{"id":"https://openalex.org/W2972866037","doi":"https://doi.org/10.1109/icarm.2019.8833960","title":"Online Multi-modal Imitation Learning via Lifelong Intention Encoding","display_name":"Online Multi-modal Imitation Learning via Lifelong Intention Encoding","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2972866037","doi":"https://doi.org/10.1109/icarm.2019.8833960","mag":"2972866037"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2019.8833960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8833960","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5101775106","display_name":"Songhao Piao","orcid":"https://orcid.org/0000-0003-4351-9112"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songhao Piao","raw_affiliation_strings":["School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061883661","display_name":"Yue Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Huang","raw_affiliation_strings":["School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041101317","display_name":"Huaping Liu","orcid":"https://orcid.org/0000-0002-4042-6044"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaping Liu","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"786","last_page":"792"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9991000294685364,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987000226974487,"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/encoding","display_name":"Encoding (memory)","score":0.7416133284568787},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.7335150241851807},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.673374593257904},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6662504076957703},{"id":"https://openalex.org/keywords/lifelong-learning","display_name":"Lifelong learning","score":0.6422433853149414},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37633076310157776},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.15907496213912964},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.06274199485778809}],"concepts":[{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.7416133284568787},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.7335150241851807},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.673374593257904},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6662504076957703},{"id":"https://openalex.org/C108771440","wikidata":"https://www.wikidata.org/wiki/Q368475","display_name":"Lifelong learning","level":2,"score":0.6422433853149414},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37633076310157776},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.15907496213912964},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.06274199485778809},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2019.8833960","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8833960","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.49000000953674316,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1519626139","https://openalex.org/W1999874108","https://openalex.org/W2043152589","https://openalex.org/W2061562262","https://openalex.org/W2098774185","https://openalex.org/W2106008664","https://openalex.org/W2116039916","https://openalex.org/W2117675763","https://openalex.org/W2119717200","https://openalex.org/W2154342426","https://openalex.org/W2181849516","https://openalex.org/W2290104316","https://openalex.org/W2606433045","https://openalex.org/W2736601468","https://openalex.org/W2785962646","https://openalex.org/W2888836575","https://openalex.org/W2891776057","https://openalex.org/W2892083311","https://openalex.org/W2909238590","https://openalex.org/W2963209708","https://openalex.org/W2963221965","https://openalex.org/W2963277051","https://openalex.org/W2963590100","https://openalex.org/W2963713397","https://openalex.org/W6631089601","https://openalex.org/W6674884181","https://openalex.org/W6676004469","https://openalex.org/W6677555207","https://openalex.org/W6685962732","https://openalex.org/W6696380822","https://openalex.org/W6718092244","https://openalex.org/W6736368053","https://openalex.org/W6738261575","https://openalex.org/W6741002519","https://openalex.org/W6753684177","https://openalex.org/W6754476001","https://openalex.org/W6754844423"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2364105709"],"abstract_inverted_index":{"For":[0],"the":[1,113],"imitation":[2,35,65,82,94],"learning":[3,66,83,88,95,101],"of":[4,116],"robotic":[5],"manipulation,":[6],"generalized":[7],"ability":[8],"that":[9,69],"enable":[10,49],"robots":[11,50],"to":[12,32,51,90],"continuously":[13],"acquire":[14],"new":[15],"tasks":[16,24,67,118],"and":[17,119],"reuse":[18],"pre-existing":[19],"experience":[20,123],"from":[21,62,71,104],"previous":[22],"learned":[23],"is":[25,109],"necessary.":[26],"In":[27],"this":[28],"paper,":[29],"we":[30],"aim":[31],"learn":[33],"multi-modal":[34],"demonstrations":[36],"with":[37,74,92],"different":[38],"intentions":[39],"by":[40],"optimizing":[41],"a":[42,80,121],"sparse":[43,133],"coding":[44],"lifelong":[45,81],"intention":[46,102],"dictionary,":[47],"which":[48,60,126],"autonomously":[52],"imitate":[53],"various":[54,72],"complex":[55],"behaviours.":[56],"We":[57],"investigate":[58],"multi-intention":[59,93,132],"encode":[61],"an":[63],"action":[64],"sequence":[68],"comes":[70],"experts":[73],"diverse":[75],"intention.":[76],"Our":[77,107],"approach":[78],"developed":[79],"framework":[84],"for":[85,98,130],"inverse":[86,99],"reinforcement":[87,100],"(IRL)":[89],"deal":[91],"problem.":[96],"suitable":[97],"encoding":[103],"open-ended":[105],"demonstrations.":[106],"work":[108],"aimed":[110],"at":[111],"producing":[112],"reward":[114],"function":[115],"general":[117],"maintaining":[120],"reusable":[122],"dictionary":[124],"automatically":[125],"can":[127],"be":[128],"used":[129],"online":[131],"encoding.":[134]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}