{"id":"https://openalex.org/W4312558351","doi":"https://doi.org/10.1109/case49997.2022.9926526","title":"A Novel Robot Skill Learning Framework Based on Bilateral Teleoperation","display_name":"A Novel Robot Skill Learning Framework Based on Bilateral Teleoperation","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312558351","doi":"https://doi.org/10.1109/case49997.2022.9926526"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926526","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-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/A5002861905","display_name":"Weiyong Si","orcid":"https://orcid.org/0000-0003-4531-2596"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Weiyong Si","raw_affiliation_strings":["The University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY"],"affiliations":[{"raw_affiliation_string":"The University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011613613","display_name":"Tianqi Yue","orcid":"https://orcid.org/0000-0001-9746-7376"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tianqi Yue","raw_affiliation_strings":["The University of Bristol,Department of Engineering Mathematics and Bristol Robotics Laboratory,Bristol,UK,BS8 1TR"],"affiliations":[{"raw_affiliation_string":"The University of Bristol,Department of Engineering Mathematics and Bristol Robotics Laboratory,Bristol,UK,BS8 1TR","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061926162","display_name":"Yuan Guan","orcid":"https://orcid.org/0000-0001-9040-3169"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yuan Guan","raw_affiliation_strings":["The University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY"],"affiliations":[{"raw_affiliation_string":"The University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100387137","display_name":"Ning Wang","orcid":"https://orcid.org/0000-0002-3264-1852"},"institutions":[{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ning Wang","raw_affiliation_strings":["The University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY"],"affiliations":[{"raw_affiliation_string":"The University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]},{"id":"https://openalex.org/I178535277","display_name":"University of the West of England","ror":"https://ror.org/02nwg5t34","country_code":"GB","type":"education","lineage":["https://openalex.org/I178535277"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["The University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY"],"affiliations":[{"raw_affiliation_string":"The University of the West of England,Faculty of Environment and Technology and Bristol Robotics Lab,Bristol,UK,BS16 1QY","institution_ids":["https://openalex.org/I4210161128","https://openalex.org/I178535277"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5002861905"],"corresponding_institution_ids":["https://openalex.org/I178535277","https://openalex.org/I4210161128"],"apc_list":null,"apc_paid":null,"fwci":1.4156,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.8206269,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"758","last_page":"763"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9968000054359436,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9914000034332275,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/teleoperation","display_name":"Teleoperation","score":0.8706169128417969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7108432054519653},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6949643492698669},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5111868977546692},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.49274781346321106},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4748780131340027},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.438716858625412},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3883751630783081},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33724892139434814},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13163644075393677}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8706169128417969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7108432054519653},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6949643492698669},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5111868977546692},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.49274781346321106},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4748780131340027},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.438716858625412},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3883751630783081},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33724892139434814},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13163644075393677},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49997.2022.9926526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926526","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.6600000262260437,"display_name":"Quality Education"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W2161395589","https://openalex.org/W2791542133","https://openalex.org/W2801074825","https://openalex.org/W2954973371","https://openalex.org/W2968187318","https://openalex.org/W3003735829","https://openalex.org/W3098433902","https://openalex.org/W3112010802","https://openalex.org/W3130985948","https://openalex.org/W3164862896","https://openalex.org/W4210745457","https://openalex.org/W4226103625"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2094105667","https://openalex.org/W2097347938","https://openalex.org/W2164858976","https://openalex.org/W2970545857","https://openalex.org/W3213722473","https://openalex.org/W2731583012","https://openalex.org/W2116848172"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,30,43,118,152,162],"bilateral":[4,27,49],"teleoperation-based":[5],"robot":[6,65,73,144],"skill":[7,24],"learning":[8],"framework":[9],"is":[10,81],"developed":[11],"to":[12,21,35,40,59,84,104],"transfer":[13,36],"multi-step":[14],"and":[15,61,94,157,168],"contact":[16],"manipulation":[17,38,145],"skills":[18,39],"from":[19],"humans":[20,55],"robots.":[22],"Robot":[23],"acquisition":[25],"via":[26],"teleoperation":[28,50],"provides":[29],"solution":[31],"for":[32,90],"human":[33],"teacher":[34],"the":[37,48,57,64,69,72,92,100,106,115,125,134,140,172],"robots":[41],"in":[42,56],"remotely":[44],"feasible":[45],"manner.":[46],"Besides,":[47],"with":[51,63,151],"force":[52],"feedback":[53],"allows":[54],"loop":[58],"monitor":[60],"interface":[62],"behaviour,":[66],"hence":[67],"improving":[68],"safety":[70],"of":[71,108,114,171],"execution.":[74],"The":[75],"dynamic":[76],"movement":[77],"primitive":[78,86,109,120],"(DMP)":[79],"model":[80,105],"first":[82],"employed":[83],"encode":[85],"skills,":[87],"including":[88],"those":[89],"both":[91],"translation":[93],"orientation.":[95],"We":[96,137],"have":[97,138],"been":[98],"utilized":[99],"behaviour":[101],"tree":[102],"(BT)":[103],"sequence":[107],"skills.":[110],"Since":[111],"each":[112],"node":[113],"BT":[116,126],"represents":[117],"single":[119],"skill,":[121],"we":[122],"can":[123],"reproduce":[124],"nodes":[127],"by":[128,161],"employing":[129],"different":[130],"controllers":[131],"based":[132],"on":[133],"task":[135],"requirements.":[136],"evaluated":[139],"approach":[141],"through":[142],"two":[143],"tasks,":[146],"(i)":[147],"grasping":[148],"irregular":[149],"objects":[150],"customized":[153],"soft":[154],"suction":[155],"cup":[156],"(ii)":[158],"wiping":[159],"whiteboard":[160],"7-DoF":[163],"Frank":[164],"Emika":[165],"Panda.":[166],"Results":[167],"performance":[169],"analysis":[170],"experiments":[173],"are":[174],"presented":[175],"subsequently.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-01T00:03:43.161839","created_date":"2025-10-10T00:00:00"}
