{"id":"https://openalex.org/W4415524374","doi":"https://doi.org/10.1109/humanoids65713.2025.11203120","title":"Few-shot Imitation Learning by Variable-Length Trajectory Retrieval from a Large and Diverse Dataset","display_name":"Few-shot Imitation Learning by Variable-Length Trajectory Retrieval from a Large and Diverse Dataset","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524374","doi":"https://doi.org/10.1109/humanoids65713.2025.11203120"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203120","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203120","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th 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/A5109346116","display_name":"Tomoyuki Araki","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tomoyuki Araki","raw_affiliation_strings":["University of Tokyo,Tokyo,Japan"],"affiliations":[{"raw_affiliation_string":"University of Tokyo,Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061625131","display_name":"Yusuke Mukuta","orcid":"https://orcid.org/0000-0002-7727-5681"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Mukuta","raw_affiliation_strings":["University of Tokyo,Tokyo,Japan"],"affiliations":[{"raw_affiliation_string":"University of Tokyo,Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028032706","display_name":"Takayuki Osa","orcid":"https://orcid.org/0000-0002-6895-9088"},"institutions":[{"id":"https://openalex.org/I4210126580","display_name":"RIKEN Center for Advanced Intelligence Project","ror":"https://ror.org/03ckxwf91","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652","https://openalex.org/I4210126580"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Osa","raw_affiliation_strings":["RIKEN Center for Advanced Intelligence Project (AIP),Tokyo,Japan"],"affiliations":[{"raw_affiliation_string":"RIKEN Center for Advanced Intelligence Project (AIP),Tokyo,Japan","institution_ids":["https://openalex.org/I4210126580"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042711470","display_name":"Tatsuya Harada","orcid":"https://orcid.org/0000-0002-3712-3691"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Harada","raw_affiliation_strings":["University of Tokyo,Tokyo,Japan"],"affiliations":[{"raw_affiliation_string":"University of Tokyo,Tokyo,Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5109346116"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32067484,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"829","last_page":"836"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9958999752998352,"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":0.9958999752998352,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9894999861717224,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9635999798774719,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.8339999914169312},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5644999742507935},{"id":"https://openalex.org/keywords/labeled-data","display_name":"Labeled data","score":0.490200012922287},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4578000009059906},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.44769999384880066},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.3970000147819519},{"id":"https://openalex.org/keywords/data-collection","display_name":"Data collection","score":0.383899986743927},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.35030001401901245}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.8339999914169312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7857999801635742},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6565999984741211},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5644999742507935},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5109000205993652},{"id":"https://openalex.org/C2776145971","wikidata":"https://www.wikidata.org/wiki/Q30673951","display_name":"Labeled data","level":2,"score":0.490200012922287},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4578000009059906},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.44769999384880066},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.3970000147819519},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.383899986743927},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.35030001401901245},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34119999408721924},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3046000003814697},{"id":"https://openalex.org/C58973888","wikidata":"https://www.wikidata.org/wiki/Q1041418","display_name":"Semi-supervised learning","level":2,"score":0.28610000014305115},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.27549999952316284},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2727000117301941},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C22367795","wikidata":"https://www.wikidata.org/wiki/Q7625208","display_name":"Structured prediction","level":2,"score":0.25940001010894775},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.25200000405311584},{"id":"https://openalex.org/C24138899","wikidata":"https://www.wikidata.org/wiki/Q17141258","display_name":"Instance-based learning","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203120","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203120","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1977655452","https://openalex.org/W2096733369","https://openalex.org/W2158782408","https://openalex.org/W2604382266","https://openalex.org/W2794908222","https://openalex.org/W2796864868","https://openalex.org/W2994446013","https://openalex.org/W3159481202","https://openalex.org/W3207359859","https://openalex.org/W4210444794","https://openalex.org/W4400770903","https://openalex.org/W4401414814","https://openalex.org/W4405785482"],"related_works":[],"abstract_inverted_index":{"Imitation":[0],"learning":[1,47,170],"offers":[2],"an":[3],"effective":[4],"framework":[5],"for":[6],"enabling":[7],"robots":[8],"to":[9,45,58,62,83,91,112,139],"acquire":[10],"complex":[11],"skills,":[12],"but":[13],"typically":[14],"requires":[15],"a":[16,104,123],"large":[17],"number":[18,125],"of":[19,88,126],"labeled":[20],"demonstrations,":[21,127],"making":[22],"data":[23,44,145],"collection":[24,146],"costly.":[25],"In":[26],"contrast,":[27],"large-scale":[28],"unlabeled":[29,65,133],"datasets":[30,134,152],"containing":[31],"diverse":[32,151],"trajectories":[33,60,109,129],"can":[34],"be":[35],"obtained":[36],"more":[37],"easily,":[38],"motivating":[39],"methods":[40,70,171],"that":[41,106,154],"leverage":[42],"such":[43],"enable":[46],"from":[48,64,132],"few":[49],"demonstrations.":[50],"A":[51],"promising":[52],"approach":[53],"along":[54],"this":[55,101],"direction":[56],"is":[57],"retrieve":[59,118],"similar":[61,120],"demonstrations":[63,138],"datasets.":[66],"However,":[67],"existing":[68,167],"retrieval-based":[69,168],"often":[71],"rely":[72],"on":[73,149],"frame-level":[74],"comparisons":[75],"or":[76],"fixed-length":[77],"trajectory":[78],"embeddings,":[79],"limiting":[80],"their":[81],"ability":[82],"capture":[84,113],"the":[85,141,155],"temporal":[86],"structure":[87],"behaviors":[89],"and":[90,116,135,162],"generalize":[92],"across":[93],"different":[94],"execution":[95],"speeds.":[96],"To":[97],"address":[98],"these":[99],"limitations,":[100],"paper":[102],"proposes":[103],"method":[105,157],"embeds":[107],"variable-length":[108],"using":[110],"Self-Attention":[111],"sequence":[114],"information":[115],"robustly":[117],"semantically":[119],"behaviors.":[121],"Using":[122],"small":[124],"relevant":[128],"are":[130],"extracted":[131],"used":[136],"alongside":[137],"train":[140],"agent,":[142],"thereby":[143],"reducing":[144],"costs.":[147],"Experiments":[148],"large-scale,":[150],"demonstrate":[153],"proposed":[156],"achieves":[158],"higher":[159],"retrieval":[160],"accuracy":[161],"task":[163],"success":[164],"rates":[165],"than":[166],"imitation":[169],"under":[172],"realistic":[173],"conditions.":[174]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-24T00:00:00"}