{"id":"https://openalex.org/W2964055695","doi":"https://doi.org/10.1109/icra.2018.8460689","title":"Neural Task Programming: Learning to Generalize Across Hierarchical Tasks","display_name":"Neural Task Programming: Learning to Generalize Across Hierarchical Tasks","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2964055695","doi":"https://doi.org/10.1109/icra.2018.8460689","mag":"2964055695"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460689","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5028834865","display_name":"Danfei Xu","orcid":"https://orcid.org/0000-0002-8744-3861"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Danfei Xu","raw_affiliation_strings":["Stanford Vision & Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision & Learning Lab","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101603884","display_name":"Suraj Nair","orcid":"https://orcid.org/0009-0001-7456-9043"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Suraj Nair","raw_affiliation_strings":["CS, Caltech"],"affiliations":[{"raw_affiliation_string":"CS, Caltech","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030826237","display_name":"Yuke Zhu","orcid":"https://orcid.org/0000-0002-9198-2227"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuke Zhu","raw_affiliation_strings":["Stanford Vision & Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision & Learning Lab","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050887643","display_name":"Julian Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Julian Gao","raw_affiliation_strings":["Stanford Vision & Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision & Learning Lab","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061193324","display_name":"Animesh Garg","orcid":"https://orcid.org/0000-0003-0482-4296"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Animesh Garg","raw_affiliation_strings":["Stanford Vision & Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision & Learning Lab","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450462","display_name":"Li Fei-Fei","orcid":"https://orcid.org/0000-0002-7481-0810"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li Fei-Fei","raw_affiliation_strings":["Stanford Vision & Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision & Learning Lab","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042646536","display_name":"Silvio Savarese","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Silvio Savarese","raw_affiliation_strings":["Stanford Vision & Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision & Learning Lab","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5028834865"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":18.7248,"has_fulltext":false,"cited_by_count":153,"citation_normalized_percentile":{"value":0.99560454,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3795","last_page":"3802"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9980000257492065,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.996999979019165,"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/computer-science","display_name":"Computer science","score":0.760238528251648},{"id":"https://openalex.org/keywords/subroutine","display_name":"Subroutine","score":0.7599824070930481},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7495325803756714},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6748652458190918},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6200288534164429},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5647263526916504},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4969806969165802},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4781692624092102},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.4696193337440491},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.44429752230644226},{"id":"https://openalex.org/keywords/inductive-logic-programming","display_name":"Inductive logic programming","score":0.4210951626300812},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.2998046278953552}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.760238528251648},{"id":"https://openalex.org/C96147967","wikidata":"https://www.wikidata.org/wiki/Q190686","display_name":"Subroutine","level":2,"score":0.7599824070930481},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7495325803756714},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6748652458190918},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6200288534164429},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5647263526916504},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4969806969165802},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4781692624092102},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.4696193337440491},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.44429752230644226},{"id":"https://openalex.org/C2779382394","wikidata":"https://www.wikidata.org/wiki/Q1464197","display_name":"Inductive logic programming","level":2,"score":0.4210951626300812},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.2998046278953552},{"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},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8460689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460689","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","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":46,"referenced_works":["https://openalex.org/W567721252","https://openalex.org/W1777239053","https://openalex.org/W1931877416","https://openalex.org/W1977655452","https://openalex.org/W1982370770","https://openalex.org/W1986014385","https://openalex.org/W2002526699","https://openalex.org/W2020149918","https://openalex.org/W2064675550","https://openalex.org/W2097856935","https://openalex.org/W2109910161","https://openalex.org/W2115733720","https://openalex.org/W2129093238","https://openalex.org/W2145339207","https://openalex.org/W2145680191","https://openalex.org/W2158548602","https://openalex.org/W2601322194","https://openalex.org/W2605016475","https://openalex.org/W2607964821","https://openalex.org/W2919658942","https://openalex.org/W2962887844","https://openalex.org/W2963262099","https://openalex.org/W2963341924","https://openalex.org/W2963937837","https://openalex.org/W2964118342","https://openalex.org/W2964227312","https://openalex.org/W4211008118","https://openalex.org/W4297669644","https://openalex.org/W4297809004","https://openalex.org/W6616173779","https://openalex.org/W6638088447","https://openalex.org/W6640174482","https://openalex.org/W6645945701","https://openalex.org/W6651001921","https://openalex.org/W6679126776","https://openalex.org/W6683443546","https://openalex.org/W6687668866","https://openalex.org/W6703271639","https://openalex.org/W6716358881","https://openalex.org/W6717697761","https://openalex.org/W6727222535","https://openalex.org/W6730038592","https://openalex.org/W6736050541","https://openalex.org/W6736544626","https://openalex.org/W6741309492","https://openalex.org/W6808409006"],"related_works":["https://openalex.org/W2166791242","https://openalex.org/W2967461658","https://openalex.org/W2021572460","https://openalex.org/W2016100981","https://openalex.org/W4200448553","https://openalex.org/W2096416100","https://openalex.org/W4285102526","https://openalex.org/W2097364276","https://openalex.org/W2318652717","https://openalex.org/W2974665343"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3],"propose":[4],"a":[5,32,39,54],"novel":[6],"robot":[7,75],"learning":[8,21],"framework":[9],"called":[10],"Neural":[11],"Task":[12],"Programming":[13],"(NTP),":[14],"which":[15],"bridges":[16],"the":[17,67],"idea":[18],"of":[19,38],"few-shot":[20],"from":[22],"demonstration":[23,37],"and":[24,41,88,109],"neural":[25,56],"program":[26],"induction.":[27],"NTP":[28,78,96],"takes":[29],"as":[30],"input":[31],"task":[33],"specification":[34],"(e.g.,":[35],"video":[36],"task)":[40],"recursively":[42],"decomposes":[43],"it":[44],"into":[45],"finer":[46],"sub-task":[47],"specifications.":[48],"These":[49],"specifications":[50],"are":[51,61],"fed":[52],"to":[53,98],"hierarchical":[55],"program,":[57],"where":[58],"bottom-level":[59],"programs":[60],"callable":[62],"subroutines":[63],"that":[64,85,95],"interact":[65],"with":[66,104],"environment.":[68],"We":[69],"validate":[70],"our":[71],"method":[72],"in":[73],"three":[74],"manipulation":[76],"tasks.":[77],"achieves":[79],"strong":[80],"generalization":[81],"across":[82],"sequential":[83],"tasks":[84,103],"exhibit":[86],"hierarchal":[87],"compositional":[89],"structures.":[90],"The":[91],"experimental":[92],"results":[93],"show":[94],"learns":[97],"generalize":[99],"well":[100],"towards":[101],"unseen":[102],"increasing":[105],"lengths,":[106],"variable":[107],"topologies,":[108],"changing":[110],"objectives.stanfordvl.github.io/ntp/.":[111]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":33},{"year":2020,"cited_by_count":33},{"year":2019,"cited_by_count":25},{"year":2018,"cited_by_count":9}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}