{"id":"https://openalex.org/W4415605540","doi":"https://doi.org/10.1007/s10846-025-02326-0","title":"BEAC: Imitating Complex Exploration and Task-oriented Behaviors for Invisible Object Nonprehensile Manipulation","display_name":"BEAC: Imitating Complex Exploration and Task-oriented Behaviors for Invisible Object Nonprehensile Manipulation","publication_year":2025,"publication_date":"2025-10-28","ids":{"openalex":"https://openalex.org/W4415605540","doi":"https://doi.org/10.1007/s10846-025-02326-0"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-025-02326-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02326-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02326-0.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02326-0.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075825270","display_name":"Hirotaka Tahara","orcid":"https://orcid.org/0000-0001-5883-9181"},"institutions":[{"id":"https://openalex.org/I4210120875","display_name":"Kobe City College of Technology","ror":"https://ror.org/02q8vhr64","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120875"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hirotaka Tahara","raw_affiliation_strings":["Department of Electronics, Kobe City College of Technology, 8-3, Gakuen-Higashimachi, Nishi-ku, Kobe, Hyogo, 6512194, Japan","Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikom, Nara, 6300192, Japan"],"raw_orcid":"https://orcid.org/0000-0001-5883-9181","affiliations":[{"raw_affiliation_string":"Department of Electronics, Kobe City College of Technology, 8-3, Gakuen-Higashimachi, Nishi-ku, Kobe, Hyogo, 6512194, Japan","institution_ids":["https://openalex.org/I4210120875"]},{"raw_affiliation_string":"Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikom, Nara, 6300192, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042074952","display_name":"Takamitsu Matsubara","orcid":"https://orcid.org/0000-0003-3545-4814"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamitsu Matsubara","raw_affiliation_strings":["Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikom, Nara, 6300192, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3545-4814","affiliations":[{"raw_affiliation_string":"Division of Information Science, Graduate School of Science and Technology, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikom, Nara, 6300192, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5075825270"],"corresponding_institution_ids":["https://openalex.org/I4210120875","https://openalex.org/I75917431"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.14593433,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"111","issue":"4","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":0.22930000722408295,"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":0.22930000722408295,"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":0.18970000743865967,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.1404999941587448,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/action","display_name":"Action (physics)","score":0.7228999733924866},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.685699999332428},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.6468999981880188},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.6392999887466431},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4129999876022339},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.396699994802475},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.3772999942302704},{"id":"https://openalex.org/keywords/cognitive-model","display_name":"Cognitive model","score":0.33889999985694885}],"concepts":[{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.7228999733924866},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.685699999332428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6590999960899353},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.6468999981880188},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6392999887466431},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5734000205993652},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5367000102996826},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4129999876022339},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.396699994802475},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.3772999942302704},{"id":"https://openalex.org/C161407221","wikidata":"https://www.wikidata.org/wiki/Q4382939","display_name":"Cognitive model","level":3,"score":0.33889999985694885},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.33480000495910645},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.3285999894142151},{"id":"https://openalex.org/C170494330","wikidata":"https://www.wikidata.org/wiki/Q1778434","display_name":"Cognitive map","level":3,"score":0.3018999993801117},{"id":"https://openalex.org/C2779436431","wikidata":"https://www.wikidata.org/wiki/Q30672407","display_name":"Policy learning","level":2,"score":0.3000999987125397},{"id":"https://openalex.org/C61641136","wikidata":"https://www.wikidata.org/wiki/Q1107019","display_name":"Cognitive load","level":3,"score":0.2955000102519989},{"id":"https://openalex.org/C93500599","wikidata":"https://www.wikidata.org/wiki/Q7687352","display_name":"Task switching","level":3,"score":0.2849000096321106},{"id":"https://openalex.org/C2986342778","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Cognitive systems","level":3,"score":0.27709999680519104},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.27399998903274536},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.25600001215934753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-025-02326-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02326-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02326-0.