{"id":"https://openalex.org/W3006598353","doi":"https://doi.org/10.1109/icra40945.2020.9197476","title":"Context-Aware Task Execution Using Apprenticeship Learning","display_name":"Context-Aware Task Execution Using Apprenticeship Learning","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3006598353","doi":"https://doi.org/10.1109/icra40945.2020.9197476","mag":"3006598353"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197476","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197476","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/A5063145357","display_name":"Ahmed Faisal Abdelrahman","orcid":"https://orcid.org/0009-0002-3436-7399"},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Ahmed Faisal Abdelrahman","raw_affiliation_strings":["Autonomous Systems group, Hochschule Bonn-Rhein-Sieg, Sankt Augustin, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems group, Hochschule Bonn-Rhein-Sieg, Sankt Augustin, Germany","institution_ids":["https://openalex.org/I155417937"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023481815","display_name":"Alex Mitrevski","orcid":"https://orcid.org/0000-0003-3591-3160"},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alex Mitrevski","raw_affiliation_strings":["Autonomous Systems group, Hochschule Bonn-Rhein-Sieg, Sankt Augustin, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems group, Hochschule Bonn-Rhein-Sieg, Sankt Augustin, Germany","institution_ids":["https://openalex.org/I155417937"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037388254","display_name":"Paul G. Pl\u00f6ger","orcid":"https://orcid.org/0000-0001-5563-5458"},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Paul G. Ploger","raw_affiliation_strings":["Autonomous Systems group, Hochschule Bonn-Rhein-Sieg, Sankt Augustin, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems group, Hochschule Bonn-Rhein-Sieg, Sankt Augustin, Germany","institution_ids":["https://openalex.org/I155417937"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5063145357"],"corresponding_institution_ids":["https://openalex.org/I155417937"],"apc_list":null,"apc_paid":null,"fwci":0.5949,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.65733813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1329","last_page":"1335"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7817854881286621},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7036045789718628},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6655455827713013},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6515756845474243},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6025095582008362},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6017957925796509},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5809901356697083},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5673224329948425},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5523843169212341},{"id":"https://openalex.org/keywords/apprenticeship","display_name":"Apprenticeship","score":0.5516102910041809},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.5503173470497131},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5483541488647461},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5042763948440552},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4975443184375763},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4124201536178589},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15928968787193298},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09295248985290527}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7817854881286621},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7036045789718628},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6655455827713013},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6515756845474243},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6025095582008362},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6017957925796509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5809901356697083},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5673224329948425},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5523843169212341},{"id":"https://openalex.org/C107806365","wikidata":"https://www.wikidata.org/wiki/Q253567","display_name":"Apprenticeship","level":2,"score":0.5516102910041809},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.5503173470497131},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5483541488647461},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5042763948440552},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4975443184375763},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4124201536178589},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15928968787193298},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09295248985290527},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra40945.2020.9197476","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197476","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"},{"id":"pmh:oai:pub.h-brs.de:4728","is_oa":false,"landing_page_url":"https://pub.h-brs.de/frontdoor/index/index/docId/4728","pdf_url":null,"source":{"id":"https://openalex.org/S4306400385","display_name":"Publication