{"id":"https://openalex.org/W4410427548","doi":"https://doi.org/10.1109/access.2025.3570922","title":"A Biologically Inspired Program-Level Imitation Approach for Robots","display_name":"A Biologically Inspired Program-Level Imitation Approach for Robots","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4410427548","doi":"https://doi.org/10.1109/access.2025.3570922"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3570922","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3570922","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2025.3570922","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021701361","display_name":"Pourya Aliasghari","orcid":"https://orcid.org/0000-0001-7818-4194"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Pourya Aliasghari","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7818-4194","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019000422","display_name":"Moojan Ghafurian","orcid":"https://orcid.org/0000-0001-5432-4236"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Moojan Ghafurian","raw_affiliation_strings":["Department of Systems Design Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0001-5432-4236","affiliations":[{"raw_affiliation_string":"Department of Systems Design Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048759955","display_name":"Chrystopher L. Nehaniv","orcid":"https://orcid.org/0000-0002-7807-1875"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Chrystopher L. Nehaniv","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-7807-1875","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059371010","display_name":"Kerstin Dautenhahn","orcid":"https://orcid.org/0000-0002-9263-3897"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kerstin Dautenhahn","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-9263-3897","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5021701361"],"corresponding_institution_ids":["https://openalex.org/I151746483"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":3.9587,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.93239884,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"13","issue":null,"first_page":"89481","last_page":"89501"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9937999844551086,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9937999844551086,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9884999990463257,"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/T10904","display_name":"Embedded Systems Design Techniques","score":0.9747999906539917,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/computer-science","display_name":"Computer science","score":0.7255111336708069},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.610998272895813},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5905451774597168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44390738010406494},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4053308367729187},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07569646835327148}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7255111336708069},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.610998272895813},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5905451774597168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44390738010406494},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4053308367729187},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07569646835327148},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3570922","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3570922","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:668832abbc3240598dd8a8dc251c1344","is_oa":true,"landing_page_url":"https://doaj.org/article/668832abbc3240598dd8a8dc251c1344","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 13, Pp 89481-89501 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3570922","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3570922","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger","score":0.7099999785423279}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320994","display_name":"Canada Research Chairs","ror":"https://ror.org/0517h6h17"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W1601599065","https://openalex.org/W1613163714","https://openalex.org/W1983686725","https://openalex.org/W2010916807","https://openalex.org/W2036930518","https://openalex.org/W2054908983","https://openalex.org/W2063311499","https://openalex.org/W2065308200","https://openalex.org/W2077546699","https://openalex.org/W2083871567","https://openalex.org/W2099359781","https://openalex.org/W2110525007","https://openalex.org/W2122364547","https://openalex.org/W2127748066","https://openalex.org/W2131960487","https://openalex.org/W2135629567","https://openalex.org/W2135856613","https://openalex.org/W2138739434","https://openalex.org/W2145035254","https://openalex.org/W2158026833","https://openalex.org/W2158148009","https://openalex.org/W2162951026","https://openalex.org/W2166307946","https://openalex.org/W2171425630","https://openalex.org/W2561337467","https://openalex.org/W2745471877","https://openalex.org/W2905304202","https://openalex.org/W2907652928","https://openalex.org/W2944078259","https://openalex.org/W2964055695","https://openalex.org/W2968227116","https://openalex.org/W2982615665","https://openalex.org/W2994446013","https://openalex.org/W3129707478","https://openalex.org/W3184714257","https://openalex.org/W3192801518","https://openalex.org/W4221153200","https://openalex.org/W4230846333","https://openalex.org/W4238800657","https://openalex.org/W4285044929","https://openalex.org/W4311803426","https://openalex.org/W4318815495","https://openalex.org/W4380450920","https://openalex.org/W4383315456","https://openalex.org/W4384007783","https://openalex.org/W4385430517","https://openalex.org/W4402354151","https://openalex.org/W4403919476","https://openalex.org/W6623427629","https://openalex.org/W6729895595","https://openalex.org/W6745405225","https://openalex.org/W6809509765","https://openalex.org/W6810640255","https://openalex.org/W6842594805"],"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/W2899084033","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W2748952813","https://openalex.org/W1531601525"],"abstract_inverted_index":{"Robots":[0],"may":[1],"learn":[2,48],"new":[3,50],"skills":[4],"from":[5],"humans":[6],"to":[7,22,25,71,108,163,176],"better":[8],"assist":[9],"us":[10],"with":[11,168],"everyday":[12],"tasks.":[13],"We":[14,131],"propose":[15],"a":[16,40,49,55],"novel,":[17],"biologically":[18],"inspired":[19],"imitation":[20],"approach":[21,153],"enable":[23],"robots":[24,165],"understand":[26],"and":[27,44,142,160,171,179],"perform":[28,166],"complex":[29],"actions":[30,126],"using":[31,121],"high-level":[32],"programs":[33],"that":[34,78],"incorporate":[35],"sequential":[36],"regularities":[37],"between":[38],"sub-goals":[39,77],"robot":[41,56,88,141],"can":[42],"recognize":[43],"physically":[45],"achieve.":[46],"To":[47],"task,":[51,86,107],"human-provided":[52],"demonstrations\u2014obtained":[53],"by":[54,68],"through":[57,101],"different":[58],"modalities":[59],"such":[60],"as":[61],"kinesthetic":[62],"teaching":[63,158],"or":[64],"behavioural":[65],"observation\u2014are":[66],"processed":[67],"an":[69,138],"algorithm":[70],"discover":[72],"multiple":[73,150],"possible":[74],"arrangements":[75],"of":[76,104,113,125,146],"achieve":[79],"the":[80,85,87,91,95,105,110,122,129,133,144,147,174],"task":[81],"goal.":[82],"When":[83],"performing":[84],"first":[89],"evaluates":[90],"available":[92],"sequences":[93],"in":[94,128,149,156],"program":[96],"based":[97],"on":[98,137],"user-defined":[99],"criteria,":[100],"mental":[102],"simulation":[103],"real":[106],"find":[109],"optimal":[111],"sequence":[112,117],"actions.":[114],"The":[115],"selected":[116],"is":[118,161],"then":[119],"executed":[120],"hierarchical":[123],"structure":[124],"embedded":[127],"program.":[130],"implemented":[132],"proposed":[134],"learning":[135],"architecture":[136],"iCub":[139],"humanoid":[140],"evaluated":[143],"effectiveness":[145],"system":[148],"scenarios.":[151],"Our":[152],"accommodates":[154],"variations":[155],"human":[157],"styles":[159],"expected":[162],"help":[164],"tasks":[167],"greater":[169],"flexibility":[170],"efficiency,":[172],"opening":[173],"way":[175],"more":[177],"adaptable":[178],"intelligent":[180],"robots.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-15T08:27:34.491423","created_date":"2025-10-10T00:00:00"}
