{"id":"https://openalex.org/W4391021333","doi":"https://doi.org/10.1109/cdc49753.2023.10383296","title":"BiRP: Learning Robot Generalized Bimanual Coordination Using Relative Parameterization Method on Human Demonstration","display_name":"BiRP: Learning Robot Generalized Bimanual Coordination Using Relative Parameterization Method on Human Demonstration","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4391021333","doi":"https://doi.org/10.1109/cdc49753.2023.10383296"},"language":"en","primary_location":{"id":"doi:10.1109/cdc49753.2023.10383296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10383296","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5071018452","display_name":"Junjia Liu","orcid":"https://orcid.org/0000-0003-2428-5533"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Junjia Liu","raw_affiliation_strings":["T-Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong SAR","Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"T-Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114119803","display_name":"Hengyi Sim","orcid":"https://orcid.org/0009-0003-0212-7566"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hengyi Sim","raw_affiliation_strings":["T-Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong SAR","Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"T-Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088001268","display_name":"Chenzui Li","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Chenzui Li","raw_affiliation_strings":["T-Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong SAR","Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"T-Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025285243","display_name":"Kay Chen Tan","orcid":"https://orcid.org/0000-0002-6802-2463"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Kay Chen Tan","raw_affiliation_strings":["The Hong Kong Polytechnic University,Department of Computing,Hong Kong SAR","Department of Computing, The Hong Kong Polytechnic University, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University,Department of Computing,Hong Kong SAR","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"Department of Computing, The Hong Kong Polytechnic University, Hong Kong SAR","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100405442","display_name":"Fei Chen","orcid":"https://orcid.org/0000-0003-4397-0931"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Fei Chen","raw_affiliation_strings":["T-Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong SAR","Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"T-Stone Robotics Institute, The Chinese University of Hong Kong,Department of Mechanical and Automation Engineering,Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, T-Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong SAR","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.4293,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98095391,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8300","last_page":"8305"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9965999722480774,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9890000224113464,"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/computer-science","display_name":"Computer science","score":0.6842842102050781},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6276537179946899},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5347005724906921},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44296568632125854},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3180224895477295}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6842842102050781},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6276537179946899},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5347005724906921},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44296568632125854},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3180224895477295}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc49753.2023.10383296","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc49753.2023.10383296","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1496308346","https://openalex.org/W1986014385","https://openalex.org/W2001709653","https://openalex.org/W2100993276","https://openalex.org/W2158976313","https://openalex.org/W2161395589","https://openalex.org/W2626524254","https://openalex.org/W2791037159","https://openalex.org/W2914423356","https://openalex.org/W3118951974","https://openalex.org/W3166277824","https://openalex.org/W4213417100","https://openalex.org/W4289656481","https://openalex.org/W4292965202","https://openalex.org/W4389666038"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2350741829","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2402852349"],"abstract_inverted_index":{"Human":[0],"bimanual":[1,30,61,98,151,159],"manipulation":[2,179],"can":[3,118],"perform":[4,148],"more":[5],"complex":[6],"tasks":[7,62],"than":[8],"a":[9,77,144,149,172],"simple":[10],"combination":[11],"of":[12,29,85,107],"two":[13,68],"single":[14],"arms,":[15],"which":[16],"is":[17,32],"credited":[18],"to":[19,43,52,81,100,121,143,147,168],"the":[20,24,27,59,102,105,110,131,166],"spatio-temporal":[21,127],"coordination":[22,31,47,86,92,108,152],"between":[23],"arms.":[25],"However,":[26],"description":[28],"still":[33],"an":[34,45],"open":[35],"topic":[36],"in":[37,63,104,187],"robotics.":[38,53],"This":[39],"makes":[40],"it":[41,142],"difficult":[42],"give":[44],"explainable":[46],"paradigm,":[48],"let":[49],"alone":[50],"applied":[51],"In":[54],"this":[55,157],"work,":[56],"we":[57,75],"divide":[58],"main":[60],"human":[64,88,137],"daily":[65],"activities":[66],"into":[67],"types:":[69],"leader-follower":[70],"and":[71,136,140],"synergistic":[72],"coordination.":[73,128],"Then":[74],"propose":[76],"relative":[78],"parameterization":[79],"method":[80,132,164],"learn":[82],"these":[83],"types":[84],"from":[87,97,161],"demonstration.":[89],"It":[90],"represents":[91],"as":[93,171],"Gaussian":[94],"mixture":[95],"models":[96],"demonstration":[99,138,162],"describe":[101],"change":[103],"importance":[106],"throughout":[109],"motions":[111,135],"by":[112],"probability.":[113],"The":[114,182],"learned":[115],"coordinated":[116],"representation":[117],"be":[119,169],"generalized":[120,150],"new":[122],"task":[123],"parameters":[124],"while":[125],"ensuring":[126],"We":[129,154],"demonstrate":[130],"using":[133],"synthetic":[134],"data":[139,173],"deploy":[141],"humanoid":[145],"robot":[146,177],"motion.":[153],"believe":[155],"that":[156],"easy-to-use":[158],"learning":[160],"(LfD)":[163],"has":[165],"potential":[167],"used":[170],"augmentation":[174],"plugin":[175],"for":[176],"large":[178],"model":[180],"training.":[181],"corresponding":[183],"codes":[184],"are":[185],"open-sourced":[186],"https://github.com/Skylark0924/Rofunc.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
