{"id":"https://openalex.org/W3089739707","doi":"https://doi.org/10.1109/icra40945.2020.9197172","title":"Motion Reasoning for Goal-Based Imitation Learning","display_name":"Motion Reasoning for Goal-Based Imitation Learning","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089739707","doi":"https://doi.org/10.1109/icra40945.2020.9197172","mag":"3089739707"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5052829033","display_name":"De-An Huang","orcid":"https://orcid.org/0000-0002-6945-7768"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"De-An Huang","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067607006","display_name":"Yu-Wei Chao","orcid":"https://orcid.org/0000-0002-5476-4343"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu-Wei Chao","raw_affiliation_strings":["NVIDIA"],"affiliations":[{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044926286","display_name":"Chris Paxton","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chris Paxton","raw_affiliation_strings":["NVIDIA"],"affiliations":[{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084549268","display_name":"Xinke Deng","orcid":"https://orcid.org/0000-0002-0150-6658"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xinke Deng","raw_affiliation_strings":["NVIDIA"],"affiliations":[{"raw_affiliation_string":"NVIDIA","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":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Li Fei-Fei","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018518655","display_name":"Juan Carlos Niebles","orcid":"https://orcid.org/0000-0001-8225-9793"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan Carlos Niebles","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"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":["NVIDIA"],"affiliations":[{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108257764","display_name":"Dieter Fox","orcid":"https://orcid.org/0009-0009-4694-9127"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dieter Fox","raw_affiliation_strings":["NVIDIA"],"affiliations":[{"raw_affiliation_string":"NVIDIA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5052829033"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":0.977,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.78391141,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4878","last_page":"4884"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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/computer-science","display_name":"Computer science","score":0.8248587846755981},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7612105011940002},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.7033321857452393},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6555171012878418},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6191126108169556},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5946181416511536},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5561726689338684},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5262362360954285},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.4970593750476837},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4817052483558655},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.4246899485588074},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.4162994921207428},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09093734622001648}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8248587846755981},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7612105011940002},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.7033321857452393},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6555171012878418},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6191126108169556},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5946181416511536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5561726689338684},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5262362360954285},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.4970593750476837},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4817052483558655},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.4246899485588074},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.4162994921207428},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09093734622001648},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":87,"referenced_works":["https://openalex.org/W1489183362","https://openalex.org/W1575558843","https://openalex.org/W1742823642","https://openalex.org/W1971086298","https://openalex.org/W1973447078","https://openalex.org/W1992154343","https://openalex.org/W1999874108","https://openalex.org/W2031738727","https://openalex.org/W2064175235","https://openalex.org/W2097668489","https://