Server of Bonn-Rhein-Sieg University of Applied Sciences (Bonn-Rhein-Sieg University of Applied Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I135140700","host_organization_name":"University of Bonn","host_organization_lineage":["https://openalex.org/I135140700"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), 31 May - 31 August, 2020, Paris, France","raw_type":"doc-type:conferenceobject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1499669280","https://openalex.org/W1601795611","https://openalex.org/W1663973292","https://openalex.org/W1929309940","https://openalex.org/W1972063518","https://openalex.org/W1977655452","https://openalex.org/W2012587148","https://openalex.org/W2016765487","https://openalex.org/W2042882799","https://openalex.org/W2047191624","https://openalex.org/W2069324174","https://openalex.org/W2071444114","https://openalex.org/W2081357360","https://openalex.org/W2111967991","https://openalex.org/W2116226448","https://openalex.org/W2126909264","https://openalex.org/W2129515556","https://openalex.org/W2133552775","https://openalex.org/W2133853511","https://openalex.org/W2136719407","https://openalex.org/W2140135625","https://openalex.org/W2161395589","https://openalex.org/W2199755135","https://openalex.org/W2400148300","https://openalex.org/W2419438630","https://openalex.org/W2476216644","https://openalex.org/W2565493662","https://openalex.org/W2575899338","https://openalex.org/W2604883922","https://openalex.org/W2890480185","https://openalex.org/W2892024327","https://openalex.org/W2947311533","https://openalex.org/W2948836593","https://openalex.org/W2951458352","https://openalex.org/W2962812027","https://openalex.org/W3011570961","https://openalex.org/W4205513846","https://openalex.org/W4231980343","https://openalex.org/W6640032336","https://openalex.org/W6676560026","https://openalex.org/W6679700999","https://openalex.org/W6680657880","https://openalex.org/W6713034521","https://openalex.org/W6731950560"],"related_works":["https://openalex.org/W2930863966","https://openalex.org/W2126211886","https://openalex.org/W3153786280","https://openalex.org/W3127551068","https://openalex.org/W2165180011","https://openalex.org/W3165944253","https://openalex.org/W4220829754","https://openalex.org/W2351343564","https://openalex.org/W2170052867","https://openalex.org/W2117552637"],"abstract_inverted_index":{"An":[0],"essential":[1],"measure":[2],"of":[3,15,48,68,76],"autonomy":[4],"in":[5,24,170],"assistive":[6],"service":[7],"robots":[8],"is":[9,177],"adaptivity":[10],"to":[11,21,40,118,156],"the":[12,46,69,77,119,161,167,171],"various":[13],"contexts":[14],"human-oriented":[16],"tasks,":[17],"which":[18,143],"are":[19,109],"subject":[20],"subtle":[22],"variations":[23],"task":[25,47,70,113],"parameters":[26],"that":[27,99,185],"determine":[28],"optimal":[29],"behaviour.":[30],"In":[31],"this":[32],"work,":[33],"we":[34],"propose":[35],"an":[36,138],"apprenticeship":[37],"learning":[38,55,97],"approach":[39],"achieving":[41],"context-aware":[42,178],"action":[43,79],"generalization":[44],"on":[45,105],"robot-to-human":[49],"object":[50,139],"hand-over.":[51],"The":[52,164],"procedure":[53],"combines":[54],"from":[56,140],"demonstration":[57],"and":[58,71,91,121,136,179,181],"reinforcement":[59],"learning:":[60],"a":[61,65,92,128,141,149],"robot":[62,120],"first":[63],"imitates":[64],"demonstrator's":[66],"execution":[67],"then":[72],"learns":[73],"contextualized":[74],"variants":[75],"demonstrated":[78,150],"through":[80],"experience.":[81],"We":[82,125],"use":[83],"dynamic":[84],"movement":[85],"primitives":[86],"as":[87],"compact":[88],"motion":[89,155],"representations,":[90],"model-based":[93],"C-REPS":[94],"algorithm":[95],"for":[96],"policies":[98],"can":[100,186],"specify":[101],"hand-over":[102,157],"position,":[103],"conditioned":[104],"context":[106],"variables.":[107],"Policies":[108],"learned":[110,162],"using":[111],"simulated":[112],"executions,":[114],"before":[115],"transferring":[116],"them":[117],"evaluating":[122],"emergent":[123],"behaviours.":[124],"additionally":[126],"conduct":[127],"user":[129],"study":[130],"involving":[131],"participants":[132],"assuming":[133],"different":[134],"postures":[135],"receiving":[137],"robot,":[142],"executes":[144],"hand-overs":[145],"by":[146,160],"either":[147],"imitating":[148],"motion,":[151],"or":[152],"adapting":[153],"its":[154],"positions":[158],"suggested":[159],"policy.":[163],"results":[165],"confirm":[166],"hypothesized":[168],"improvements":[169],"robot's":[172],"perceived":[173],"behaviour":[174],"when":[175],"it":[176],"adaptive,":[180],"provide":[182],"useful":[183],"insights":[184],"inform":[187],"future":[188],"developments.":[189]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}