{"id":"https://openalex.org/W4390188298","doi":"https://doi.org/10.1109/icdl55364.2023.10364556","title":"Real-World Robot Control and Data Augmentation by World-Model Learning from Play","display_name":"Real-World Robot Control and Data Augmentation by World-Model Learning from Play","publication_year":2023,"publication_date":"2023-11-09","ids":{"openalex":"https://openalex.org/W4390188298","doi":"https://doi.org/10.1109/icdl55364.2023.10364556"},"language":"en","primary_location":{"id":"doi:10.1109/icdl55364.2023.10364556","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icdl55364.2023.10364556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Development and Learning (ICDL)","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/A5102356669","display_name":"Yuta Nomura","orcid":null},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuta Nomura","raw_affiliation_strings":["Graduate School of Integrated Design Engineering, Keio University,Kanagawa,Japan","Graduate School of Integrated Design Engineering, Keio University, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Integrated Design Engineering, Keio University,Kanagawa,Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Graduate School of Integrated Design Engineering, Keio University, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101663686","display_name":"Shingo Murata","orcid":"https://orcid.org/0000-0002-0790-1915"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shingo Murata","raw_affiliation_strings":["Graduate School of Integrated Design Engineering, Keio University,Kanagawa,Japan","Graduate School of Integrated Design Engineering, Keio University, Kanagawa, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Integrated Design Engineering, Keio University,Kanagawa,Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Graduate School of Integrated Design Engineering, Keio University, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102356669"],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":0.1876,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51668927,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"100","issue":null,"first_page":"133","last_page":"138"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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":0.9983000159263611,"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":0.9944000244140625,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9879000186920166,"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/real-world-data","display_name":"Real world data","score":0.6243816614151001},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.597571849822998},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5638960599899292},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5470768213272095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3700622320175171},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34702348709106445},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.16491639614105225}],"concepts":[{"id":"https://openalex.org/C3020493868","wikidata":"https://www.wikidata.org/wiki/Q55631277","display_name":"Real world data","level":2,"score":0.6243816614151001},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.597571849822998},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5638960599899292},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5470768213272095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3700622320175171},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34702348709106445},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.16491639614105225}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icdl55364.2023.10364556","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icdl55364.2023.10364556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Development and Learning (ICDL)","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":27,"referenced_works":["https://openalex.org/W1924770834","https://openalex.org/W1959608418","https://openalex.org/W1986014385","https://openalex.org/W2963634205","https://openalex.org/W3034319621","https://openalex.org/W3039055967","https://openalex.org/W3100789280","https://openalex.org/W4212774754","https://openalex.org/W4223520461","https://openalex.org/W4300672471","https://openalex.org/W4322616306","https://openalex.org/W4383109296","https://openalex.org/W6640212811","https://openalex.org/W6640963894","https://openalex.org/W6754184789","https://openalex.org/W6755375130","https://openalex.org/W6756256016","https://openalex.org/W6760439459","https://openalex.org/W6769035977","https://openalex.org/W6779292654","https://openalex.org/W6783988234","https://openalex.org/W6809581794","https://openalex.org/W6809893387","https://openalex.org/W6842654171","https://openalex.org/W6842971753","https://openalex.org/W6845804354","https://openalex.org/W6850343319"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W4311481585","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W1990892711","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890"],"abstract_inverted_index":{"Building":[0],"generalist":[1],"robots":[2,82,131],"that":[3,74,95,110,122],"can":[4,77,101],"perform":[5,84],"well":[6],"in":[7,88,97,114],"complex":[8],"environments":[9],"requires":[10],"high":[11],"generalization":[12,136],"ability.":[13,137],"Imitation":[14],"learning":[15,18,68,124],"and":[16,32,62],"reinforcement":[17],"are":[19],"two":[20],"promising":[21],"approaches,":[22],"but":[23],"they":[24],"have":[25],"a":[26,48,56,134],"tradeoff":[27],"between":[28],"data":[29,33,63,128],"collection":[30],"cost":[31],"richness.":[34],"To":[35],"overcome":[36],"this":[37],"tradeoff,":[38],"we":[39,54,93],"focus":[40],"on":[41,66],"\u201cplay":[42],"data\u201d":[43],"collected":[44],"by":[45],"humans":[46],"teleoperating":[47],"robot":[49,60],"out":[50],"of":[51,108],"curiosity.":[52],"Specifically,":[53],"propose":[55],"framework":[57,76],"for":[58],"real-world":[59],"control":[61],"augmentation":[64],"based":[65],"world-model":[67],"from":[69,125],"play":[70,117],"data.":[71,118],"We":[72],"demonstrate":[73],"our":[75],"be":[78,102],"used":[79,103],"to":[80,83,104,132],"train":[81],"goal-conditioned":[85],"object-manipulation":[86],"tasks":[87],"the":[89,98,115,126],"real":[90],"world.":[91],"Furthermore,":[92],"show":[94],"imagination":[96],"world":[99],"model":[100],"create":[105],"novel":[106],"combinations":[107],"actions":[109],"were":[111],"not":[112],"included":[113],"original":[116],"These":[119],"findings":[120],"suggest":[121],"further":[123],"augmented":[127],"may":[129],"enable":[130],"acquire":[133],"higher":[135]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}
