{"id":"https://openalex.org/W4401368514","doi":"https://doi.org/10.1061/jccee5.cpeng-5884","title":"Teleoperation-Driven and Keyframe-Based Generalizable Imitation Learning for Construction Robots","display_name":"Teleoperation-Driven and Keyframe-Based Generalizable Imitation Learning for Construction Robots","publication_year":2024,"publication_date":"2024-08-06","ids":{"openalex":"https://openalex.org/W4401368514","doi":"https://doi.org/10.1061/jccee5.cpeng-5884"},"language":"en","primary_location":{"id":"doi:10.1061/jccee5.cpeng-5884","is_oa":false,"landing_page_url":"https://doi.org/10.1061/jccee5.cpeng-5884","pdf_url":null,"source":{"id":"https://openalex.org/S176637136","display_name":"Journal of Computing in Civil Engineering","issn_l":"0887-3801","issn":["0887-3801","1943-5487"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315747","host_organization_name":"American Society of Civil Engineers","host_organization_lineage":["https://openalex.org/P4310315747"],"host_organization_lineage_names":["American Society of Civil Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing in Civil Engineering","raw_type":"journal-article"},"type":"article","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/A5076443065","display_name":"Yan Li","orcid":"https://orcid.org/0000-0002-3713-1237"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yan Li","raw_affiliation_strings":["Postdoctoral Researcher, Dept. of Civil and Environmental Engineering, Univ. of Tennessee, Knoxville, TN 37996"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Postdoctoral Researcher, Dept. of Civil and Environmental Engineering, Univ. of Tennessee, Knoxville, TN 37996","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069377220","display_name":"S. B. Liu","orcid":"https://orcid.org/0000-0003-3243-6805"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Songyang Liu","raw_affiliation_strings":["Ph.D. Candidate, Dept. of Civil and Environmental Engineering, Univ. of Tennessee, Knoxville, TN 37996. ORCID: "],"raw_orcid":"https://orcid.org/0000-0003-3243-6805","affiliations":[{"raw_affiliation_string":"Ph.D. Candidate, Dept. of Civil and Environmental Engineering, Univ. of Tennessee, Knoxville, TN 37996. ORCID: ","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030107612","display_name":"Mengjun Wang","orcid":"https://orcid.org/0000-0001-8416-048X"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mengjun Wang","raw_affiliation_strings":["Ph.D. Candidate, Dept. of Civil and Environmental Engineering, Univ. of Tennessee, Knoxville, TN 37996"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ph.D. Candidate, Dept. of Civil and Environmental Engineering, Univ. of Tennessee, Knoxville, TN 37996","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424126","display_name":"Shuai Li","orcid":"https://orcid.org/0000-0003-2869-9346"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shuai Li","raw_affiliation_strings":["Associate Professor, Dept. of Civil and Environmental Engineering, Univ. of Tennessee, Knoxville, TN 37996 (corresponding author). ORCID: "],"raw_orcid":"https://orcid.org/0000-0003-2869-9346","affiliations":[{"raw_affiliation_string":"Associate Professor, Dept. of Civil and Environmental Engineering, Univ. of Tennessee, Knoxville, TN 37996 (corresponding author). ORCID: ","institution_ids":["https://openalex.org/I75027704"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025711005","display_name":"Jindong Tan","orcid":"https://orcid.org/0000-0003-0339-8811"},"institutions":[{"id":"https://openalex.org/I75027704","display_name":"University of Tennessee at Knoxville","ror":"https://ror.org/020f3ap87","country_code":"US","type":"education","lineage":["https://openalex.org/I75027704"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jindong Tan","raw_affiliation_strings":["Professor, Dept. of Mechanical, Aerospace, and Biomedical Engineering, Univ. of Tennessee, Knoxville, TN 37996. ORCID: "],"raw_orcid":"https://orcid.org/0000-0003-0339-8811","affiliations":[{"raw_affiliation_string":"Professor, Dept. of Mechanical, Aerospace, and Biomedical Engineering, Univ. of Tennessee, Knoxville, TN 37996. ORCID: ","institution_ids":["https://openalex.org/I75027704"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I75027704"],"apc_list":null,"apc_paid":null,"fwci":2.1723,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.87568211,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"38","issue":"6","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":0.9990000128746033,"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":0.9990000128746033,"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/T12190","display_name":"Innovations in Concrete and Construction Materials","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T11006","display_name":"BIM and Construction Integration","score":0.9779000282287598,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/teleoperation","display_name":"Teleoperation","score":0.7760933637619019},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.6758753061294556},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.658793568611145},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5688801407814026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5626451969146729},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4746297597885132},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4236759841442108},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34229689836502075},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.16187390685081482}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.7760933637619019},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6758753061294556},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.658793568611145},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5688801407814026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5626451969146729},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4746297597885132},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4236759841442108},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34229689836502075},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.16187390685081482},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1061/jccee5.cpeng-5884","is_oa":false,"landing_page_url":"https://doi.org/10.1061/jccee5.cpeng-5884","pdf_url":null,"source":{"id":"https://openalex.org/S176637136","display_name":"Journal