{"id":"https://openalex.org/W4413925139","doi":"https://doi.org/10.1109/icra55743.2025.11127918","title":"Learning From Imperfect Demonstrations With Self-Supervision for Robotic Manipulation","display_name":"Learning From Imperfect Demonstrations With Self-Supervision for Robotic Manipulation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925139","doi":"https://doi.org/10.1109/icra55743.2025.11127918"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5116592777","display_name":"Kun Wu","orcid":"https://orcid.org/0000-0003-2095-2140"},"institutions":[{"id":"https://openalex.org/I70983195","display_name":"Syracuse University","ror":"https://ror.org/025r5qe02","country_code":"US","type":"education","lineage":["https://openalex.org/I70983195"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kun Wu","raw_affiliation_strings":["Syracuse University,NY,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Syracuse University,NY,USA","institution_ids":["https://openalex.org/I70983195"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100432422","display_name":"Ning Liu","orcid":"https://orcid.org/0000-0003-2632-0849"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ning Liu","raw_affiliation_strings":["Beijing Innovation Center of Humanoid Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Innovation Center of Humanoid Robotics,China","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038509161","display_name":"Zhenxuan Zhao","orcid":"https://orcid.org/0000-0001-8006-8192"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Zhao","raw_affiliation_strings":["Beijing Innovation Center of Humanoid Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Innovation Center of Humanoid Robotics,China","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072824674","display_name":"Di Qiu","orcid":"https://orcid.org/0000-0001-9706-6302"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Di Qiu","raw_affiliation_strings":["Peking University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Peking University,China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004994159","display_name":"Jinming Li","orcid":"https://orcid.org/0000-0001-8906-9191"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinming Li","raw_affiliation_strings":["Shanghai University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079044416","display_name":"Zhengping Che","orcid":"https://orcid.org/0000-0001-6818-1125"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengping Che","raw_affiliation_strings":["Beijing Innovation Center of Humanoid Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Innovation Center of Humanoid Robotics,China","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102218958","display_name":"Zhiyuan Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Xu","raw_affiliation_strings":["Beijing Innovation Center of Humanoid Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Innovation Center of Humanoid Robotics,China","institution_ids":["https://openalex.org/I4210165198"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067590443","display_name":"Jian Tang","orcid":"https://orcid.org/0000-0003-1324-2466"},"institutions":[{"id":"https://openalex.org/I4210165198","display_name":"Beijing Advanced Sciences and Innovation Center","ror":"https://ror.org/05qm21180","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Tang","raw_affiliation_strings":["Beijing Innovation Center of Humanoid Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Innovation Center of Humanoid Robotics,China","institution_ids":["https://openalex.org/I4210165198"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"16899","last_page":"16906"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.986299991607666,"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":0.986299991607666,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9241999983787537,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9025999903678894,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/imperfect","display_name":"Imperfect","score":0.8546338081359863},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.622102677822113},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4493940472602844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42377564311027527},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40682676434516907}],"concepts":[{"id":"https://openalex.org/C2780310539","wikidata":"https://www.wikidata.org/wiki/Q12547192","display_name":"Imperfect","level":2,"score":0.8546338081359863},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.622102677822113},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4493940472602844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42377564311027527},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40682676434516907},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra55743.2025.11127918","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127918","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:doi:10.48550/arxiv.2401.08957","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2401.08957","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1505952289","https://openalex.org/W2575705757","https://openalex.org/W2963411833","https://openalex.org/W2963561234","https://openalex.org/W2963669336","https://openalex.org/W2964157221","https://openalex.org/W3035624836","https://openalex.org/W3207359859","https://openalex.org/W4214717370","https://openalex.org/W4285102237","https://openalex.org/W4360584316","https://openalex.org/W4382203047","https://openalex.org/W4385403811","https://openalex.org/W4385430674","https://openalex.org/W4385430679","https://openalex.org/W4389665702","https://openalex.org/W4390874575","https://openalex.org/W4401415287","https://openalex.org/W4402354047"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2374250903","https://openalex.org/W1546413948","https://openalex.org/W2263832889","https://openalex.org/W2243884323","https://openalex.org/W42072456","https://openalex.org/W2390279801","https://openalex.org/W4243095785"],"abstract_inverted_index":{"Improving":[0],"data":[1,6,22,86,119,133,193],"utilization,":[2],"especially":[3],"for":[4,12,90,98,124,154,199],"imperfect":[5,35,85,118,192],"from":[7,49,130],"task":[8],"failures,":[9,52],"is":[10],"crucial":[11],"robotic":[13,99,155,172,201],"manipulation":[14,100,156,173,202],"due":[15],"to":[16,68,79,93,120,136],"the":[17,26,53,81,88,95,131,138,142,161,166,176,182,187,196],"challenging,":[18],"time-consuming,":[19],"and":[20,51,56,62,117,170,194],"expensive":[21],"collection":[23],"process":[24],"in":[25,71,101],"real":[27],"world.":[28],"Current":[29],"imitation":[30],"learning":[31,45,152],"(IL)":[32],"typically":[33],"discards":[34],"data,":[36],"focusing":[37],"solely":[38],"on":[39,59,160,165],"successful":[40],"expert":[41,116],"data.":[42],"While":[43],"reinforcement":[44],"(RL)":[46],"can":[47,145,184],"learn":[48],"explorations":[50],"sim2real":[54],"gap":[55],"its":[57],"reliance":[58],"dense":[60],"reward":[61,91],"online":[63],"exploration":[64],"make":[65],"it":[66],"difficult":[67],"apply":[69],"effectively":[70],"real-world":[72,171],"scenarios.":[73],"In":[74],"this":[75],"work,":[76],"we":[77,106],"aim":[78],"conquer":[80],"challenge":[82],"of":[83],"leveraging":[84],"without":[87],"need":[89],"information":[92],"improve":[94,195],"model":[96],"performance":[97],"an":[102],"offline":[103],"manner.":[104],"Specifically,":[105],"introduce":[107],"a":[108],"Self-Supervised":[109],"Data":[110],"Filtering":[111],"framework":[112],"(SSDF)":[113],"that":[114,181],"combines":[115],"compute":[121],"quality":[122],"scores":[123],"failed":[125,132],"trajectory":[126],"segments.":[127],"High-quality":[128],"segments":[129],"are":[134],"used":[135,147],"expand":[137,186],"training":[139,188],"dataset.":[140],"Then,":[141],"enhanced":[143],"dataset":[144,189],"be":[146],"with":[148,190],"any":[149],"downstream":[150],"policy":[151],"method":[153],"tasks.":[157,203],"Extensive":[158],"experiments":[159],"ManiSkill2":[162],"benchmark":[163],"built":[164],"high-fidelity":[167],"Sapien":[168],"simulator":[169],"tasks":[174],"using":[175],"Franka":[177],"robot":[178],"arm":[179],"demonstrated":[180],"SSDF":[183],"accurately":[185],"high-quality":[191],"success":[197],"rates":[198],"all":[200]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