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-025-02326-0","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-025-02326-0","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-025-02326-0.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5830100352","display_name":null,"funder_award_id":"JPMJMS2032","funder_id":"https://openalex.org/F4320338247","funder_display_name":"Moonshot Research and Development Program"}],"funders":[{"id":"https://openalex.org/F4320338247","display_name":"Moonshot Research and Development Program","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4415605540.pdf"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W2045805577","https://openalex.org/W2048429958","https://openalex.org/W2122296170","https://openalex.org/W2151905266","https://openalex.org/W2492870335","https://openalex.org/W2963669336","https://openalex.org/W2972031096","https://openalex.org/W3003957541","https://openalex.org/W3004047800","https://openalex.org/W3005783773","https://openalex.org/W3016311333","https://openalex.org/W3049043369","https://openalex.org/W3101780148","https://openalex.org/W3167898434","https://openalex.org/W3205195733","https://openalex.org/W4210414408","https://openalex.org/W4280630155","https://openalex.org/W4296913591","https://openalex.org/W4313442619","https://openalex.org/W4327639529","https://openalex.org/W4360584414","https://openalex.org/W4385430674","https://openalex.org/W4400770903","https://openalex.org/W4401751184"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Imitation":[1],"learning":[2],"(IL)":[3],"is":[4,128],"a":[5,83,159,170,176,181,221],"promising":[6],"approach":[7],"for":[8],"acquiring":[9],"policies":[10],"to":[11,28,58,65,78,98,130],"automate":[12],"robotic":[13],"tasks":[14,31],"from":[15,91,120,190],"human":[16],"demonstrations,":[17],"leveraging":[18],"the":[19,48,60,67,71,107,134,153],"high":[20,84,113],"cognitive":[21,85,92,114,216],"capabilities":[22],"of":[23,109],"humans.":[24],"However,":[25],"applying":[26],"IL":[27,119,161],"nonprehensile":[29],"manipulation":[30],"involving":[32],"invisible":[33],"objects":[34],"under":[35,148],"partial":[36,149],"observability,":[37],"such":[38,46,124],"as":[39,218],"excavating":[40],"buried":[41],"rocks,":[42],"remains":[43],"challenging.":[44],"In":[45],"settings,":[47],"demonstrator":[49,215],"must":[50],"make":[51],"complex":[52],"action":[53,110,183,211],"decisions,":[54],"including":[55],"exploratory":[56],"actions":[57,64],"locate":[59],"object":[61],"and":[62,81,112,145,195,210,213],"task-oriented":[63,136,146,182],"accomplish":[66],"task,":[68],"while":[69],"inferring":[70],"object\u2019s":[72],"hidden":[73],"state.":[74],"This":[75],"often":[76],"leads":[77],"inconsistent":[79],"demonstrations":[80,121],"imposes":[82],"load.":[86,115],"For":[87],"these":[88],"problems,":[89],"insights":[90],"science":[93],"suggest":[94],"that":[95,174,200],"encouraging":[96],"demonstrators":[97],"follow":[99],"simple,":[100],"pre-designed":[101,177],"exploration":[102,125,144,178],"rules":[103],"can":[104],"help":[105],"mitigate":[106],"problems":[108],"inconsistency":[111],"Accordingly,":[116],"when":[117],"performing":[118],"guided":[122],"by":[123,220],"rules,":[126],"it":[127],"crucial":[129],"imitate":[131],"not":[132],"only":[133],"demonstrator\u2019s":[135],"behavior":[137,142],"but":[138],"also":[139],"his/her":[140],"mode-switching":[141],"(between":[143],"behavior)":[147],"observability.":[150],"Based":[151],"on":[152,186],"above":[154],"considerations,":[155],"this":[156],"paper":[157],"proposes":[158],"novel":[160],"framework,":[162],"called":[163],"Belief":[164],"Exploration-Action":[165],"Cloning":[166],"(BEAC),":[167],"which":[168],"employs":[169],"switching":[171],"policy":[172,179,184],"structure":[173],"integrates":[175],"with":[180],"trained":[185],"belief":[187],"states":[188],"estimated":[189],"past":[191],"history.":[192],"Through":[193],"simulation":[194],"real-robot":[196],"experiments,":[197],"we":[198],"demonstrate":[199],"BEAC":[201],"achieves":[202],"superior":[203],"task":[204],"performance,":[205],"higher":[206],"accuracy":[207],"in":[208],"mode":[209],"prediction,":[212],"reduced":[214],"load,":[217],"confirmed":[219],"user":[222],"study.":[223]},"counts_by_year":[],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-10-28T00:00:00"}