{"id":"https://openalex.org/W1903836554","doi":"https://doi.org/10.1109/icra.2015.7139728","title":"Learning symbolic representations of actions from human demonstrations","display_name":"Learning symbolic representations of actions from human demonstrations","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1903836554","doi":"https://doi.org/10.1109/icra.2015.7139728","mag":"1903836554"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139728","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139728","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5113795058","display_name":"S. Reza Ahmadzadeh","orcid":null},"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":"Seyed Reza Ahmadzadeh","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074928236","display_name":"Ali Paikan","orcid":"https://orcid.org/0000-0002-8088-5501"},"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":"Ali Paikan","raw_affiliation_strings":["iCub Facility, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"iCub Facility, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017108129","display_name":"Fulvio Mastrogiovanni","orcid":"https://orcid.org/0000-0001-5913-1898"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fulvio Mastrogiovanni","raw_affiliation_strings":["Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genova, via Opera Pia 13, 16145, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genova, via Opera Pia 13, 16145, Italy","institution_ids":[]}]},{"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":["iCub Facility, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"iCub Facility, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036281885","display_name":"Petar Kormushev","orcid":"https://orcid.org/0000-0002-6677-3044"},"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":"Petar Kormushev","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"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, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30,16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5113795058"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":8.0785,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.97555369,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3801","last_page":"3808"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9937999844551086,"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":0.9864000082015991,"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/icub","display_name":"iCub","score":0.9794356822967529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.706043004989624},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.666394829750061},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6368188261985779},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.6202719211578369},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6201679110527039},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.616370439529419},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6149140000343323},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5289782285690308},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5216032266616821},{"id":"https://openalex.org/keywords/sequence-learning","display_name":"Sequence learning","score":0.46423807740211487},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.45514869689941406},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4035221040248871},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33837705850601196},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1580599546432495},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12959665060043335},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08390122652053833}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.9794356822967529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.706043004989624},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.666394829750061},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6368188261985779},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6202719211578369},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6201679110527039},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.616370439529419},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6149140000343323},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5289782285690308},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5216032266616821},{"id":"https://openalex.org/C40506919","wikidata":"https://www.wikidata.org/wiki/Q7452469","display_name":"Sequence learning","level":2,"score":0.46423807740211487},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45514869689941406},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4035221040248871},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33837705850601196},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1580599546432495},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12959665060043335},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08390122652053833},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2015.7139728","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139728","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unige.it:11567/850389","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/850389","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:spiral.imperial.ac.uk:10044/1/26178","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/26178","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2015","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W852874","https://openalex.org/W7981553","https://openalex.org/W1513808603","https://openalex.org/W1965218672","https://openalex.org/W1967451184","https://openalex.org/W1986014385","https://openalex.org/W1999090922","https://openalex.org/W2003273395","https://openalex.org/W2022760091","https://openalex.org/W2031580264","https://openalex.org/W2031691294","https://openalex.org/W2045225768","https://openalex.org/W2079901511","https://openalex.org/W2097668489","https://openalex.org/W2120591602","https://openalex.org/W2122777916","https://openalex.org/W2134310521","https://openalex.org/W2136719407","https://openalex.org/W2138739434","https://openalex.org/W2138804539","https://openalex.org/W2152972773","https://openalex.org/W2161395589","https://openalex.org/W2165108033","https://openalex.org/W4285719527","https://openalex.org/W6600033781","https://openalex.org/W6600333629","https://openalex.org/W6630818654","https://openalex.org/W6674687248"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2198321481","https://openalex.org/W2963637864","https://openalex.org/W3203901755"],"abstract_inverted_index":{"In":[0,21],"this":[1],"paper,":[2],"a":[3,32,60,75,115,122],"robot":[4,143],"learning":[5,33,135],"approach":[6],"is":[7,43,56],"pro-":[8],"posed":[9],"which":[10,66,125],"integrates":[11],"Visuospatial":[12,80],"Skill":[13,50,81],"Learning,":[14,16],"Imitation":[15],"and":[17,91,98,129],"conventional":[18],"planning":[19],"methods.":[20],"our":[22],"approach,":[23],"the":[24,64,68,72,85,89,102,106,112,134,141],"sensorimotor":[25],"skills":[26,107],"(i.e.,":[27,95],"actions)":[28],"are":[29,108,144],"learned":[30,44],"through":[31,45],"from":[34],"demonstration":[35],"strategy.":[36],"The":[37,79],"sequence":[38],"of":[39,63,88,118],"per-":[40],"formed":[41],"actions":[42],"demonstrations":[46],"using":[47],"Visu-":[48],"ospatial":[49],"Learning.":[51],"A":[52],"standard":[53],"action-level":[54],"planner":[55,103,113],"used":[57],"to":[58,70],"represent":[59,71],"symbolic":[61,77,93],"description":[62],"skill,":[65],"allows":[67],"system":[69],"skill":[73,120],"in":[74],"discrete,":[76],"form.":[78],"Learning":[82],"module":[83],"identifies":[84],"underlying":[86],"constraints":[87],"task":[90],"extracts":[92],"predicates":[94],"action":[96],"preconditions":[97],"effects),":[99],"thereby":[100],"updating":[101],"representation":[104,117],"while":[105],"being":[109],"learned.":[110],"Therefore":[111],"maintains":[114],"generalized":[116],"each":[119],"as":[121],"reusable":[123],"action,":[124],"can":[126],"be":[127],"planned":[128],"performed":[130],"inde-":[131],"pendently":[132],"during":[133],"phase.":[136],"Preliminary":[137],"experimental":[138],"results":[139],"on":[140],"iCub":[142],"presented.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-28T02:08:47.144824","created_date":"2025-10-10T00:00:00"}
