{"id":"https://openalex.org/W4413926047","doi":"https://doi.org/10.1109/icra55743.2025.11128834","title":"Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning","display_name":"Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413926047","doi":"https://doi.org/10.1109/icra55743.2025.11128834"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128834","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":"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/A5065450173","display_name":"Juntao Ren","orcid":"https://orcid.org/0009-0003-5380-7334"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Juntao Ren","raw_affiliation_strings":["Cornell University"],"affiliations":[{"raw_affiliation_string":"Cornell University","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070452999","display_name":"Priya Sundaresan","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Priya Sundaresan","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080725225","display_name":"Dorsa Sadigh","orcid":"https://orcid.org/0000-0002-7802-9183"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dorsa Sadigh","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057995939","display_name":"Sanjiban Choudhury","orcid":"https://orcid.org/0000-0003-2762-8888"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sanjiban Choudhury","raw_affiliation_strings":["Cornell University"],"affiliations":[{"raw_affiliation_string":"Cornell University","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021676288","display_name":"Jeannette Bohg","orcid":"https://orcid.org/0000-0002-4921-7193"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeannette Bohg","raw_affiliation_strings":["Stanford University"],"affiliations":[{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5065450173"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":null,"apc_paid":null,"fwci":7.5936,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.97577187,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8802","last_page":"8810"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.993399977684021,"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":0.993399977684021,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9657999873161316,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9103000164031982,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6905599236488342},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6541889309883118},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6339373588562012},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.6118461489677429},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6031032204627991},{"id":"https://openalex.org/keywords/shot","display_name":"Shot (pellet)","score":0.5959530472755432},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5940079092979431},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5827797651290894},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.3469962775707245}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6905599236488342},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6541889309883118},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6339373588562012},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6118461489677429},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6031032204627991},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.5959530472755432},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5940079092979431},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5827797651290894},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.3469962775707245},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128834","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4488230021","display_name":null,"funder_award_id":"2327973,2006388,2312956","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2080873731","https://openalex.org/W2194775991","https://openalex.org/W2443711627","https://openalex.org/W2604382266","https://openalex.org/W2625366777","https://openalex.org/W2962787969","https://openalex.org/W3038298277","https://openalex.org/W3205786327","https://openalex.org/W4312767894","https://openalex.org/W4385430674","https://openalex.org/W4385431288","https://openalex.org/W4390874306","https://openalex.org/W4391142622","https://openalex.org/W4401416102","https://openalex.org/W4401416961","https://openalex.org/W4401417065","https://openalex.org/W4401417162","https://openalex.org/W4402354026","https://openalex.org/W4402354045","https://openalex.org/W4402354047","https://openalex.org/W4402354080","https://openalex.org/W4402354127","https://openalex.org/W4402704593","https://openalex.org/W4403337227","https://openalex.org/W4404612908"],"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/W2074502265"],"abstract_inverted_index":{"Teaching":[0],"robots":[1,19],"to":[2,46,54,66,195],"autonomously":[3],"complete":[4],"everyday":[5],"tasks":[6,130],"remains":[7,44],"a":[8,14,39],"challenge.":[9],"Imitation":[10],"Learning":[11],"(IL)":[12],"is":[13,25],"powerful":[15],"approach":[16],"that":[17],"imbues":[18],"with":[20,131],"skills":[21],"via":[22,159],"demonstrations,":[23],"but":[24,42],"limited":[26,141],"by":[27,191],"the":[28,55,82],"labor-intensive":[29],"process":[30],"of":[31,57,85,137,171],"collecting":[32],"teleoperated":[33],"robot":[34,58,92,143],"data.":[35],"Human":[36],"videos":[37,204],"offer":[38],"scalable":[40],"alternative,":[41],"it":[43],"difficult":[45],"directly":[47],"train":[48],"IL":[49,97,179],"policies":[50],"from":[51,152],"them":[52],"due":[53],"lack":[56],"action":[59,123,189],"labels.":[60],"To":[61],"address":[62],"this,":[63],"we":[64,148],"propose":[65],"represent":[67],"actions":[68],"as":[69,116],"short-horizon":[70],"2D":[71],"trajectories":[72,158],"on":[73,207],"an":[74,96,167],"image.":[75],"These":[76],"actions,":[77],"or":[78,187],"motion":[79,86,114,150],"tracks,":[80],"capture":[81],"predicted":[83],"direction":[84],"for":[87],"both":[88],"human":[89,138,185,200],"hands":[90],"and":[91,112,140,193,203],"end-effectors.":[93],"We":[94],"instantiate":[95],"policy":[98],"called":[99],"Motion":[100],"Track":[101],"Policy":[102],"(MT-":[103],"<tex":[104,126,163],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[105,127,164],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\pi$</tex>":[106,128,165],")":[107],"which":[108,181],"receives":[109],"image":[110],"observations":[111],"outputs":[113],"tracks":[115,151],"actions.":[117],"By":[118],"leveraging":[119],"this":[120],"unified,":[121],"cross-embodiment":[122],"space,":[124],"MT-":[125,162],"completes":[129],"high":[132],"success":[133,169],"given":[134],"just":[135],"minutes":[136],"video":[139],"additional":[142],"demonstrations.":[144],"At":[145],"test":[146],"time,":[147],"predict":[149],"two":[153],"camera":[154],"views,":[155],"recovering":[156],"6DoF":[157],"multi-view":[160],"synthesis.":[161],"achieves":[166],"average":[168],"rate":[170],"86.5%":[172],"across":[173],"4":[174],"real-world":[175],"tasks,":[176],"outperforming":[177],"state-of-the-art":[178],"baselines":[180],"do":[182],"not":[183],"leverage":[184],"data":[186],"our":[188,208],"space":[190],"40%,":[192],"generalizes":[194],"scenarios":[196],"seen":[197],"only":[198],"in":[199],"videos.":[201],"Code":[202],"are":[205],"available":[206],"website":[209],"(https://portal-cornell.github.io/motion_track_policy/).":[210]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}