{"id":"https://openalex.org/W2121989750","doi":"https://doi.org/10.1109/iros.2009.5353894","title":"Automatic selection of task spaces for imitation learning","display_name":"Automatic selection of task spaces for imitation learning","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2121989750","doi":"https://doi.org/10.1109/iros.2009.5353894","mag":"2121989750"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5353894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5353894","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5086210535","display_name":"Manuel M\u00fchlig","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]},{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Muhlig","raw_affiliation_strings":["Honda Research Institute Europe GmbH, Offenbach, Germany","Research Institute for Cognition and Robotics, Bielefeld University, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe GmbH, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]},{"raw_affiliation_string":"Research Institute for Cognition and Robotics, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025560073","display_name":"Michael Gienger","orcid":"https://orcid.org/0000-0001-8036-2519"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Gienger","raw_affiliation_strings":["Honda Research Institute Europe GmbH, Offenbach, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe GmbH, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085055595","display_name":"Jochen J. Steil","orcid":"https://orcid.org/0000-0002-6738-9933"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jochen J. Steil","raw_affiliation_strings":["Research Institute for Cognition and Robotics, Bielefeld University, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute for Cognition and Robotics, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053974584","display_name":"Christian Goerick","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Goerick","raw_affiliation_strings":["Honda Research Institute Europe GmbH, Offenbach, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe GmbH, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.3218,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.98441281,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4996","last_page":"5002"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9987000226974487,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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":0.7052428722381592},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6559834480285645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6406316757202148},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.537972629070282},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5153800845146179},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4986732006072998},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4636797308921814},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.45145851373672485},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3859420418739319},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37496280670166016},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1418607532978058}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7052428722381592},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6559834480285645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6406316757202148},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.537972629070282},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5153800845146179},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4986732006072998},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4636797308921814},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.45145851373672485},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3859420418739319},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37496280670166016},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1418607532978058},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2009.5353894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5353894","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.158.726","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.158.726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cor-lab.de/corlab/cms/sites/default/files/MuehligIROS09.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.6899999976158142,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323389","display_name":"Universit\u00e4t Bielefeld","ror":"https://ror.org/02hpadn98"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W18145628","https://openalex.org/W1988519851","https://openalex.org/W2004852365","https://openalex.org/W2005870832","https://openalex.org/W2037461669","https://openalex.org/W2043023367","https://openalex.org/W2052526384","https://openalex.org/W2060277321","https://openalex.org/W2069384692","https://openalex.org/W2103460252","https://openalex.org/W2122364547","https://openalex.org/W2124071734","https://openalex.org/W2128272608","https://openalex.org/W2141098361","https://openalex.org/W2142342339","https://openalex.org/W2147718571","https://openalex.org/W2151540675","https://openalex.org/W2155756087","https://openalex.org/W2159137406","https://openalex.org/W2163848682","https://openalex.org/W2167421945","https://openalex.org/W2247821596","https://openalex.org/W2542762620","https://openalex.org/W2543071036","https://openalex.org/W4206787410","https://openalex.org/W6600722220","https://openalex.org/W6691349097"],"related_works":["https://openalex.org/W3162204513","https://openalex.org/W2371138613","https://openalex.org/W2048963458","https://openalex.org/W43109613","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W2732813147","https://openalex.org/W2143460112","https://openalex.org/W1834370135","https://openalex.org/W2042906257"],"abstract_inverted_index":{"Previous":[0],"work":[1,95],"[1]":[2],"shows":[3],"that":[4,32,40,123,136,168],"the":[5,27,30,37,51,138,152,195],"movement":[6,19,181],"representation":[7,54],"in":[8,70,129],"task":[9,52,76,104,117,126,133,176,208],"spaces":[10,77,118],"offers":[11],"many":[12],"advantages":[13],"for":[14,59,147,206],"learning":[15],"object-related":[16],"and":[17,35,48,119,192,201,226],"goal-directed":[18],"tasks":[20],"through":[21],"imitation.":[22],"It":[23],"allows":[24],"to":[25,72,131],"reduce":[26],"dimensionality":[28],"of":[29,46,103,113,150,186,194],"data":[31],"is":[33,96,198],"learned":[34],"simplifies":[36],"correspondence":[38],"problem":[39],"results":[41],"from":[42,173],"different":[43],"kinematic":[44],"structures":[45],"teacher":[47,197],"robot.":[49],"Further,":[50,164],"space":[53,127,134,177],"provides":[55],"a":[56,92,97,111,170,184,187,204,222,227],"first":[57],"generalization,":[58],"example":[60],"wrt.":[61],"differing":[62],"absolute":[63],"positions,":[64],"if":[65,82],"bi-manual":[66],"movements":[67,107],"are":[68,78,84,89,108,212],"represented":[69],"relation":[71],"each":[73],"other.":[74],"Although":[75],"widely":[79],"used,":[80],"even":[81,115],"they":[83,88],"not":[85],"mentioned":[86],"explicitly,":[87],"mostly":[90],"defined":[91],"priori.":[93],"This":[94],"step":[98,172],"towards":[99,179],"an":[100,161],"automatic":[101],"selection":[102,154,178],"spaces.":[105],"Observed":[106],"mapped":[109],"into":[110],"pool":[112,128],"possibly":[114],"conflicting":[116],"we":[120,165],"present":[121],"methods":[122,167,211],"analyze":[124],"this":[125],"order":[130],"acquire":[132],"descriptors":[135],"match":[137],"observation":[139],"best.":[140],"As":[141],"statistical":[142],"measures":[143],"cannot":[144],"explain":[145],"importance":[146],"all":[148],"kinds":[149],"movements,":[151],"presented":[153],"scheme":[155],"incorporates":[156],"additional":[157],"criteria":[158],"such":[159],"as":[160,203],"attention-based":[162],"measure.":[163],"introduce":[166],"make":[169],"significant":[171],"purely":[174],"statistically-driven":[175],"model-based":[180],"analysis":[182],"using":[183,218],"simulation":[185],"complex":[188],"human":[189,196],"model.":[190],"Effort":[191],"discomfort":[193],"being":[199],"analyzed":[200],"used":[202],"hint":[205],"important":[207],"elements.":[209],"All":[210],"validated":[213],"with":[214,221],"real-world":[215],"data,":[216],"gathered":[217],"color":[219],"tracking":[220],"stereo":[223],"vision":[224],"system":[225],"VICON":[228],"motion":[229],"capturing":[230],"system.":[231]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
