{"id":"https://openalex.org/W3188817182","doi":"https://doi.org/10.1080/01691864.2021.1959397","title":"Safe and efficient imitation learning by clarification of experienced latent space","display_name":"Safe and efficient imitation learning by clarification of experienced latent space","publication_year":2021,"publication_date":"2021-07-31","ids":{"openalex":"https://openalex.org/W3188817182","doi":"https://doi.org/10.1080/01691864.2021.1959397","mag":"3188817182"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2021.1959397","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1959397","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5068194984","display_name":"Hidehito Fujiishi","orcid":null},"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":"Hidehito Fujiishi","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051304187","display_name":"Taisuke Kobayashi","orcid":"https://orcid.org/0000-0002-3760-249X"},"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":true,"raw_author_name":"Taisuke Kobayashi","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087612281","display_name":"Kenji Sugimoto","orcid":"https://orcid.org/0000-0002-5149-5643"},"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":"Kenji Sugimoto","raw_affiliation_strings":["Division of Information Science, Nara Institute of Science and Technology, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Division of Information Science, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5051304187"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":0.6998,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.76170426,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"35","issue":"16","first_page":"1012","last_page":"1027"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9998000264167786,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9998000264167786,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9990000128746033,"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":0.9972000122070312,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.754935085773468},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6785468459129333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6772322654724121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.663970947265625},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5911360383033752},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5803427696228027},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5511415600776672},{"id":"https://openalex.org/keywords/anomaly-detection","display_name":"Anomaly detection","score":0.5003330707550049},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.48419883847236633},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4394940733909607},{"id":"https://openalex.org/keywords/handwriting","display_name":"Handwriting","score":0.4325059950351715},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4292527437210083},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4154897928237915},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.24556085467338562},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12461653351783752},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.11823061108589172}],"concepts":[{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.754935085773468},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6785468459129333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6772322654724121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.663970947265625},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5911360383033752},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5803427696228027},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5511415600776672},{"id":"https://openalex.org/C739882","wikidata":"https://www.wikidata.org/wiki/Q3560506","display_name":"Anomaly detection","level":2,"score":0.5003330707550049},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.48419883847236633},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4394940733909607},{"id":"https://openalex.org/C2779386606","wikidata":"https://www.wikidata.org/wiki/Q2393642","display_name":"Handwriting","level":2,"score":0.4325059950351715},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4292527437210083},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4154897928237915},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.24556085467338562},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12461653351783752},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.11823061108589172},{"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/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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2021.1959397","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2021.1959397","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1546540950","https://openalex.org/W1959608418","https://openalex.org/W2015452969","https://openalex.org/W2037567991","https://openalex.org/W2061562262","https://openalex.org/W2096462065","https://openalex.org/W2100495367","https://openalex.org/W2130726249","https://openalex.org/W2130802299","https://openalex.org/W2134490011","https://openalex.org/W2174803659","https://openalex.org/W2337344967","https://openalex.org/W2342840547","https://openalex.org/W2409550820","https://openalex.org/W2434014514","https://openalex.org/W2560647685","https://openalex.org/W2753738274","https://openalex.org/W2769541360","https://openalex.org/W2804020409","https://openalex.org/W2837605352","https://openalex.org/W2884247313","https://openalex.org/W2896687685","https://openalex.org/W2900582619","https://openalex.org/W2901773810","https://openalex.org/W2962787969","https://openalex.org/W2962894046","https://openalex.org/W2967727187","https://openalex.org/W2968353084","https://openalex.org/W2980402966","https://openalex.org/W2990956535","https://openalex.org/W2992005611","https://openalex.org/W3007769740","https://openalex.org/W3008638899","https://openalex.org/W3030708895","https://openalex.org/W3034648032","https://openalex.org/W3034709866","https://openalex.org/W3096918561","https://openalex.org/W3108832127","https://openalex.org/W3150718622","https://openalex.org/W3150983287","https://openalex.org/W4214717370","https://openalex.org/W4300672471","https://openalex.org/W6751526458"],"related_works":["https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W1531601525","https://openalex.org/W3186512740","https://openalex.org/W3017266184","https://openalex.org/W2918377632","https://openalex.org/W3194885736","https://openalex.org/W3046391934","https://openalex.org/W4363671829"],"abstract_inverted_index":{"Behavioral":[0],"cloning":[1],"from":[2,187],"observation":[3],"(BCO)":[4],"allows":[5],"the":[6,10,13,24,40,52,63,87,91,98,103,112,123,132,138,143,146,156,162,169,174,182],"robot":[7,33,154],"to":[8,26,81,116,141],"learn":[9],"policy":[11,140],"without":[12],"expert's":[14,28,99,113],"action":[15,29,42],"information.":[16],"However,":[17],"it":[18],"requires":[19],"a":[20],"few":[21],"interactions":[22],"with":[23,30,131],"environment":[25],"infer":[27],"risk":[31],"of":[32,44,51,86,167,181],"failures.":[34],"In":[35,152],"addition,":[36],"BCO":[37,164],"assumes":[38],"that":[39,97],"inferred":[41,147],"is":[43,66,109,129,185],"accurate,":[45],"causing":[46],"wrong":[47],"and":[48,84,106,119,173],"inefficient":[49],"updates":[50],"policy.":[53],"Both":[54],"problems":[55],"can":[56],"be":[57],"resolved":[58],"by":[59,111,137],"outlier":[60,74],"detection":[61,75],"whether":[62],"faced":[64],"state":[65,114,133],"experienced":[67],"or":[68],"not.":[69],"This":[70],"paper":[71],"addresses":[72],"such":[73],"mechanisms":[76,158,184],"using":[77],"variational":[78],"autoencoder":[79],"(VAE)":[80],"improve":[82],"safety":[83,93,170],"efficiency":[85,125,175],"standard":[88,163],"BCO.":[89],"For":[90,122],"first":[92],"problem,":[94,126],"we":[95],"suppose":[96],"demonstrations":[100],"only":[101],"visited":[102],"safe":[104],"states,":[105],"then,":[107],"VAE":[108,128],"learned":[110],"data":[115,134],"detect":[117,142],"inexperienced":[118],"dangerous":[120],"scenes.":[121],"second":[124],"another":[127],"trained":[130],"safely":[135],"collected":[136],"imitator's":[139],"scenes":[144],"where":[145],"actions":[148],"are":[149],"not":[150],"accurate.":[151],"handwriting":[153],"experiments,":[155],"proposed":[157,183],"succeeded":[159],"in":[160,165],"improving":[161],"terms":[166],"both":[168],"(roughly":[171,176],"64%)":[172],"44%).":[177],"The":[178],"high":[179],"versatility":[180],"verified":[186],"learning":[188],"various":[189],"alphabets.":[190]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
