{"id":"https://openalex.org/W4383066569","doi":"https://doi.org/10.1109/icra48891.2023.10160895","title":"Bimanual Rope Manipulation Skill Synthesis through Context Dependent Correction Policy Learning from Human Demonstration","display_name":"Bimanual Rope Manipulation Skill Synthesis through Context Dependent Correction Policy Learning from Human Demonstration","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066569","doi":"https://doi.org/10.1109/icra48891.2023.10160895"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160895","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":"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/A5092393117","display_name":"Baturhan Akbulut","orcid":null},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Baturhan Akbulut","raw_affiliation_strings":["Bogazici University,Deparment of Computer Engineering,Istanbul,Turkey","Deparment of Computer Engineering, Bogazici University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Bogazici University,Deparment of Computer Engineering,Istanbul,Turkey","institution_ids":["https://openalex.org/I4405392"]},{"raw_affiliation_string":"Deparment of Computer Engineering, Bogazici University, Istanbul, Turkey","institution_ids":["https://openalex.org/I4405392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092393118","display_name":"Tuba Girgin","orcid":null},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Tuba Girgin","raw_affiliation_strings":["Bogazici University,Deparment of Computer Engineering,Istanbul,Turkey","Deparment of Computer Engineering, Bogazici University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Bogazici University,Deparment of Computer Engineering,Istanbul,Turkey","institution_ids":["https://openalex.org/I4405392"]},{"raw_affiliation_string":"Deparment of Computer Engineering, Bogazici University, Istanbul, Turkey","institution_ids":["https://openalex.org/I4405392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088728019","display_name":"Arash Mehrabi","orcid":null},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Arash Mehrabi","raw_affiliation_strings":["Ozyegin University,Deparment of Computer Engineering,Istanbul,Turkey","Deparment of Computer Engineering, Ozyegin University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Ozyegin University,Deparment of Computer Engineering,Istanbul,Turkey","institution_ids":["https://openalex.org/I44925452"]},{"raw_affiliation_string":"Deparment of Computer Engineering, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044985800","display_name":"Minoru Asada","orcid":"https://orcid.org/0000-0001-9506-6333"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]},{"id":"https://openalex.org/I4528725","display_name":"Osaka International University","ror":"https://ror.org/02dqf3w62","country_code":"JP","type":"education","lineage":["https://openalex.org/I4528725"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Minoru Asada","raw_affiliation_strings":["Institute for Open and Transdisciplinary, Research Initiatives, Osaka University,Symbiotic Intelligent Systems Research Center,Japan","International Professional University of Technology in Osaka, Osaka, Japan","Symbiotic Intelligent Systems Research Center, Institute for Open and Transdisciplinary, Research Initiatives, Osaka University, Japan"],"affiliations":[{"raw_affiliation_string":"Institute for Open and Transdisciplinary, Research Initiatives, Osaka University,Symbiotic Intelligent Systems Research Center,Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"International Professional University of Technology in Osaka, Osaka, Japan","institution_ids":["https://openalex.org/I4528725"]},{"raw_affiliation_string":"Symbiotic Intelligent Systems Research Center, Institute for Open and Transdisciplinary, Research Initiatives, Osaka University, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048165304","display_name":"Emre U\u011fur","orcid":"https://orcid.org/0000-0001-9597-2731"},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Emre Ugur","raw_affiliation_strings":["Bogazici University,Deparment of Computer Engineering,Istanbul,Turkey","Deparment of Computer Engineering, Bogazici University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Bogazici University,Deparment of Computer Engineering,Istanbul,Turkey","institution_ids":["https://openalex.org/I4405392"]},{"raw_affiliation_string":"Deparment of Computer Engineering, Bogazici University, Istanbul, Turkey","institution_ids":["https://openalex.org/I4405392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018729334","display_name":"Erhan \u00d6ztop","orcid":"https://orcid.org/0000-0002-3051-6038"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]},{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["JP","TR"],"is_corresponding":false,"raw_author_name":"Erhan Oztop","raw_affiliation_strings":["Ozyegin University,Deparment of Computer Engineering,Istanbul,Turkey","Deparment of Computer Engineering, Ozyegin University, Istanbul, Turkey","Symbiotic Intelligent Systems Research Center, Institute for Open and Transdisciplinary, Research Initiatives, Osaka University, Japan"],"affiliations":[{"raw_affiliation_string":"Ozyegin University,Deparment of Computer Engineering,Istanbul,Turkey","institution_ids":["https://openalex.org/I44925452"]},{"raw_affiliation_string":"Deparment of Computer Engineering, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]},{"raw_affiliation_string":"Symbiotic Intelligent Systems Research Center, Institute for Open and Transdisciplinary, Research Initiatives, Osaka University, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5092393117"],"corresponding_institution_ids":["https://openalex.org/I4405392"],"apc_list":null,"apc_paid":null,"fwci":0.938,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.74429822,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3904","last_page":"3910"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9972000122070312,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.996999979019165,"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":0.7467494010925293},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6323318481445312},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.6185520887374878},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5838145017623901},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5502352118492126},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5342257022857666},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5240923762321472},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.49619561433792114},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4844920337200165},{"id":"https://openalex.org/keywords/cloning","display_name":"Cloning (programming)","score":0.47552207112312317},{"id":"https://openalex.org/keywords/simplicity","display_name":"Simplicity","score":0.4728843569755554},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4567199945449829},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.42741841077804565},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.425588458776474},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3322911858558655},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18588337302207947},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.13065794110298157},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10693138837814331}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7467494010925293},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6323318481445312},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.6185520887374878},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5838145017623901},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5502352118492126},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5342257022857666},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5240923762321472},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.49619561433792114},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4844920337200165},{"id":"https://openalex.org/C121050878","wikidata":"https://www.wikidata.org/wiki/Q5135020","display_name":"Cloning (programming)","level":2,"score":0.47552207112312317},{"id":"https://openalex.org/C2776372474","wikidata":"https://www.wikidata.org/wiki/Q508291","display_name":"Simplicity","level":2,"score":0.4728843569755554},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4567199945449829},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.42741841077804565},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.425588458776474},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3322911858558655},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18588337302207947},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.13065794110298157},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10693138837814331},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160895","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"},{"id":"pmh:oai:eresearch.ozyegin.edu.tr:10679/9060","is_oa":false,"landing_page_url":"http://hdl.handle.net/10679/9060","pdf_url":null,"source":{"id":"https://openalex.org/S4306400232","display_name":"ECS Journal of Solid State Science and Technology (The Electrochemical Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2802273670","host_organization_name":"Electrochemical Society","host_organization_lineage":["https://openalex.org/I2802273670"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5712689101","display_name":null,"funder_award_id":"22H03670","funder_id":"https://openalex.org/F4320320212","funder_display_name":"Japan Society for the Promotion of Science London"}],"funders":[{"id":"https://openalex.org/F4320320212","display_name":"Japan Society for the Promotion of Science London","ror":"https://ror.org/02m7axw05"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1972746767","https://openalex.org/W2077358809","https://openalex.org/W2091344462","https://openalex.org/W2100993276","https://openalex.org/W2116226448","https://openalex.org/W2140801763","https://openalex.org/W2148112459","https://openalex.org/W2151495024","https://openalex.org/W2161395589","https://openalex.org/W2167224731","https://openalex.org/W2767508918","https://openalex.org/W2800121172","https://openalex.org/W2914429279","https://openalex.org/W2947017371","https://openalex.org/W2962871243","https://openalex.org/W2965567119","https://openalex.org/W2966271811","https://openalex.org/W3003169307","https://openalex.org/W3012514211","https://openalex.org/W3090004508","https://openalex.org/W3102801549","https://openalex.org/W3132971170","https://openalex.org/W3207043744","https://openalex.org/W3207181464","https://openalex.org/W3210940825","https://openalex.org/W3211889820","https://openalex.org/W3213249234","https://openalex.org/W4300018867","https://openalex.org/W4313010279","https://openalex.org/W4366703592","https://openalex.org/W6631190155","https://openalex.org/W6680971464","https://openalex.org/W6684338915","https://openalex.org/W6786332875","https://openalex.org/W6803469586"],"related_works":["https://openalex.org/W2368019753","https://openalex.org/W2333930193","https://openalex.org/W2737356002","https://openalex.org/W2246241526","https://openalex.org/W2374150061","https://openalex.org/W4301122218","https://openalex.org/W2081340182","https://openalex.org/W2369703001","https://openalex.org/W2372323577","https://openalex.org/W2321432690"],"abstract_inverted_index":{"Learning":[0],"from":[1],"demonstration":[2],"(LfD)":[3],"with":[4,131,172],"behavior":[5,94],"cloning":[6,95],"is":[7,34,85,91,129,164],"attractive":[8],"for":[9],"its":[10],"simplicity;":[11],"however,":[12],"compounding":[13],"errors":[14],"in":[15,36,47,110,135,147,160,181],"long":[16],"and":[17],"complex":[18],"skills":[19],"can":[20,106],"be":[21,60,142],"a":[22,25,29,43,48,111,126,132,145,179],"hindrance.":[23],"Considering":[24],"target":[26],"skill":[27,174],"as":[28,125],"sequence":[30],"of":[31,55,99,116,153,175],"motor":[32,44],"primitives":[33,84],"helpful":[35],"this":[37,63,68],"respect.":[38],"Then":[39],"the":[40,52,56,79,97,117,122,151,154,161,173],"requirement":[41],"that":[42,50,105],"primitive":[45,58],"ends":[46],"state":[49,82],"allows":[51],"successful":[53],"execution":[54],"subsequent":[57],"must":[59],"met.":[61],"In":[62],"study,":[64],"we":[65],"focus":[66],"on":[67],"problem":[69],"by":[70,96,166],"proposing":[71],"to":[72,141,157],"learn":[73],"an":[74,138,168],"explicit":[75],"correction":[76,89,108],"policy":[77,90],"when":[78],"expected":[80],"transition":[81],"between":[83],"not":[86],"achieved.":[87],"The":[88,114],"learned":[92],"via":[93],"use":[98],"Conditional":[100],"Neural":[101],"Motor":[102],"Primitives":[103],"(CNMPs)":[104],"generate":[107],"trajectories":[109],"context-dependent":[112],"way.":[113],"advantage":[115],"proposed":[118,155],"system":[119],"over":[120,178],"learning":[121],"complete":[123],"task":[124],"single":[127],"action":[128],"shown":[130,165],"table-top":[133],"setup":[134],"simulation,":[136],"where":[137],"object":[139],"has":[140],"pushed":[143],"through":[144],"corridor":[146],"two":[148],"steps.":[149],"Then,":[150],"applicability":[152],"method":[156],"bi-manual":[158],"knotting":[159],"real":[162],"world":[163],"equipping":[167],"upper-body":[169],"humanoid":[170],"robot":[171],"making":[176],"knots":[177],"bar":[180],"3D":[182],"space.":[183]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2023-07-05T00:00:00"}
