{"id":"https://openalex.org/W2016219463","doi":"https://doi.org/10.1109/icra.2014.6907335","title":"Learning from demonstrations with partially observable task parameters","display_name":"Learning from demonstrations with partially observable task parameters","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2016219463","doi":"https://doi.org/10.1109/icra.2014.6907335","mag":"2016219463"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907335","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/198846","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085787626","display_name":"Tohid Alizadeh","orcid":"https://orcid.org/0000-0002-9717-3009"},"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":true,"raw_author_name":"Tohid Alizadeh","raw_affiliation_strings":["Department of Advanced robotics (ADVR), Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced robotics (ADVR), Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]},{"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":["CH","IT"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Department of Advanced robotics (ADVR), Istituto Italiano di Tecnologia (IIT), Genova, Italy","Universita degli Studi di Genova, Idiap Research Institute, Martigny, Switzerland"],"affiliations":[{"raw_affiliation_string":"Department of Advanced robotics (ADVR), Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Universita degli Studi di Genova, Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"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":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced robotics (ADVR), Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced robotics (ADVR), Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5085787626"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":6.1531,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.96234979,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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":0.9991999864578247,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9955000281333923,"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":0.9945999979972839,"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/computer-science","display_name":"Computer science","score":0.6905015707015991},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6854197978973389},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.660668134689331},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6565995216369629},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6375786066055298},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6286463141441345},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5652246475219727},{"id":"https://openalex.org/keywords/unavailability","display_name":"Unavailability","score":0.5434456467628479},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5332044959068298},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5299293398857117},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5087340474128723},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.479853093624115},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15000241994857788},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12420344352722168}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6905015707015991},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6854197978973389},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.660668134689331},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6565995216369629},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6375786066055298},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6286463141441345},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5652246475219727},{"id":"https://openalex.org/C2780505938","wikidata":"https://www.wikidata.org/wiki/Q17093282","display_name":"Unavailability","level":2,"score":0.5434456467628479},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5332044959068298},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5299293398857117},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5087340474128723},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.479853093624115},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15000241994857788},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12420344352722168},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2014.6907335","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907335","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.433.6791","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.433.6791","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.calinon.ch/papers/Alizadeh-ICRA2014.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:198846","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/198846","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:198846","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/198846","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"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":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1684361744","https://openalex.org/W1974849157","https://openalex.org/W1976536305","https://openalex.org/W1977013839","https://openalex.org/W2001709653","https://openalex.org/W2010999573","https://openalex.org/W2047191624","https://openalex.org/W2063182199","https://openalex.org/W2069324174","https://openalex.org/W2091797369","https://openalex.org/W2104214833","https://openalex.org/W2116226448","https://openalex.org/W2128677288","https://openalex.org/W2171250816","https://openalex.org/W2293741035","https://openalex.org/W4211008118","https://openalex.org/W4300982816"],"related_works":["https://openalex.org/W4237235066","https://openalex.org/W207884067","https://openalex.org/W3127016596","https://openalex.org/W2026539069","https://openalex.org/W1989224798","https://openalex.org/W2122164124","https://openalex.org/W2738959291","https://openalex.org/W2043154226","https://openalex.org/W2168520748","https://openalex.org/W2378174708"],"abstract_inverted_index":{"Robot":[0],"learning":[1],"from":[2],"demonstrations":[3,81],"requires":[4,118],"the":[5,26,30,36,62,72,80,116],"robot":[6,63,117],"to":[7,12,40,45,56,119,127],"learn":[8],"and":[9,19,82],"adapt":[10],"movements":[11,37],"new":[13],"situations,":[14],"often":[15],"characterized":[16],"by":[17],"position":[18],"orientation":[20],"of":[21,48,51,59,74,102,124],"objects":[22,60],"or":[23,96],"landmarks":[24],"in":[25,61,87,114],"robot's":[27],"environment.":[28],"In":[29],"task-parameterized":[31],"Gaussian":[32],"mixture":[33],"model":[34],"framework,":[35],"are":[38],"considered":[39],"be":[41],"modulated":[42],"with":[43,98,109],"respect":[44],"a":[46,57,66,99,110,121],"set":[47,58],"candidate":[49,77],"frames":[50,78],"reference":[52],"(coordinate":[53],"systems)":[54],"attached":[55],"workspace.":[64],"Following":[65],"similar":[67],"approach,":[68],"this":[69,107],"paper":[70],"addresses":[71],"problem":[73,108],"having":[75],"missing":[76],"during":[79],"reproductions,":[83],"which":[84,115],"can":[85],"happen":[86],"various":[88],"situations":[89],"such":[90],"as":[91],"visual":[92],"occlusion,":[93],"sensor":[94],"unavailability,":[95],"tasks":[97],"variable":[100,122],"number":[101],"descriptive":[103],"features.":[104],"We":[105],"study":[106],"dust":[111,125],"sweeping":[112],"task":[113],"consider":[120],"amount":[123],"areas":[126],"clean":[128],"for":[129],"each":[130],"reproduction":[131],"trial.":[132]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":6}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
