{"id":"https://openalex.org/W4401414025","doi":"https://doi.org/10.1109/icra57147.2024.10610084","title":"Hierarchical Human-to-Robot Imitation Learning for Long-Horizon Tasks via Cross-Domain Skill Alignment","display_name":"Hierarchical Human-to-Robot Imitation Learning for Long-Horizon Tasks via Cross-Domain Skill Alignment","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414025","doi":"https://doi.org/10.1109/icra57147.2024.10610084"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610084","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5059283626","display_name":"Zhenyang Lin","orcid":"https://orcid.org/0000-0002-1361-4824"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyang Lin","raw_affiliation_strings":["University of Chinese Academy of Sciences,School of Artificial Intelligence,Beijing,China,100049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,School of Artificial Intelligence,Beijing,China,100049","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041934391","display_name":"Yurou Chen","orcid":"https://orcid.org/0000-0002-0022-7219"},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yurou Chen","raw_affiliation_strings":["University of Chinese Academy of Sciences,School of Artificial Intelligence,Beijing,China,100049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,School of Artificial Intelligence,Beijing,China,100049","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091931348","display_name":"Zhiyong Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyong Liu","raw_affiliation_strings":["University of Chinese Academy of Sciences,School of Artificial Intelligence,Beijing,China,100049"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences,School of Artificial Intelligence,Beijing,China,100049","institution_ids":["https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3124,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.81371188,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2783","last_page":"2790"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":1.0,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9997000098228455,"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/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"}}],"keywords":[{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.8010908961296082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6773039698600769},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5825423002243042},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5544893145561218},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.54322749376297},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.5340800285339355},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4832623600959778},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.36825594305992126},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.15111881494522095},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10893461108207703},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.06281983852386475}],"concepts":[{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.8010908961296082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6773039698600769},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5825423002243042},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5544893145561218},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.54322749376297},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.5340800285339355},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4832623600959778},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.36825594305992126},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.15111881494522095},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10893461108207703},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.06281983852386475},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610084","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610084","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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":57,"referenced_works":["https://openalex.org/W1522734439","https://openalex.org/W2163111588","https://openalex.org/W2769112066","https://openalex.org/W2772449134","https://openalex.org/W2799067027","https://openalex.org/W2898525034","https://openalex.org/W2962711930","https://openalex.org/W2963410356","https://openalex.org/W2963802910","https://openalex.org/W2963860638","https://openalex.org/W2963917969","https://openalex.org/W2975504670","https://openalex.org/W3102502242","https://openalex.org/W3127352841","https://openalex.org/W3150398929","https://openalex.org/W3150915266","https://openalex.org/W3175995235","https://openalex.org/W3212676748","https://openalex.org/W4212774754","https://openalex.org/W4214612132","https://openalex.org/W4221159977","https://openalex.org/W4224912544","https://openalex.org/W4225873172","https://openalex.org/W4283788863","https://openalex.org/W4287071981","https://openalex.org/W4287631403","https://openalex.org/W4293498911","https://openalex.org/W4307079329","https://openalex.org/W4322616306","https://openalex.org/W4383109144","https://openalex.org/W4384919635","https://openalex.org/W4385245566","https://openalex.org/W6684338915","https://openalex.org/W6718092244","https://openalex.org/W6744181227","https://openalex.org/W6749986616","https://openalex.org/W6754628760","https://openalex.org/W6755748847","https://openalex.org/W6760439459","https://openalex.org/W6762533131","https://openalex.org/W6764969207","https://openalex.org/W6769035977","https://openalex.org/W6779719205","https://openalex.org/W6784712800","https://openalex.org/W6785193213","https://openalex.org/W6798852845","https://openalex.org/W6800425027","https://openalex.org/W6802366246","https://openalex.org/W6810080435","https://openalex.org/W6810640255","https://openalex.org/W6842950669","https://openalex.org/W6845581496","https://openalex.org/W6845804354","https://openalex.org/W6846049332","https://openalex.org/W6846655377","https://openalex.org/W6850343319","https://openalex.org/W6854942309"],"related_works":["https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2778153218","https://openalex.org/W1531601525","https://openalex.org/W4287179229","https://openalex.org/W3205513966","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"For":[0],"a":[1,39,56,60,65,103,107,143],"general-purpose":[2],"robot,":[3],"it":[4,96],"is":[5,38,156],"desirable":[6],"to":[7,42,45,52,69,97,99,160,166],"imitate":[8],"human":[9,36,61,104],"demonstration":[10],"videos":[11,37],"that":[12,30,86,148],"can":[13],"effectively":[14],"solve":[15],"long-horizon":[16,48],"tasks":[17,54,101,163],"and":[18,73,94,117,128,135,155,164],"perform":[19],"novel":[20],"ones.":[21],"Recent":[22],"advances":[23],"in":[24,55,106,142],"skill-based":[25],"imitation":[26],"learning":[27],"have":[28],"shown":[29],"extracting":[31],"skill":[32,137],"embedding":[33,138],"from":[34],"raw":[35],"promising":[40],"paradigm":[41],"enable":[43],"robots":[44],"cope":[46],"with":[47,59],"tasks.":[49,169],"However,":[50],"generalization":[51],"unseen":[53,100],"different":[57,108],"domain":[58],"prompt":[62],"video":[63,105],"poses":[64],"significant":[66],"challenge":[67],"due":[68],"the":[70,88],"big":[71],"embodiment":[72],"environment":[74,146],"difference.":[75],"To":[76,110],"this":[77],"end,":[78],"we":[79],"present":[80],"Hierarchical":[81],"Human-to-Robot":[82],"Imitation":[83],"Learning":[84],"(H2RIL)":[85],"learns":[87],"mapping":[89],"of":[90,158],"cross-domain":[91],"sensorimotor":[92],"skills":[93],"utilizes":[95],"generalize":[98],"given":[102],"environment.":[109],"allow":[111],"for":[112,124,132],"generalizing":[113,159],"zero-shot":[114],"across":[115],"environments":[116],"embodiments,":[118],"H2RIL":[119,149],"leverages":[120],"task-agnostic":[121],"play":[122],"data":[123,131],"low-level":[125],"policy":[126],"training":[127],"paired":[129],"human-robot":[130],"both":[133],"semantic":[134],"temporal":[136],"alignment.":[139],"Extensive":[140],"experiments":[141],"simulated":[144],"kitchen":[145],"demonstrate":[147],"significantly":[150],"outperforms":[151],"other":[152],"prior":[153],"baselines":[154],"capable":[157],"composable":[161],"new":[162],"adapting":[165],"Out-of-Distribution":[167],"(OOD)":[168]},"counts_by_year":[{"year":2025,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
