{"id":"https://openalex.org/W4383109332","doi":"https://doi.org/10.1109/icra48891.2023.10160291","title":"Guided Learning from Demonstration for Robust Transferability","display_name":"Guided Learning from Demonstration for Robust Transferability","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109332","doi":"https://doi.org/10.1109/icra48891.2023.10160291"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160291","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5042792890","display_name":"Fouad Sukkar","orcid":"https://orcid.org/0000-0002-7041-5151"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Fouad Sukkar","raw_affiliation_strings":["UTS Robotics Institute and the Centre for Advanced Manufacturing, School for Mechanical and Mechatronic Engineering, University of Technology Sydney,Ultimo,NSW,Australia,2007","Australian Cobotics Centre (ITTC for Collaborative Robotics in Advanced Manufacturing)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UTS Robotics Institute and the Centre for Advanced Manufacturing, School for Mechanical and Mechatronic Engineering, University of Technology Sydney,Ultimo,NSW,Australia,2007","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Australian Cobotics Centre (ITTC for Collaborative Robotics in Advanced Manufacturing)","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082893026","display_name":"Victor Hernandez Moreno","orcid":"https://orcid.org/0000-0002-6038-6959"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Victor Hernandez Moreno","raw_affiliation_strings":["UTS Robotics Institute and the Centre for Advanced Manufacturing, School for Mechanical and Mechatronic Engineering, University of Technology Sydney,Ultimo,NSW,Australia,2007","Australian Cobotics Centre (ITTC for Collaborative Robotics in Advanced Manufacturing)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UTS Robotics Institute and the Centre for Advanced Manufacturing, School for Mechanical and Mechatronic Engineering, University of Technology Sydney,Ultimo,NSW,Australia,2007","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Australian Cobotics Centre (ITTC for Collaborative Robotics in Advanced Manufacturing)","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086794522","display_name":"Teresa Vidal\u2010Calleja","orcid":"https://orcid.org/0000-0002-5763-9644"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Teresa Vidal-Calleja","raw_affiliation_strings":["UTS Robotics Institute and the Centre for Advanced Manufacturing, School for Mechanical and Mechatronic Engineering, University of Technology Sydney,Ultimo,NSW,Australia,2007","Australian Cobotics Centre (ITTC for Collaborative Robotics in Advanced Manufacturing)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UTS Robotics Institute and the Centre for Advanced Manufacturing, School for Mechanical and Mechatronic Engineering, University of Technology Sydney,Ultimo,NSW,Australia,2007","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Australian Cobotics Centre (ITTC for Collaborative Robotics in Advanced Manufacturing)","institution_ids":["https://openalex.org/I4210127558"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015077179","display_name":"Jochen Deuse","orcid":"https://orcid.org/0000-0003-4066-4357"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]},{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jochen Deuse","raw_affiliation_strings":["UTS Robotics Institute and the Centre for Advanced Manufacturing, School for Mechanical and Mechatronic Engineering, University of Technology Sydney,Ultimo,NSW,Australia,2007","Australian Cobotics Centre (ITTC for Collaborative Robotics in Advanced Manufacturing)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UTS Robotics Institute and the Centre for Advanced Manufacturing, School for Mechanical and Mechatronic Engineering, University of Technology Sydney,Ultimo,NSW,Australia,2007","institution_ids":["https://openalex.org/I114017466"]},{"raw_affiliation_string":"Australian Cobotics Centre (ITTC for Collaborative Robotics in Advanced Manufacturing)","institution_ids":["https://openalex.org/I4210127558"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5851,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.53476322,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"9241","issue":null,"first_page":"5048","last_page":"5054"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.998199999332428,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.7788244485855103},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7602505683898926},{"id":"https://openalex.org/keywords/transferability","display_name":"Transferability","score":0.7591688632965088},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5171074867248535},{"id":"https://openalex.org/keywords/graphical-user-interface","display_name":"Graphical user