{"id":"https://openalex.org/W2046818102","doi":"https://doi.org/10.1109/icra.2012.6224674","title":"Imitation learning of non-linear point-to-point robot motions using dirichlet processes","display_name":"Imitation learning of non-linear point-to-point robot motions using dirichlet processes","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2046818102","doi":"https://doi.org/10.1109/icra.2012.6224674","mag":"2046818102"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224674","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224674","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5075432056","display_name":"Volker Kr\u00fcger","orcid":"https://orcid.org/0000-0002-8836-8816"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I891191580","display_name":"Aalborg University","ror":"https://ror.org/04m5j1k67","country_code":"DK","type":"education","lineage":["https://openalex.org/I891191580"]}],"countries":["DK","IT"],"is_corresponding":true,"raw_author_name":"Volker Kruger","raw_affiliation_strings":["CVMI, Department of Mechanical and Production Engineering, University of Aalborg, Denmark","Department of Robotics, Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"CVMI, Department of Mechanical and Production Engineering, University of Aalborg, Denmark","institution_ids":["https://openalex.org/I891191580"]},{"raw_affiliation_string":"Department of Robotics, Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008949994","display_name":"Vadim Tikhanoff","orcid":"https://orcid.org/0000-0001-5295-3928"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vadim Tikhanoff","raw_affiliation_strings":["Department of Robotics, Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Natale","raw_affiliation_strings":["Department of Robotics, Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002153617","display_name":"Giulio Sandini","orcid":"https://orcid.org/0000-0003-3324-985X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giulio Sandini","raw_affiliation_strings":["Department of Robotics, Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Brain and Cognitive Sciences, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5075432056"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I891191580"],"apc_list":null,"apc_paid":null,"fwci":6.1879,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.96246627,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2029","last_page":"2034"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9987999796867371,"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":0.9987999796867371,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9976000189781189,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9891999959945679,"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/icub","display_name":"iCub","score":0.9359332323074341},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.711627185344696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6566911935806274},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5693721771240234},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5514602661132812},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.538392186164856},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5037767291069031},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5008974075317383},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.49700573086738586},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42595988512039185},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4146530032157898},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.4139099419116974},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.34348106384277344},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24010145664215088}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9359332323074341},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.711627185344696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6566911935806274},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5693721771240234},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5514602661132812},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.538392186164856},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5037767291069031},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5008974075317383},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.49700573086738586},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42595988512039185},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4146530032157898},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.4139099419116974},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34348106384277344},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24010145664215088},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2012.6224674","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224674","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unige.it:11567/792421","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/792421","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:lup.lub.lu.se:ba610bc5-8e9d-4d3f-943f-bacced3225ee","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/ba610bc5-8e9d-4d3f-943f-bacced3225ee","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"contributiontobookanthology/conference"},{"id":"pmh:oai:pure.atira.dk:publications/1ef9b2e3-d223-44c5-8bb9-ff207812d45a","is_oa":false,"landing_page_url":"https://vbn.aau.dk/da/publications/1ef9b2e3-d223-44c5-8bb9-ff207812d45a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401731","display_name":"VBN Forskningsportal (Aalborg Universitet)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I891191580","host_organization_name":"Aalborg University","host_organization_lineage":["https://openalex.org/I891191580"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Kr\u00fcger , V , Tikhanoff , V , Natale , L &amp; Sandini , G 2012 , Imitation learning of Non-Linear Point-to-Point Robot Motions using Dirichlet Processes . in 2012 IEEE International Conference on Robotics and Automation (ICRA) . IEEE , pp. 2029-2034 , ICRA 2012 , St. Paul, Minnesota , United States , 14/05/2012 . https://doi.org/10.1109/ICRA.2012.6224674","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1663973292","https://openalex.org/W1880262756","https://openalex.org/W2009333972","https://openalex.org/W2020999234","https://openalex.org/W2080972498","https://openalex.org/W2085444192","https://openalex.org/W2110525007","https://openalex.org/W2120636621","https://openalex.org/W2158266063","https://openalex.org/W2210722207","https://openalex.org/W2570764145","https://openalex.org/W2787523326","https://openalex.org/W2949071206","https://openalex.org/W4212863985","https://openalex.org/W4234534407","https://openalex.org/W4237791300","https://openalex.org/W6678007500"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W2789446524","https://openalex.org/W4301244418","https://openalex.org/W2915059514","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2570508284","https://openalex.org/W3106073779","https://openalex.org/W2198321481","https://openalex.org/W2963637864"],"abstract_inverted_index":{"In":[0,91],"this":[1,25,72,92,96,110],"paper":[2,30],"we":[3,94,139,172],"discuss":[4],"the":[5,8,32,63,87,113,117,126,132,150,159,167,190,196],"use":[6,99,130,161],"of":[7,24,45,119,134],"infinite":[9,101],"Gaussian":[10,58,64,102],"mixture":[11,59,103],"model":[12,40,48,60,104],"and":[13],"Dirichlet":[14],"processes":[15],"for":[16,83],"learning":[17],"robot":[18,38,191],"movements":[19],"from":[20,41],"demonstrations.":[21,168],"Starting":[22],"point":[23],"work":[26,51],"is":[27,52,74,192],"an":[28,100],"earlier":[29],"where":[31,62,158],"authors":[33,160],"learn":[34],"a":[35,42,55,80,135,141,184],"non-linear":[36,136],"dynamic":[37,137],"movement":[39],"small":[43],"number":[44,118],"observations.":[46],"The":[47,69],"in":[49,131,156,183,188],"that":[50,75,121,153],"learned":[53],"using":[54],"classical":[56],"finite":[57],"(FGMM)":[61],"mixtures":[65,86,120],"are":[66,122],"appropriately":[67],"constrained.":[68],"problem":[70],"with":[71],"approach":[73,97,175],"one":[76],"needs":[77],"to":[78,98,124,165],"make":[79],"good":[81],"guess":[82],"how":[84],"many":[85],"FGMM":[88],"should":[89],"use.":[90],"work,":[93],"generalize":[95],"(IGMM)":[105],"which":[106,189],"does":[107],"not":[108],"have":[109],"limitation.":[111],"Instead,":[112],"IGMM":[114,143],"automatically":[115],"finds":[116],"necessary":[123],"reflect":[125],"data":[127,152,178],"complexity.":[128],"For":[129],"context":[133],"model,":[138],"develop":[140],"Constrained":[142],"(CIGMM).":[144],"We":[145],"validate":[146],"our":[147,174,181],"algorithm":[148],"on":[149,176,180],"same":[151],"was":[154],"used":[155],"[5],":[157],"motion":[162],"capture":[163],"devices":[164],"record":[166],"As":[169],"further":[170],"validation":[171],"test":[173],"novel":[177],"acquired":[179],"iCub":[182],"different":[185],"demonstration":[186],"scenario":[187],"physically":[193],"driven":[194],"by":[195],"human":[197],"demonstrator.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
