{"id":"https://openalex.org/keywords/gaze","display_name":"gaze","score":0.8629999756813049},{"id":"https://openalex.org/keywords/visual-attention","display_name":"visual attention","score":0.8769999742507935},{"id":"https://openalex.org/keywords/multi-objective-learning","display_name":"multi-objective learning","score":0.7749999761581421},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.7940000295639038},{"id":"https://openalex.org/keywords/visual-navigation","display_name":"visual navigation","score":0.9729999899864197},{"id":"https://openalex.org/keywords/attention-prediction","display_name":"attention prediction","score":0.6880000233650208},{"id":"https://openalex.org/keywords/multimodal-learning","display_name":"multimodal learning","score":0.8790000081062317},{"id":"https://openalex.org/keywords/visuomotor-task","display_name":"visuomotor task","score":0.8309999704360962},{"id":"https://openalex.org/keywords/target-search","display_name":"target search","score":0.3089999854564667}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7329518795013428},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.702111542224884},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6169459819793701},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.6118982434272766},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5817914009094238},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5796374678611755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5542299151420593},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.515586793422699},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.49008285999298096},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.465564489364624},{"id":"https://openalex.org/C2780660688","wikidata":"https://www.wikidata.org/wiki/Q25052564","display_name":"Multimodal learning","level":2,"score":0.4371853768825531},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4336387813091278},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41198551654815674},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11303842067718506},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10239255428314209},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"mag:3131786984","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2102.13008.pdf","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,"listed_in":[],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null}],"best_oa_location":{"id":"mag:3131786984","doi":null,"is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2102.13008.pdf","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,"listed_in":[],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W401941822","https://openalex.org/W1931877416","https://openalex.org/W1965305672","https://openalex.org/W1986014385","https://openalex.org/W1993254594","https://openalex.org/W2015140204","https://openalex.org/W2082764616","https://openalex.org/W2146292423","https://openalex.org/W2148905032","https://openalex.org/W2161969291","https://openalex.org/W2162888803","https://openalex.org/W2194775991","https://openalex.org/W2342249984","https://openalex.org/W2342840547","https://openalex.org/W2615547864","https://openalex.org/W2624871570","https://openalex.org/W2735668228","https://openalex.org/W2791094827","https://openalex.org/W2794908222","https://openalex.org/W2805623918","https://openalex.org/W2884565639","https://openalex.org/W2937051932","https://openalex.org/W2959373581","https://openalex.org/W2963367680","https://openalex.org/W2964121744","https://openalex.org/W2970971581","https://openalex.org/W3009130550","https://openalex.org/W3031262893","https://openalex.org/W3209042722"],"related_works":["https://openalex.org/W4363671520","https://openalex.org/W3007201586","https://openalex.org/W2805623918","https://openalex.org/W2966179407","https://openalex.org/W3113356146","https://openalex.org/W4417097408","https://openalex.org/W4312905664","https://openalex.org/W2155004537","https://openalex.org/W7223209390","https://openalex.org/W3176969633"],"abstract_inverted_index":{"In":[0,60],"the":[1,33,36,48,71,83,94,180,216,232],"field":[2],"of":[3,35,96,218,221],"human-robot":[4],"interaction,":[5],"teaching":[6],"learning":[7,14,39,114,175,185,205,220],"agents":[8,239],"from":[9,40,47,119,225,240],"human":[10,41,120,131,208,227,241],"demonstrations":[11,42,242],"via":[12],"supervised":[13],"has":[15,82],"been":[16],"widely":[17],"studied":[18,93],"and":[19,29,55,78,123,157,230],"successfully":[20],"applied":[21,141],"to":[22,85,105,116,127,142,154,159,171,189,206,214,234,243],"multiple":[23],"domains":[24],"such":[25,80],"as":[26],"self-driving":[27],"cars":[28],"robot":[30],"manipulation.":[31],"However,":[32],"majority":[34],"work":[37,109],"on":[38],"utilizes":[43],"only":[44,92],"behavioral":[45],"information":[46,64,81,133,224],"demonstrator,":[49],"i.e.":[50],"what":[51],"actions":[52],"were":[53],"taken,":[54],"ignores":[56],"other":[57],"useful":[58],"information.":[59],"particular,":[61],"eye":[62,124],"gaze":[63,132,182],"can":[65],"give":[66],"valuable":[67],"insight":[68],"towards":[69],"where":[70,130],"demonstrator":[72],"is":[73,140,152,187],"allocating":[74],"their":[75,103],"visual":[76,144,209,222],"attention,":[77],"leveraging":[79],"potential":[84],"improve":[86],"agent":[87],"performance.":[88],"Previous":[89],"approaches":[90],"have":[91],"utilization":[95],"attention":[97,223],"in":[98,147,163],"simple,":[99],"synchronous":[100],"environments,":[101],"limiting":[102],"applicability":[104],"real-world":[106],"domains.":[107],"This":[108,211],"proposes":[110],"a":[111,143,160,164,172],"novel":[112],"imitation":[113,174,184],"architecture":[115],"learn":[117,190],"concurrently":[118],"action":[121],"demonstration":[122],"tracking":[125],"data":[126],"solve":[128],"tasks":[129],"provides":[134],"important":[135],"context.":[136],"The":[137],"proposed":[138,181],"method":[139],"navigation":[145],"task,":[146],"which":[148],"an":[149],"unmanned":[150],"quadrotor":[151],"trained":[153],"search":[155],"for":[156],"navigate":[158],"target":[161],"vehicle":[162],"real-world,":[165],"photorealistic":[166],"simulated":[167],"environment.":[168],"When":[169],"compared":[170],"baseline":[173],"architecture,":[176],"results":[177],"show":[178],"that":[179,192],"augmented":[183],"model":[186],"able":[188],"policies":[191],"achieve":[193],"significantly":[194],"higher":[195],"task":[196],"completion":[197],"rates,":[198],"with":[199],"more":[200],"efficient":[201],"paths,":[202],"while":[203],"simultaneously":[204],"predict":[207],"attention.":[210],"research":[212],"aims":[213],"highlight":[215],"importance":[217],"multimodal":[219],"additional":[226],"input":[228],"modalities":[229],"encourages":[231],"community":[233],"adopt":[235],"them":[236],"when":[237],"training":[238],"perform":[244],"visuomotor":[245],"tasks.":[246]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2021-03-01T00:00:00"}