interface","score":0.516172468662262},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4953209459781647},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.45456036925315857},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4359573423862457},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4191702902317047},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3324511647224426},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3155961036682129},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12151268124580383},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07871431112289429},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07257246971130371}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7788244485855103},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7602505683898926},{"id":"https://openalex.org/C61272859","wikidata":"https://www.wikidata.org/wiki/Q7834031","display_name":"Transferability","level":3,"score":0.7591688632965088},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5171074867248535},{"id":"https://openalex.org/C37789001","wikidata":"https://www.wikidata.org/wiki/Q782543","display_name":"Graphical user interface","level":2,"score":0.516172468662262},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4953209459781647},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.45456036925315857},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4359573423862457},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4191702902317047},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3324511647224426},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3155961036682129},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12151268124580383},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07871431112289429},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07257246971130371},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C140331021","wikidata":"https://www.wikidata.org/wiki/Q1868104","display_name":"Logit","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160291","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icra48891.2023.10160291","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1999549166","https://openalex.org/W2086113803","https://openalex.org/W2199215277","https://openalex.org/W2199658141","https://openalex.org/W2500624988","https://openalex.org/W2574247547","https://openalex.org/W2579638008","https://openalex.org/W2769555377","https://openalex.org/W2795577874","https://openalex.org/W2913939945","https://openalex.org/W2934999524","https://openalex.org/W2939831007","https://openalex.org/W2978696050","https://openalex.org/W2994446013","https://openalex.org/W3011565689","https://openalex.org/W3030328006","https://openalex.org/W3081176596","https://openalex.org/W3089886842","https://openalex.org/W3093518330","https://openalex.org/W3094280121","https://openalex.org/W3094460093","https://openalex.org/W3118688377","https://openalex.org/W3207456112","https://openalex.org/W4295689618","https://openalex.org/W6746119731","https://openalex.org/W6778073884"],"related_works":["https://openalex.org/W2161221533","https://openalex.org/W4229699405","https://openalex.org/W1666484574","https://openalex.org/W2216382288","https://openalex.org/W2355491300","https://openalex.org/W4234629551","https://openalex.org/W2011110943","https://openalex.org/W2028856635","https://openalex.org/W2150257691","https://openalex.org/W2011433332"],"abstract_inverted_index":{"Learning":[0],"from":[1,82,99],"demonstration":[2,35,61,83,166],"(LfD)":[3],"has":[4],"the":[5,10,34,50,54,60,93,111,126,152,165,210,219],"potential":[6],"to":[7,39,47,59,133,181,206,215],"greatly":[8],"increase":[9],"applicability":[11],"of":[12,73,106,113,135,218],"robotic":[13],"manipulators":[14],"in":[15,21,28,32,37,125,213],"modern":[16],"industrial":[17],"applications.":[18],"Recent":[19],"progress":[20],"LfD":[22],"methods":[23],"have":[24],"put":[25],"more":[26],"emphasis":[27],"learning":[29,81],"robustness":[30],"than":[31],"guiding":[33],"itself":[36],"order":[38],"improve":[40],"robustness.":[41],"The":[42,103],"latter":[43],"is":[44,56,109,158,173],"particularly":[45],"important":[46],"consider":[48],"when":[49],"target":[51,153],"system":[52],"reproducing":[53],"motion":[55,119],"structurally":[57],"different":[58,144],"system,":[62],"as":[63,151,164],"some":[64],"demonstrated":[65],"motions":[66,115],"may":[67],"not":[68],"be":[69,134],"reproducible.":[70],"In":[71],"light":[72],"this,":[74],"this":[75],"paper":[76],"introduces":[77],"a":[78,118,147,161,187,192,198],"new":[79],"guided":[80],"paradigm":[84],"where":[85,129,176],"an":[86,169],"interactive":[87],"graphical":[88],"user":[89,94,171],"interface":[90],"(GUI)":[91],"guides":[92],"during":[95],"demonstration,":[96],"preventing":[97],"them":[98],"demonstrating":[100],"non-reproducible":[101],"motions.":[102],"key":[104],"aspect":[105],"our":[107,140,156],"approach":[108],"determining":[110],"space":[112,128],"reproducible":[114],"based":[116],"on":[117,142],"planning":[120],"framework":[121],"which":[122],"finds":[123],"regions":[124],"task":[127,190,211],"trajectories":[130],"are":[131,179],"guaranteed":[132],"bounded":[136],"length.":[137],"We":[138],"evaluate":[139],"method":[141,157],"two":[143],"setups":[145],"with":[146,183],"six-degree-of-freedom":[148],"(DOF)":[149],"UR5":[150],"system.":[154,167,200],"First":[155],"validated":[159],"using":[160,191],"seven-DOF":[162],"Sawyer":[163],"Then":[168],"extensive":[170],"study":[172],"carried":[174],"out":[175,209],"several":[177],"participants":[178],"asked":[180],"demonstrate,":[182],"and":[184],"without":[185,221],"guidance,":[186],"mock":[188],"weld":[189],"hand":[193],"held":[194],"tool":[195],"tracked":[196],"by":[197],"VICON":[199],"With":[201],"guidance":[202],"users":[203],"were":[204],"able":[205],"always":[207],"carry":[208],"successfully":[212],"comparison":[214],"only":[216],"44%":[217],"time":[220],"guidance.":[222]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}