openalex.org/W2098774185","https://openalex.org/W2099614498","https://openalex.org/W2107530627","https://openalex.org/W2119004998","https://openalex.org/W2147544021","https://openalex.org/W2151516755","https://openalex.org/W2173708377","https://openalex.org/W2264742718","https://openalex.org/W2290104316","https://openalex.org/W2293288132","https://openalex.org/W2293700449","https://openalex.org/W2294614044","https://openalex.org/W2295692686","https://openalex.org/W2329615486","https://openalex.org/W2525032226","https://openalex.org/W2570113340","https://openalex.org/W2571600439","https://openalex.org/W2573358024","https://openalex.org/W2583137229","https://openalex.org/W2591957724","https://openalex.org/W2601322194","https://openalex.org/W2604763608","https://openalex.org/W2735300570","https://openalex.org/W2755546070","https://openalex.org/W2775893952","https://openalex.org/W2796136333","https://openalex.org/W2805883505","https://openalex.org/W2808033819","https://openalex.org/W2901915167","https://openalex.org/W2908470496","https://openalex.org/W2908802515","https://openalex.org/W2945685071","https://openalex.org/W2946501375","https://openalex.org/W2962732055","https://openalex.org/W2962940757","https://openalex.org/W2963094133","https://openalex.org/W2963188159","https://openalex.org/W2963277051","https://openalex.org/W2963292213","https://openalex.org/W2963590100","https://openalex.org/W2963642716","https://openalex.org/W2963802910","https://openalex.org/W2963937357","https://openalex.org/W2964021598","https://openalex.org/W2964055695","https://openalex.org/W2964242760","https://openalex.org/W2964333534","https://openalex.org/W2966869984","https://openalex.org/W2968073526","https://openalex.org/W2979490629","https://openalex.org/W3003735829","https://openalex.org/W3004133887","https://openalex.org/W3027372030","https://openalex.org/W3103940950","https://openalex.org/W4237833769","https://openalex.org/W4248056173","https://openalex.org/W4297208889","https://openalex.org/W4297789683","https://openalex.org/W6674687248","https://openalex.org/W6674884181","https://openalex.org/W6681478256","https://openalex.org/W6696380822","https://openalex.org/W6718092244","https://openalex.org/W6731867724","https://openalex.org/W6732117937","https://openalex.org/W6734502593","https://openalex.org/W6735944222","https://openalex.org/W6736057607","https://openalex.org/W6743367460","https://openalex.org/W6744181227","https://openalex.org/W6748203849","https://openalex.org/W6749916090","https://openalex.org/W6752638779","https://openalex.org/W6756627562","https://openalex.org/W6756742327","https://openalex.org/W6762391802","https://openalex.org/W6762687050"],"related_works":["https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W3035185588","https://openalex.org/W2953174548","https://openalex.org/W1528460682"],"abstract_inverted_index":{"We":[0,114,131,157],"address":[1],"goal-based":[2],"imitation":[3],"learning,":[4],"where":[5],"the":[6,11,21,29,42,52,66,89,93,96,104,143,147,151,163,168,177],"aim":[7],"is":[8,40,48,74,173],"to":[9,23,75,87,102,175],"output":[10],"symbolic":[12],"goal":[13,31,43,145,166],"from":[14,167],"a":[15,33,45,77,119,127,181],"third-person":[16],"video":[17,46,97,124,169],"demonstration.":[18,98],"This":[19,99],"enables":[20],"robot":[22,172],"plan":[24],"for":[25],"execution":[26],"and":[27,84,149],"reproduce":[28,176],"same":[30,178],"in":[32,65,95,126,141,180],"completely":[34],"different":[35],"environment.":[36,130,184],"The":[37,57],"key":[38],"challenge":[39],"that":[41,81,106,133,160],"of":[44,54,92,122,146],"demonstration":[47],"often":[49],"ambiguous":[50],"at":[51],"level":[53],"semantic":[55],"actions.":[56,70],"human":[58],"demonstrators":[59],"might":[60],"unintentionally":[61],"achieve":[62],"certain":[63],"subgoals":[64],"demonstrations":[67,125],"with":[68],"their":[69],"Our":[71],"main":[72],"contribution":[73],"propose":[76],"motion":[78,85,135],"reasoning":[79,136],"framework":[80],"combines":[82],"task":[83,179],"planning":[86],"disambiguate":[88],"true":[90],"intention":[91],"demonstrator":[94,148],"allows":[100],"us":[101],"recognize":[103],"goals":[105],"cannot":[107],"be":[108],"disambiguated":[109],"by":[110,154,161],"previous":[111],"action-based":[112],"approaches.":[113],"evaluate":[115],"our":[116,134,171],"approach":[117],"on":[118],"new":[120],"dataset":[121],"96":[123],"mockup":[128],"kitchen":[129,183],"show":[132,159],"plays":[137],"an":[138],"important":[139],"role":[140],"recognizing":[142],"actual":[144],"improves":[150],"success":[152],"rate":[153],"over":[155],"20%.":[156],"further":[158],"using":[162],"automatically":[164],"inferred":[165],"demonstration,":[170],"able":[174],"real":[182]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}