{"id":"https://openalex.org/W4252287909","doi":"https://doi.org/10.1109/hri.2016.7451881","title":"Learning complex sequential tasks from demonstration: A pizza dough rolling case study","display_name":"Learning complex sequential tasks from demonstration: A pizza dough rolling case study","publication_year":2016,"publication_date":"2016-03-01","ids":{"openalex":"https://openalex.org/W4252287909","doi":"https://doi.org/10.1109/hri.2016.7451881"},"language":"en","primary_location":{"id":"doi:10.1109/hri.2016.7451881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hri.2016.7451881","pdf_url":null,"source":{"id":"https://openalex.org/S4363608116","display_name":"2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","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":"2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/221954","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074348852","display_name":"Nadia Figueroa","orcid":"https://orcid.org/0000-0002-6873-4671"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nadia Figueroa","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087978143","display_name":"Ana Lucia Pais Ureche","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ana Lucia Pais Ureche","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne, Lausanne, VD, CH"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne, Lausanne, VD, CH","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.839,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.98388097,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9879999756813049,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.949999988079071,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/task","display_name":"Task (project management)","score":0.7456717491149902},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7454092502593994},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6489840149879456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.564709484577179},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.5596665740013123},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.5363527536392212},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.535749614238739},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5332963466644287},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.46322372555732727},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.45417922735214233},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4519044756889343},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.4451158940792084},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.44354063272476196},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4395798444747925},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.43806856870651245},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4134847819805145},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10578858852386475}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7456717491149902},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7454092502593994},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6489840149879456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.564709484577179},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.5596665740013123},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.5363527536392212},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.535749614238739},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5332963466644287},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.46322372555732727},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.45417922735214233},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4519044756889343},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.4451158940792084},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.44354063272476196},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4395798444747925},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.43806856870651245},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4134847819805145},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10578858852386475},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/hri.2016.7451881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/hri.2016.7451881","pdf_url":null,"source":{"id":"https://openalex.org/S4363608116","display_name":"2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","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":"2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.tind.io:221954","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/221954","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"},{"id":"pmh:oai:infoscience.tind.io:224719","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/224719","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/224719","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.tind.io:221954","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/221954","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W1986014385","https://openalex.org/W2182585001"],"related_works":["https://openalex.org/W3111440524","https://openalex.org/W2558272010","https://openalex.org/W2731243571","https://openalex.org/W4385174651","https://openalex.org/W3162087156","https://openalex.org/W1597792207","https://openalex.org/W2133182130","https://openalex.org/W2921166921","https://openalex.org/W1566020258","https://openalex.org/W4210345773"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,57,71,99],"hierarchical":[4,109],"framework":[5,97],"that":[6],"is":[7,111],"capable":[8],"of":[9,78],"learning":[10],"complex":[11],"sequential":[12],"tasks":[13],"from":[14],"human":[15,22],"demonstrations":[16],"through":[17],"kinesthetic":[18],"teaching,":[19],"with":[20,98],"minimal":[21],"intervention.":[23],"Via":[24],"an":[25],"automatic":[26],"task":[27,42,67,72,103],"segmentation":[28],"and":[29,84,89,104],"action":[30,45,92],"primitive":[31],"discovery":[32],"algorithm,":[33],"we":[34,69],"are":[35],"able":[36],"to":[37,63,87],"learn":[38],"both":[39],"the":[40,65,76,79,107],"high-level":[41],"decomposition":[43],"(into":[44],"primitives),":[46],"as":[47,49],"well":[48],"low-level":[50],"motion":[51],"parameterizations":[52],"for":[53,114],"each":[54,91],"action,":[55],"in":[56],"fully":[58],"integrated":[59],"framework.":[60],"In":[61],"order":[62],"reach":[64],"desired":[66],"goal,":[68],"encode":[70],"metric":[73],"based":[74],"on":[75],"evolution":[77],"manipulated":[80],"object":[81],"during":[82],"demonstration,":[83],"use":[85],"it":[86],"sequence":[88],"parametrize":[90],"primitive.":[93],"We":[94],"illustrate":[95],"this":[96],"pizza":[100],"dough":[101],"rolling":[102],"show":[105],"how":[106],"learned":[108],"knowledge":[110],"directly":[112],"used":[113],"autonomous":[115],"robot":[116],"execution.":[117]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
