{"id":"https://openalex.org/W2038517147","doi":"https://doi.org/10.1109/ichr.2010.5686348","title":"Task modeling in imitation learning using latent variable models","display_name":"Task modeling in imitation learning using latent variable models","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2038517147","doi":"https://doi.org/10.1109/ichr.2010.5686348","mag":"2038517147"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","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/A5022800415","display_name":"Carl Henrik Ek","orcid":"https://orcid.org/0000-0003-1302-6309"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Carl Henrik Ek","raw_affiliation_strings":["Computer Vision & Active Perception Laboratory, Center of Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology; Stockholm Sweden"],"affiliations":[{"raw_affiliation_string":"Computer Vision & Active Perception Laboratory, Center of Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology; Stockholm Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100634207","display_name":"Dan Song","orcid":"https://orcid.org/0000-0002-5864-0276"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Dan Song","raw_affiliation_strings":["Computer Vision & Active Perception Laboratory, Center of Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology; Stockholm Sweden"],"affiliations":[{"raw_affiliation_string":"Computer Vision & Active Perception Laboratory, Center of Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology; Stockholm Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066518445","display_name":"Kai Huebner","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Kai Huebner","raw_affiliation_strings":["Computer Vision & Active Perception Laboratory, Center of Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology; Stockholm Sweden"],"affiliations":[{"raw_affiliation_string":"Computer Vision & Active Perception Laboratory, Center of Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology; Stockholm Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["Computer Vision & Active Perception Laboratory, Center of Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology; Stockholm Sweden"],"affiliations":[{"raw_affiliation_string":"Computer Vision & Active Perception Laboratory, Center of Autonomous Systems, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology; Stockholm Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022800415"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":1.858,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.87429199,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"6","issue":null,"first_page":"548","last_page":"553"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9980000257492065,"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"}},"topics":[{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9980000257492065,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9970999956130981,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/discriminative-model","display_name":"Discriminative model","score":0.8085793256759644},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.789176344871521},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6626670360565186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6601768732070923},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6234095692634583},{"id":"https://openalex.org/keywords/latent-variable","display_name":"Latent variable","score":0.5843337178230286},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5586933493614197},{"id":"https://openalex.org/keywords/latent-variable-model","display_name":"Latent variable model","score":0.49072444438934326},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4593854248523712},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4465670883655548},{"id":"https://openalex.org/keywords/statistical-model","display_name":"Statistical model","score":0.43532076478004456}],"concepts":[{"id":"https://openalex.org/C97931131","wikidata":"https://www.wikidata.org/wiki/Q5282087","display_name":"Discriminative model","level":2,"score":0.8085793256759644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.789176344871521},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6626670360565186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6601768732070923},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6234095692634583},{"id":"https://openalex.org/C51167844","wikidata":"https://www.wikidata.org/wiki/Q4422623","display_name":"Latent variable","level":2,"score":0.5843337178230286},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5586933493614197},{"id":"https://openalex.org/C65965080","wikidata":"https://www.wikidata.org/wiki/Q1806885","display_name":"Latent variable model","level":3,"score":0.49072444438934326},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4593854248523712},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4465670883655548},{"id":"https://openalex.org/C114289077","wikidata":"https://www.wikidata.org/wiki/Q3284399","display_name":"Statistical model","level":2,"score":0.43532076478004456},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ichr.2010.5686348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.308.917","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.308.917","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.carlhenrik.com/publications/assets/2010_Ek-Task Modeling in Imitation Learning.pdf","raw_type":"text"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/ff7ead37-7abb-49d7-b8ba-a127b4fa8a9b","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/ff7ead37-7abb-49d7-b8ba-a127b4fa8a9b","pdf_url":null,"source":{"id":"https://openalex.org/S7407055359","display_name":"Explore Bristol Research","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Ek, C H, Song, D, Huebner, K & Kragic, D 2010, Task modeling in imitation learning using latent variable models. in IEEE-RAS International Conference on Humanoid Robots. pp. 548-553.","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.7599999904632568,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1489279189","https://openalex.org/W2036096913","https://openalex.org/W2047346158","https://openalex.org/W2115918762","https://openalex.org/W2120405375","https://openalex.org/W2136111243","https://openalex.org/W2151327674","https://openalex.org/W2155217025","https://openalex.org/W2155953626","https://openalex.org/W2159080219","https://openalex.org/W2162315509","https://openalex.org/W2264426170","https://openalex.org/W2542636623","https://openalex.org/W3148383472","https://openalex.org/W6629171406","https://openalex.org/W6680375596","https://openalex.org/W6683019739","https://openalex.org/W6683885849"],"related_works":["https://openalex.org/W2461917396","https://openalex.org/W2037497866","https://openalex.org/W4243467573","https://openalex.org/W1502435251","https://openalex.org/W62001224","https://openalex.org/W3032390039","https://openalex.org/W1584341211","https://openalex.org/W3122667150","https://openalex.org/W4393387622","https://openalex.org/W3145681568"],"abstract_inverted_index":{"An":[0],"important":[1],"challenge":[2],"in":[3,70],"robotic":[4],"research":[5],"is":[6,40],"learning":[7],"and":[8,85],"reasoning":[9],"about":[10,64,88],"different":[11,29,89,94],"manipulation":[12],"tasks":[13],"from":[14],"scene":[15],"observations.":[16,49],"In":[17],"this":[18],"paper":[19],"we":[20],"present":[21,79],"a":[22],"probabilistic":[23],"model":[24,39],"capable":[25,41],"of":[26,31,59,96],"modeling":[27],"several":[28],"types":[30],"input":[32],"sources":[33],"within":[34,84],"the":[35,44,54,60,74,76],"same":[36],"model.":[37],"Our":[38],"to":[42,62,68,72],"infer":[43],"task":[45,82],"using":[46],"only":[47],"partial":[48,57],"Further,":[50],"our":[51],"framework":[52],"allows":[53],"robot,":[55],"given":[56],"knowledge":[58],"scene,":[61],"reason":[63,87],"what":[65],"information":[66],"streams":[67],"acquire":[69],"order":[71],"disambiguate":[73],"state-space":[75],"most.":[77],"We":[78],"results":[80],"for":[81,93],"classification":[83],"also":[86],"features":[90],"discriminative":[91],"power":[92],"classes":[95],"tasks.":[97]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}