{"id":"https://openalex.org/W4390480930","doi":"https://doi.org/10.1109/humanoids57100.2023.10375150","title":"ImitationNet: Unsupervised Human-to-Robot Motion Retargeting via Shared Latent Space","display_name":"ImitationNet: Unsupervised Human-to-Robot Motion Retargeting via Shared Latent Space","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4390480930","doi":"https://doi.org/10.1109/humanoids57100.2023.10375150"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids57100.2023.10375150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","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/A5113085979","display_name":"Yashuai Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Yashuai Yan","raw_affiliation_strings":["Technische Universität Wien (TU Wien),Autonomous Systems Lab,Vi-enna,Austria"],"affiliations":[{"raw_affiliation_string":"Technische Universität Wien (TU Wien),Autonomous Systems Lab,Vi-enna,Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013385561","display_name":"Esteve Valls Mascaro","orcid":"https://orcid.org/0000-0001-5147-7704"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Esteve Valls Mascaro","raw_affiliation_strings":["Technische Universität Wien (TU Wien),Autonomous Systems Lab,Vi-enna,Austria"],"affiliations":[{"raw_affiliation_string":"Technische Universität Wien (TU Wien),Autonomous Systems Lab,Vi-enna,Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088081800","display_name":"Dongheui Lee","orcid":"https://orcid.org/0000-0003-1897-7664"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]},{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT","DE"],"is_corresponding":false,"raw_author_name":"Dongheui Lee","raw_affiliation_strings":["Technische Universität Wien (TU Wien),Autonomous Systems Lab,Vi-enna,Austria","German Aerospace Center, Institute of Robotics and Mechatronics (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Technische Universität Wien (TU Wien),Autonomous Systems Lab,Vi-enna,Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"German Aerospace Center, Institute of Robotics and Mechatronics (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5113085979"],"corresponding_institution_ids":["https://openalex.org/I145847075"],"apc_list":null,"apc_paid":null,"fwci":2.5792,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.91769056,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.995199978351593,"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"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9912999868392944,"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/computer-science","display_name":"Computer science","score":0.7471357583999634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7267946600914001},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6960880756378174},{"id":"https://openalex.org/keywords/retargeting","display_name":"Retargeting","score":0.680728554725647},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5509617924690247}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7471357583999634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7267946600914001},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6960880756378174},{"id":"https://openalex.org/C2780575108","wikidata":"https://www.wikidata.org/wiki/Q7316652","display_name":"Retargeting","level":2,"score":0.680728554725647},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5509617924690247}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids57100.2023.10375150","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375150","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:202150","is_oa":false,"landing_page_url":"https://elib.dlr.de/202150/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W2017913224","https://openalex.org/W2021822032","https://openalex.org/W2033403369","https://openalex.org/W2098516422","https://openalex.org/W2101032778","https://openalex.org/W2137267908","https://openalex.org/W2735700496","https://openalex.org/W2896690662","https://openalex.org/W2902472612","https://openalex.org/W2963202339","https://openalex.org/W2963775347","https://openalex.org/W3004144700","https://openalex.org/W3010904850","https://openalex.org/W3010967156","https://openalex.org/W3025281718","https://openalex.org/W3038170185","https://openalex.org/W3122282950","https://openalex.org/W3166396011","https://openalex.org/W3167491448","https://openalex.org/W3205547335","https://openalex.org/W4205634661","https://openalex.org/W4214623675","https://openalex.org/W4312392075","https://openalex.org/W4312612133","https://openalex.org/W4312635677","https://openalex.org/W4318953217","https://openalex.org/W4377010269","https://openalex.org/W4386075543","https://openalex.org/W4387963302","https://openalex.org/W6631190155","https://openalex.org/W6684816303","https://openalex.org/W6767627552","https://openalex.org/W6844223692"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2772917594","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,41,57,71,76,117,160,167],"novel":[4],"deep-learning":[5],"approach":[6],"for":[7,137],"human-to-robot":[8,29,146],"motion":[9,93,105],"retargeting,":[10],"enabling":[11],"robots":[12,48],"to":[13,19,35,74,170],"mimic":[14],"human":[15,64,113],"poses":[16,86],"accurately.":[17],"Contrary":[18],"prior":[20],"deep-learning-based":[21],"works,":[22],"our":[23,157,175],"method":[24,158],"does":[25],"not":[26],"require":[27],"paired":[28],"data,":[30],"which":[31,133],"facilitates":[32,134],"its":[33],"translation":[34],"new":[36],"robots.":[37],"First,":[38],"we":[39,69,101,155],"construct":[40],"shared":[42],"latent":[43,78,97],"space":[44,79],"between":[45,62,110],"humans":[46],"and":[47,65,130,152],"via":[49],"adaptive":[50],"contrastive":[51],"learning":[52],"that":[53,80],"takes":[54],"advantage":[55],"of":[56,84,120,150,174],"proposed":[58],"cross-domain":[59],"similarity":[60,83],"metric":[61],"the":[63,82,85,96,172],"robot":[66,92,121,135,162],"poses.":[67,114],"Additionally,":[68],"propose":[70],"consistency":[72],"term":[73],"build":[75],"common":[77],"captures":[81],"with":[87,163],"precision":[88],"while":[89],"allowing":[90],"direct":[91],"control":[94,122,136],"from":[95,123],"space.":[98],"For":[99],"instance,":[100],"can":[102],"generate":[103],"in-between":[104],"through":[106,166],"simple":[107],"linear":[108],"interpolation":[109],"two":[111],"projected":[112],"We":[115],"conduct":[116],"comprehensive":[118],"evaluation":[119],"diverse":[124],"modalities":[125],"(i.e.,":[126],"texts,":[127],"RGB":[128],"videos,":[129],"key":[131],"poses),":[132],"non-expert":[138],"users.":[139],"Our":[140],"model":[141],"outperforms":[142],"existing":[143],"works":[144],"regarding":[145],"retargeting":[147],"in":[148,159],"terms":[149],"efficiency":[151],"precision.":[153],"Finally,":[154],"implemented":[156],"real":[161],"self-collision":[164],"avoidance":[165],"whole-body":[168],"controller":[169],"showcase":[171],"effectiveness":[173],"approach.":[176]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}