{"id":"https://openalex.org/W3090268970","doi":"https://doi.org/10.1109/icra40945.2020.9197544","title":"Attentive Task-Net: Self Supervised Task-Attention Network for Imitation Learning using Video Demonstration","display_name":"Attentive Task-Net: Self Supervised Task-Attention Network for Imitation Learning using Video Demonstration","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3090268970","doi":"https://doi.org/10.1109/icra40945.2020.9197544","mag":"3090268970"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197544","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/A5054693036","display_name":"Kartik Ramachandruni","orcid":null},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Kartik Ramachandruni","raw_affiliation_strings":["TCS Research, TATA Consultancy Services, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"TCS Research, TATA Consultancy Services, Bangalore, India","institution_ids":["https://openalex.org/I55215948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101091495","display_name":"Madhu Babu V.","orcid":null},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Madhu Babu V.","raw_affiliation_strings":["TCS Research, TATA Consultancy Services, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"TCS Research, TATA Consultancy Services, Bangalore, India","institution_ids":["https://openalex.org/I55215948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009996322","display_name":"Anima Majumder","orcid":"https://orcid.org/0000-0002-6300-010X"},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Anima Majumder","raw_affiliation_strings":["TCS Research, TATA Consultancy Services, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"TCS Research, TATA Consultancy Services, Bangalore, India","institution_ids":["https://openalex.org/I55215948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001713925","display_name":"Samrat Dutta","orcid":"https://orcid.org/0000-0002-0825-8589"},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Samrat Dutta","raw_affiliation_strings":["TCS Research, TATA Consultancy Services, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"TCS Research, TATA Consultancy Services, Bangalore, India","institution_ids":["https://openalex.org/I55215948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053838336","display_name":"Swagat Kumar","orcid":"https://orcid.org/0000-0001-7405-3445"},"institutions":[{"id":"https://openalex.org/I55215948","display_name":"Tata Consultancy Services (India)","ror":"https://ror.org/01b9n8m42","country_code":"IN","type":"company","lineage":["https://openalex.org/I4210086519","https://openalex.org/I55215948"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Swagat Kumar","raw_affiliation_strings":["TCS Research, TATA Consultancy Services, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"TCS Research, TATA Consultancy Services, Bangalore, India","institution_ids":["https://openalex.org/I55215948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5054693036"],"corresponding_institution_ids":["https://openalex.org/I55215948"],"apc_list":null,"apc_paid":null,"fwci":0.5862,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.69382268,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4760","last_page":"4766"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9988999962806702,"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":0.7931087613105774},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.749893307685852},{"id":"https://openalex.org/keywords/net","display_name":"Net (polyhedron)","score":0.5229983329772949},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5198138952255249},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4892261028289795},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38630980253219604},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3255203366279602},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.14109155535697937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07767033576965332}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7931087613105774},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.749893307685852},{"id":"https://openalex.org/C14166107","wikidata":"https://www.wikidata.org/wiki/Q253829","display_name":"Net (polyhedron)","level":2,"score":0.5229983329772949},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5198138952255249},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4892261028289795},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38630980253219604},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3255203366279602},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.14109155535697937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07767033576965332},{"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/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197544","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W603908379","https://openalex.org/W1515851193","https://openalex.org/W1906772730","https://openalex.org/W1986014385","https://openalex.org/W2096733369","https://openalex.org/W2148112459","https://openalex.org/W2165150801","https://openalex.org/W2167340365","https://openalex.org/W2183341477","https://openalex.org/W2474718355","https://openalex.org/W2475287302","https://openalex.org/W2527925052","https://openalex.org/W2555897561","https://openalex.org/W2594640072","https://openalex.org/W2601322194","https://openalex.org/W2755546070","https://openalex.org/W2769112066","https://openalex.org/W2772721022","https://openalex.org/W2785962646","https://openalex.org/W2787420051","https://openalex.org/W2788862220","https://openalex.org/W2794908222","https://openalex.org/W2883429621","https://openalex.org/W2897689293","https://openalex.org/W2906023997","https://openalex.org/W2913950831","https://openalex.org/W2950735232","https://openalex.org/W2962715211","https://openalex.org/W2962732055","https://openalex.org/W2962758570","https://openalex.org/W2962871243","https://openalex.org/W2962899219","https://openalex.org/W2962957031","https://openalex.org/W2963094133","https://openalex.org/W2963099939","https://openalex.org/W2963195169","https://openalex.org/W2963376229","https://openalex.org/W2963403868","https://openalex.org/W2963713397","https://openalex.org/W2963802910","https://openalex.org/W2964006217","https://openalex.org/W2965273749","https://openalex.org/W3101780148","https://openalex.org/W4297813700","https://openalex.org/W4300198501","https://openalex.org/W4302570325","https://openalex.org/W4385245566","https://openalex.org/W6618372016","https://openalex.org/W6639949747","https://openalex.org/W6640174482","https://openalex.org/W6684205842","https://openalex.org/W6730323794","https://openalex.org/W6734205138","https://openalex.org/W6735944222","https://openalex.org/W6739901393","https://openalex.org/W6744181227","https://openalex.org/W6746809867","https://openalex.org/W6748666111","https://openalex.org/W6751955673"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W3196817267"],"abstract_inverted_index":{"This":[0,66],"paper":[1],"proposes":[2],"an":[3,222],"end-to-end":[4],"self-supervised":[5],"feature":[6,64,76,107,126],"representation":[7],"network":[8],"named":[9],"Attentive":[10],"Task-Net":[11],"or":[12],"AT-Net":[13,20,45,110,144,229,238],"for":[14,105,155],"video-based":[15],"task":[16,36,156,220],"imitation.":[17,157],"The":[18,41,89,109,143,188,211],"proposed":[19,192,212],"incorporates":[21],"a":[22,70,114,151,203,218,247],"novel":[23],"multi-level":[24],"spatial":[25,30],"attention":[26,103,175],"module":[27,104,176],"to":[28,33,120,149,216],"highlight":[29],"features":[31,145],"corresponding":[32],"the":[34,39,47,51,56,79,86,92,97,102,122,125,137,161,171,174,178,183,186,191,228,237,250,259,264],"intended":[35,265],"demonstrated":[37,169],"by":[38,69,96,101,197,255],"expert.":[40],"neural":[42],"connections":[43],"in":[44,50,230,242,249],"ensure":[46],"relevant":[48],"information":[49,58],"demonstration":[52],"is":[53,59,67,111,168,194,214,225],"amplified":[54],"and":[55,135,199],"irrelevant":[57],"suppressed":[60],"while":[61,181,261],"learning":[62,116,153],"task-specific":[63,179],"embeddings.":[65],"achieved":[68],"weighted":[71],"combination":[72,93],"of":[73,78,85,91,128,173,185,190,252],"multiple":[74,132],"intermediate":[75],"maps":[77],"input":[80],"image":[81],"at":[82],"different":[83],"stages":[84],"CNN":[87],"pipeline.":[88],"weights":[90],"are":[94,146],"given":[95],"compatibility":[98],"scores,":[99],"predicted":[100],"respective":[106],"maps.":[108],"trained":[112],"using":[113],"metric":[115],"loss":[117],"which":[118],"aims":[119],"decrease":[121,241],"distance":[123,138],"between":[124,139],"representations":[127],"concurrent":[129],"frames":[130],"from":[131],"view":[133],"points":[134],"increase":[136],"temporally":[140],"consecutive":[141],"frames.":[142],"then":[147],"used":[148],"formulate":[150],"reinforcement":[152],"problem":[154],"Through":[158],"experiments":[159],"on":[160],"publicly":[162],"available":[163],"Multi-view":[164],"pouring":[165,219],"dataset,":[166],"it":[167],"that":[170,236],"output":[172],"highlights":[177],"objects":[180],"suppressing":[182],"rest":[184],"background.":[187],"efficacy":[189],"method":[193,213],"further":[195],"validated":[196],"qualitative":[198],"quantitative":[200],"comparison":[201],"with":[202,207,227,246],"state-of-the-art":[204,260],"technique":[205],"along":[206,245],"intensive":[208],"ablation":[209],"studies.":[210],"implemented":[215],"imitate":[217],"where":[221],"RL":[223],"agent":[224],"learned":[226],"Gazebo":[231],"simulator.":[232],"Our":[233],"findings":[234],"show":[235],"achieves":[239],"6.5%":[240],"alignment":[243],"error":[244],"reduction":[248],"number":[251],"training":[253],"iterations":[254],"almost":[256],"155k":[257],"over":[258],"satisfactorily":[262],"imitating":[263],"task.":[266]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}