{"id":"https://openalex.org/W3206156488","doi":"https://doi.org/10.1109/icra48506.2021.9561635","title":"No Need for Interactions: Robust Model-Based Imitation Learning using Neural ODE","display_name":"No Need for Interactions: Robust Model-Based Imitation Learning using Neural ODE","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206156488","doi":"https://doi.org/10.1109/icra48506.2021.9561635","mag":"3206156488"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5086604475","display_name":"HaoChih Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"HaoChih Lin","raw_affiliation_strings":["Baidu Research(USA)","ETH Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Baidu Research(USA)","institution_ids":[]},{"raw_affiliation_string":"ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087869694","display_name":"Baopu Li","orcid":"https://orcid.org/0000-0002-9032-3991"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Baopu Li","raw_affiliation_strings":["Baidu Research(USA)"],"affiliations":[{"raw_affiliation_string":"Baidu Research(USA)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007633349","display_name":"Xin Zhou","orcid":"https://orcid.org/0000-0001-5405-9890"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xin Zhou","raw_affiliation_strings":["Baidu Research(USA)"],"affiliations":[{"raw_affiliation_string":"Baidu Research(USA)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043461784","display_name":"Jiankun Wang","orcid":"https://orcid.org/0000-0001-9139-0291"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiankun Wang","raw_affiliation_strings":["Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021531143","display_name":"Max Q.\u2010H. Meng","orcid":"https://orcid.org/0000-0002-5255-5898"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Max Q.-H. Meng","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5086604475"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.2747,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.55283354,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"104","issue":null,"first_page":"11088","last_page":"11094"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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":0.9984999895095825,"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":0.9973999857902527,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9922000169754028,"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/ode","display_name":"Ode","score":0.843093991279602},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.7467848062515259},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7167513370513916},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5675233006477356},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4314690828323364},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37244167923927307},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1446777582168579},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08217138051986694},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.07956302165985107},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.05155953764915466}],"concepts":[{"id":"https://openalex.org/C34862557","wikidata":"https://www.wikidata.org/wiki/Q178985","display_name":"Ode","level":2,"score":0.843093991279602},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.7467848062515259},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7167513370513916},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5675233006477356},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4314690828323364},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37244167923927307},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1446777582168579},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08217138051986694},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.07956302165985107},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.05155953764915466}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561635","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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":64,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1588998206","https://openalex.org/W1771410628","https://openalex.org/W1931877416","https://openalex.org/W1959608418","https://openalex.org/W1999874108","https://openalex.org/W2061562262","https://openalex.org/W2094990636","https://openalex.org/W2099449742","https://openalex.org/W2142599741","https://openalex.org/W2157918371","https://openalex.org/W2158782408","https://openalex.org/W2166302491","https://openalex.org/W2167224731","https://openalex.org/W2188365844","https://openalex.org/W2334591577","https://openalex.org/W2342840547","https://openalex.org/W2470142083","https://openalex.org/W2729615412","https://openalex.org/W2735089625","https://openalex.org/W2774527530","https://openalex.org/W2794908222","https://openalex.org/W2889731659","https://openalex.org/W2890026535","https://openalex.org/W2895363383","https://openalex.org/W2900152462","https://openalex.org/W2952854274","https://openalex.org/W2952996256","https://openalex.org/W2962779270","https://openalex.org/W2962787969","https://openalex.org/W2962872206","https://openalex.org/W2962957031","https://openalex.org/W2963277051","https://openalex.org/W2963414638","https://openalex.org/W2963435596","https://openalex.org/W2963755523","https://openalex.org/W2964120017","https://openalex.org/W2970377754","https://openalex.org/W2971278153","https://openalex.org/W2975293371","https://openalex.org/W3101780148","https://openalex.org/W3206777520","https://openalex.org/W4289294484","https://openalex.org/W6635231448","https://openalex.org/W6638018090","https://openalex.org/W6640174482","https://openalex.org/W6640963894","https://openalex.org/W6684338915","https://openalex.org/W6687045409","https://openalex.org/W6704559304","https://openalex.org/W6718092244","https://openalex.org/W6741010574","https://openalex.org/W6741115023","https://openalex.org/W6745420753","https://openalex.org/W6747311492","https://openalex.org/W6752307458","https://openalex.org/W6754302822","https://openalex.org/W6754484421","https://openalex.org/W6756256016","https://openalex.org/W6759312711","https://openalex.org/W6765008394","https://openalex.org/W6767877913","https://openalex.org/W6768242542","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W2795432896","https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W3046775127","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W3107602296","https://openalex.org/W4364306694","https://openalex.org/W4312192474"],"abstract_inverted_index":{"Interactions":[0],"with":[1,23,50,99],"either":[2],"environments":[3],"or":[4],"expert":[5],"policies":[6],"during":[7],"training":[8,125],"are":[9],"needed":[10],"for":[11],"most":[12],"of":[13,127],"the":[14,92,115,124,141],"current":[15],"imitation":[16,60],"learning":[17,61],"(IL)":[18],"algorithms.":[19],"For":[20],"IL":[21],"problems":[22],"no":[24],"interactions,":[25],"a":[26,51,76,81,100,103],"typical":[27],"approach":[28],"is":[29,138],"Behavior":[30],"Cloning":[31],"(BC).":[32],"However,":[33],"BC-like":[34],"methods":[35],"tend":[36],"to":[37,74,106,140],"be":[38,97],"affected":[39],"by":[40],"distribution":[41],"shift.":[42],"To":[43],"mitigate":[44],"this":[45],"problem,":[46],"we":[47],"come":[48],"up":[49],"Robust":[52],"Model-Based":[53],"Imitation":[54],"Learning":[55],"(RMBIL)":[56],"framework":[57],"that":[58,114,136],"casts":[59],"as":[62],"an":[63,108,120],"end-to-end":[64],"differentiable":[65],"nonlinear":[66],"closed-loop":[67],"tracking":[68,83],"problem.":[69],"RMBIL":[70,137],"applies":[71],"Neural":[72,128],"ODE":[73],"learn":[75],"precise":[77],"multi-step":[78],"dynamics":[79],"and":[80,147],"robust":[82],"controller":[84,95,116],"via":[85],"Nonlinear":[86],"Dynamics":[87],"Inversion":[88],"(NDI)":[89],"algorithm.":[90],"Then,":[91],"learned":[93],"NDI":[94,121],"will":[96],"combined":[98],"trajectory":[101],"generator,":[102],"conditional":[104],"VAE,":[105],"imitate":[107],"expert’s":[109],"behavior.":[110],"Theoretical":[111],"derivation":[112],"shows":[113],"network":[117],"can":[118],"approximate":[119],"when":[122],"minimizing":[123],"loss":[126],"ODE.":[129],"Experiments":[130],"on":[131],"Mujoco":[132],"tasks":[133],"also":[134],"demonstrate":[135],"competitive":[139],"state-of-the-art":[142],"generative":[143],"adversarial":[144],"method":[145],"(GAIL)":[146],"achieves":[148],"at":[149],"least":[150],"30%":[151],"performance":[152],"gain":[153],"over":[154],"BC":[155],"in":[156],"uneven":[157],"surfaces.":[158]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}