of Computing in Civil Engineering","issn_l":"0887-3801","issn":["0887-3801","1943-5487"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315747","host_organization_name":"American Society of Civil Engineers","host_organization_lineage":["https://openalex.org/P4310315747"],"host_organization_lineage_names":["American Society of Civil Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Computing in Civil Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Decent work and economic growth","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":75,"referenced_works":["https://openalex.org/W1575294293","https://openalex.org/W1579553668","https://openalex.org/W1757796397","https://openalex.org/W1879998433","https://openalex.org/W1999156278","https://openalex.org/W2036590970","https://openalex.org/W2040390981","https://openalex.org/W2053675209","https://openalex.org/W2068478756","https://openalex.org/W2116921723","https://openalex.org/W2137047808","https://openalex.org/W2149348744","https://openalex.org/W2155007355","https://openalex.org/W2173248099","https://openalex.org/W2206727619","https://openalex.org/W2293467699","https://openalex.org/W2434014514","https://openalex.org/W2560973301","https://openalex.org/W2607198029","https://openalex.org/W2736601468","https://openalex.org/W2753738274","https://openalex.org/W2774832050","https://openalex.org/W2781726626","https://openalex.org/W2785738552","https://openalex.org/W2787938642","https://openalex.org/W2787986857","https://openalex.org/W2888480348","https://openalex.org/W2904651821","https://openalex.org/W2911728565","https://openalex.org/W2913365477","https://openalex.org/W2952991114","https://openalex.org/W2954502295","https://openalex.org/W2955189310","https://openalex.org/W2962736495","https://openalex.org/W2963129648","https://openalex.org/W2963634205","https://openalex.org/W2963802910","https://openalex.org/W2968921849","https://openalex.org/W2970534317","https://openalex.org/W2970710335","https://openalex.org/W2976205474","https://openalex.org/W3009593063","https://openalex.org/W3034321388","https://openalex.org/W3036125317","https://openalex.org/W3037767967","https://openalex.org/W3044330539","https://openalex.org/W3046774844","https://openalex.org/W3089626844","https://openalex.org/W3090369311","https://openalex.org/W3091677803","https://openalex.org/W3096099141","https://openalex.org/W3096808008","https://openalex.org/W3106216177","https://openalex.org/W3119811033","https://openalex.org/W3133805463","https://openalex.org/W3138984732","https://openalex.org/W3159496368","https://openalex.org/W3164947292","https://openalex.org/W3169676024","https://openalex.org/W3173049816","https://openalex.org/W3205781067","https://openalex.org/W3207057769","https://openalex.org/W3210516907","https://openalex.org/W4223975933","https://openalex.org/W4226137952","https://openalex.org/W4287220060","https://openalex.org/W4293409613","https://openalex.org/W4310121336","https://openalex.org/W4310849374","https://openalex.org/W4311808273","https://openalex.org/W4366762691","https://openalex.org/W4378471069","https://openalex.org/W4385788468","https://openalex.org/W4387204560","https://openalex.org/W4388684232"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W1923069992"],"abstract_inverted_index":{"The":[0,200],"construction":[1,23,28,41,57,62,76,152],"industry":[2],"has":[3],"long":[4],"been":[5,18],"plagued":[6],"by":[7],"low":[8],"productivity":[9,29],"and":[10,13,30,70,121,174],"high":[11],"injury":[12],"fatality":[14],"rates.":[15],"Robots":[16],"have":[17],"envisioned":[19],"to":[20,38,50,55,59,72,118,143,147,170,189],"automate":[21],"the":[22,33,96,124,141,145,157,162,180,204],"process,":[24],"thereby":[25,127],"substantially":[26],"improving":[27,128],"safety.":[31],"Despite":[32],"enormous":[34],"potential,":[35],"teaching":[36,186],"robots":[37,58,74],"perform":[39,60],"complex":[40],"tasks":[42,195],"is":[43],"challenging.":[44],"We":[45,132],"present":[46],"a":[47,67,108,134,166,187],"generalizable":[48],"framework":[49],"harness":[51],"human":[52,89,115,197],"teleoperation":[53,68],"data":[54,87,117],"train":[56,144],"repetitive":[61],"tasks.":[63,153],"First,":[64],"we":[65,106,155,183],"develop":[66],"method":[69,110,138,206],"interface":[71],"control":[73],"on":[75],"sites,":[77],"serving":[78],"as":[79],"an":[80],"intermediate":[81],"solution":[82],"toward":[83],"full":[84],"automation.":[85],"Teleoperation":[86],"from":[88,95,114,196],"operators,":[90],"along":[91],"with":[92],"context":[93],"information":[94],"job":[97],"site,":[98],"can":[99],"be":[100],"collected":[101],"for":[102,111,151,193,214],"robot":[103,129,146,188],"learning.":[104],"Second,":[105],"propose":[107,133],"new":[109],"extracting":[112],"keyframes":[113,142],"operation":[116],"reduce":[119,175],"noise":[120],"redundancy":[122],"in":[123,165],"training":[125],"data,":[126],"learning":[130,137,172],"efficacy.":[131],"hierarchical":[135],"imitation":[136],"that":[139,203],"incorporates":[140],"generate":[148,190],"appropriate":[149,191],"trajectories":[150,192],"Third,":[154],"model":[156],"robot\u2019s":[158],"visual":[159],"observations":[160],"of":[161],"working":[163],"space":[164,169],"compact":[167],"latent":[168],"improve":[171],"performance":[173],"computational":[176],"load.":[177],"To":[178],"validate":[179],"proposed":[181,205],"framework,":[182],"conduct":[184],"experiments":[185],"excavation":[194],"operators\u2019":[198],"teleoperations.":[199],"results":[201],"suggest":[202],"outperforms":[207],"state-of-the-art":[208],"approaches,":[209],"demonstrating":[210],"its":[211],"significant":[212],"potential":[213],"application.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}
