{"id":"https://openalex.org/W4410056994","doi":"https://doi.org/10.1080/01691864.2025.2497423","title":"Variable-speed teaching\u2013playback as real-world data augmentation for imitation learning","display_name":"Variable-speed teaching\u2013playback as real-world data augmentation for imitation learning","publication_year":2025,"publication_date":"2025-05-03","ids":{"openalex":"https://openalex.org/W4410056994","doi":"https://doi.org/10.1080/01691864.2025.2497423"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2025.2497423","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2497423","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/A5093782493","display_name":"Nozomu Masuya","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Nozomu Masuya","raw_affiliation_strings":["University of Tsukuba"],"raw_orcid":"https://orcid.org/0009-0000-1252-2488","affiliations":[{"raw_affiliation_string":"University of Tsukuba","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103634381","display_name":"Hiroshi Sato","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi Sato","raw_affiliation_strings":["University of Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tsukuba","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101823225","display_name":"Koki Yamane","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koki Yamane","raw_affiliation_strings":["University of Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tsukuba","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093781421","display_name":"Takuya Kusume","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuya Kusume","raw_affiliation_strings":["University of Tsukuba"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tsukuba","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065050034","display_name":"Sho Sakaino","orcid":"https://orcid.org/0000-0002-5182-5649"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sho Sakaino","raw_affiliation_strings":["University of Tsukuba"],"raw_orcid":"https://orcid.org/0000-0002-5182-5649","affiliations":[{"raw_affiliation_string":"University of Tsukuba","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017159721","display_name":"Toshiaki Tsuji","orcid":"https://orcid.org/0000-0002-4532-4514"},"institutions":[{"id":"https://openalex.org/I72253084","display_name":"Saitama University","ror":"https://ror.org/02evnh647","country_code":"JP","type":"education","lineage":["https://openalex.org/I72253084"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshiaki Tsuji","raw_affiliation_strings":["Saitama University"],"raw_orcid":"https://orcid.org/0000-0002-4532-4514","affiliations":[{"raw_affiliation_string":"Saitama University","institution_ids":["https://openalex.org/I72253084"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5093782493"],"corresponding_institution_ids":["https://openalex.org/I146399215"],"apc_list":null,"apc_paid":null,"fwci":0.8855,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.72386255,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"39","issue":"10","first_page":"550","last_page":"565"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9990000128746033,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9926999807357788,"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/variable","display_name":"Variable (mathematics)","score":0.6937834024429321},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.6907591819763184},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5569651126861572},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46797114610671997},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34518569707870483},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3379533886909485},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.20636406540870667},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13475382328033447}],"concepts":[{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6937834024429321},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6907591819763184},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5569651126861572},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46797114610671997},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34518569707870483},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3379533886909485},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.20636406540870667},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13475382328033447},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"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:10.1080/01691864.2025.2497423","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2025.2497423","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":[{"score":0.4300000071525574,"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger"}],"awards":[{"id":"https://openalex.org/G2590214356","display_name":null,"funder_award_id":"JPNP20004","funder_id":"https://openalex.org/F4320321034","funder_display_name":"New Energy and Industrial Technology Development Organization"},{"id":"https://openalex.org/G709800274","display_name":null,"funder_award_id":"24K00905","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G7663203688","display_name":"\u30ed\u30dc\u30c3\u30c8\u30c8\u30e9\u30f3\u30b9\u30d5\u30a9\u30fc\u30e1\u30fc\u30b7\u30e7\u30f3\u3092\u652f\u3048\u308b\u4f4e\u70ad\u7d20\u6a21\u5023\u5b66\u7fd2","funder_award_id":"JPMJAN24F1","funder_id":"https://openalex.org/F4320334789","funder_display_name":"Japan Science and Technology Agency"}],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320334789","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1609427769","https://openalex.org/W1851340573","https://openalex.org/W1967390389","https://openalex.org/W2064675550","https://openalex.org/W2103221771","https://openalex.org/W2119976842","https://openalex.org/W2148361969","https://openalex.org/W2151412583","https://openalex.org/W2293634267","https://openalex.org/W2558355904","https://openalex.org/W2604382266","https://openalex.org/W2770085058","https://openalex.org/W2777207079","https://openalex.org/W2962736495","https://openalex.org/W2962764994","https://openalex.org/W2963669336","https://openalex.org/W2976205474","https://openalex.org/W3101780148","https://openalex.org/W3148745341","https://openalex.org/W3174867786","https://openalex.org/W3204498073","https://openalex.org/W4226323522","https://openalex.org/W4240725192","https://openalex.org/W4283390866","https://openalex.org/W4283784507","https://openalex.org/W4297691575","https://openalex.org/W4309028162","https://openalex.org/W4366549989","https://openalex.org/W4385430538","https://openalex.org/W4385430674","https://openalex.org/W4388895120","https://openalex.org/W4391678210","https://openalex.org/W4401751184","https://openalex.org/W4403715721","https://openalex.org/W6852377089"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Imitation":[0],"learning\u2019s":[1],"inevitable":[2],"reliance":[3],"on":[4,104,127],"human":[5,139,153],"demonstrations":[6,140,154],"in":[7,12,23],"hard-to-simulate":[8],"settings":[9],"has":[10,31],"resulted":[11],"a":[13,20,58,110],"shortage":[14],"of":[15,28,35,39,61,74,94,112,123,149,160,186],"training":[16],"data,":[17,36],"even":[18],"with":[19,116,155],"simple":[21],"change":[22],"speed.":[24,143],"Although":[25],"the":[26,33,72,90,121,171],"field":[27],"data":[29,40,62,85,125],"augmentation":[30,41,63,86,126],"addressed":[32],"lack":[34],"conventional":[37],"methods":[38,49],"for":[42,52],"robot":[43],"manipulation":[44],"are":[45],"limited":[46],"to":[47,67,87],"simulation-based":[48],"or":[50],"downsampling":[51],"position":[53],"control.":[54,118],"This":[55],"paper":[56],"proposes":[57],"novel":[59],"method":[60,111],"that":[64,147],"is":[65,162],"applicable":[66],"force":[68],"control":[69],"and":[70,92,131,164,168],"preserves":[71],"advantages":[73],"real-world":[75,84,124],"datasets.":[76],"We":[77,119],"applied":[78],"teaching\u2013playback":[79],"at":[80,97,133,141,178],"variable":[81,98,134,179],"speeds":[82,185],"as":[83],"increase":[88],"both":[89],"quantity":[91],"quality":[93],"environmental":[95,176],"reactions":[96,177],"speeds.":[99],"An":[100],"experiment":[101],"was":[102],"conducted":[103],"bilateral":[105],"control-based":[106],"imitation":[107,113],"learning":[108,114],"using":[109],"equipped":[115],"position\u2013force":[117],"evaluated":[120],"effect":[122],"two":[128,138],"tasks,":[129],"pick-and-place":[130],"wiping,":[132],"speeds,":[135,180],"each":[136],"from":[137,152],"fixed":[142],"The":[144],"results":[145],"showed":[146],"generation":[148],"variable-speed":[150],"movement":[151],"less":[156],"than":[157,182],"10%":[158],"variety":[159],"durations":[161],"feasible,":[163],"improved":[165],"success":[166],"rate":[167],"accuracy":[169],"along":[170],"duration/frequency":[172],"command":[173],"by":[174],"gathering":[175],"rather":[181],"simply":[183],"altering":[184],"gathered":[187],"data.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-06-14T06:11:07.267592","created_date":"2025-10-10T00:00:00"}