{"id":"https://openalex.org/W2071982481","doi":"https://doi.org/10.1109/iros.2012.6386101","title":"Graph-based trajectory planning through programming by demonstration","display_name":"Graph-based trajectory planning through programming by demonstration","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2071982481","doi":"https://doi.org/10.1109/iros.2012.6386101","mag":"2071982481"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386101","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/Graph-based_Trajectory_Planning_through_Programming_by_Demonstration/6718520","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079294937","display_name":"Nik A. Melchior","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nik A. Melchior","raw_affiliation_strings":["Robotics Institute of Carnegie, Mellon University, Pittsburgh, USA","Robotics Institute of Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute of Carnegie, Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute of Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064960456","display_name":"Reid Simmons","orcid":"https://orcid.org/0000-0003-3153-0453"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Reid Simmons","raw_affiliation_strings":["Robotics Institute of Carnegie, Mellon University, Pittsburgh, USA","Robotics Institute of Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute of Carnegie, Mellon University, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute of Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.6386,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.81898754,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1929","last_page":"1936"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9962999820709229,"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":0.9962999820709229,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9940999746322632,"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"}},{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9932000041007996,"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/computer-science","display_name":"Computer science","score":0.7397612929344177},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6838546991348267},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6112536787986755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5964629650115967},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5688766241073608},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5557154417037964},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5483102798461914},{"id":"https://openalex.org/keywords/imperfect","display_name":"Imperfect","score":0.5143014192581177},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.49220314621925354},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4552724063396454},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4214457869529724},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.2606557011604309},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09930446743965149}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7397612929344177},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6838546991348267},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6112536787986755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5964629650115967},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5688766241073608},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5557154417037964},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5483102798461914},{"id":"https://openalex.org/C2780310539","wikidata":"https://www.wikidata.org/wiki/Q12547192","display_name":"Imperfect","level":2,"score":0.5143014192581177},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.49220314621925354},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4552724063396454},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4214457869529724},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.2606557011604309},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09930446743965149},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/iros.2012.6386101","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386101","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.207.5835","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.207.5835","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/%7Enmelchio/thesis/melchior_dissertation.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.348.3937","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.348.3937","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/~reids/papers/melchiorIROS12.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.379.870","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.379.870","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/afs/cs/user/reids/www/home/papers/thesis_melchior.pdf","raw_type":"text"},{"id":"pmh:oai:repository.cmu.edu:dissertations-1220","is_oa":false,"landing_page_url":"http://repository.cmu.edu/cgi/viewcontent.cgi?article=1220&context=dissertations","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Dissertations","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/6718520","is_oa":true,"landing_page_url":"https://figshare.com/articles/Graph-based_Trajectory_Planning_through_Programming_by_Demonstration/6718520","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},{"id":"doi:10.1184/r1/6718520.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6718520.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6718520","is_oa":true,"landing_page_url":"https://figshare.com/articles/Graph-based_Trajectory_Planning_through_Programming_by_Demonstration/6718520","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Thesis"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6399999856948853}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W79953343","https://openalex.org/W1585546346","https://openalex.org/W1596179888","https://openalex.org/W1651893573","https://openalex.org/W1659568777","https://openalex.org/W1689445748","https://openalex.org/W1826409880","https://openalex.org/W1837533429","https://openalex.org/W1986014385","https://openalex.org/W2001141328","https://openalex.org/W2017258466","https://openalex.org/W2019599312","https://openalex.org/W2025311044","https://openalex.org/W2027669064","https://openalex.org/W2030991373","https://openalex.org/W2077261816","https://openalex.org/W2089619576","https://openalex.org/W2096532789","https://openalex.org/W2102935817","https://openalex.org/W2104171826","https://openalex.org/W2108157636","https://openalex.org/W2111743195","https://openalex.org/W2120548873","https://openalex.org/W2121947440","https://openalex.org/W2122777916","https://openalex.org/W2126105931","https://openalex.org/W2126850308","https://openalex.org/W2127572219","https://openalex.org/W2128160875","https://openalex.org/W2128259081","https://openalex.org/W2130105540","https://openalex.org/W2130726249","https://openalex.org/W2131254103","https://openalex.org/W2134561259","https://openalex.org/W2136354320","https://openalex.org/W2137677974","https://openalex.org/W2140000690","https://openalex.org/W2149276032","https://openalex.org/W2151857564","https://openalex.org/W2153344903","https://openalex.org/W2154286467","https://openalex.org/W2154455818","https://openalex.org/W2154633587","https://openalex.org/W2155927480","https://openalex.org/W2156415269","https://openalex.org/W2157451878","https://openalex.org/W2163387410","https://openalex.org/W2169187250","https://openalex.org/W2169528473","https://openalex.org/W2170120409","https://openalex.org/W2494779131","https://openalex.org/W2532109687","https://openalex.org/W2570764145","https://openalex.org/W2603343260","https://openalex.org/W2764433274","https://openalex.org/W2998023265","https://openalex.org/W3011120880","https://openalex.org/W6677945368","https://openalex.org/W6679181310","https://openalex.org/W6681745991","https://openalex.org/W6729118241"],"related_works":["https://openalex.org/W2374250903","https://openalex.org/W1546413948","https://openalex.org/W2263832889","https://openalex.org/W2243884323","https://openalex.org/W42072456","https://openalex.org/W4306904969","https://openalex.org/W4243095785","https://openalex.org/W4387894447","https://openalex.org/W2089057551","https://openalex.org/W2487056937"],"abstract_inverted_index":{"As":[0],"robots":[1],"are":[2],"utilized":[3],"in":[4,44,113],"a":[5,49,64,117],"growing":[6],"number":[7],"of":[8,98],"applications,":[9],"the":[10,74,85],"ability":[11],"to":[12,15,37,55,67],"teach":[13],"them":[14],"perform":[16],"tasks":[17],"safely":[18,81],"and":[19,82],"accurately":[20],"becomes":[21],"ever":[22],"more":[23],"critical.":[24],"Programming":[25],"by":[26,51],"demonstration":[27],"offers":[28],"an":[29],"expressive":[30],"means":[31],"for":[32,59,105],"teaching":[33],"while":[34,88],"being":[35],"accessible":[36],"domain":[38],"experts":[39],"who":[40],"may":[41],"be":[42],"novices":[43],"robotics.":[45],"This":[46],"work":[47],"investigates":[48],"programming":[50],"demon-":[52],"stration":[53],"approach":[54,112],"learning":[56],"motion":[57],"trajectories":[58,79],"robotic":[60],"manipulator":[61],"tasks.":[62],"Using":[63],"graph":[65],"constructed":[66],"determine":[68],"correspondences":[69],"between":[70,101],"multiple":[71],"imperfect":[72],"demonstrations,":[73],"robot":[75],"learner":[76,93],"plans":[77],"novel":[78],"that":[80],"smoothly":[83],"generalize":[84],"teacher's":[86],"behavior,":[87],"attenuating":[89],"those":[90],"imperfections.":[91],"The":[92],"also":[94],"actively":[95],"detects":[96],"instances":[97],"diverging":[99],"strategy":[100],"examples,":[102],"requesting":[103],"advice":[104],"resolving":[106],"these":[107],"ambiguities.":[108],"We":[109],"demonstrate":[110],"our":[111],"example":[114],"domains":[115],"with":[116],"7":[118],"degree-of-freedom":[119],"manipulator.":[120]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2025-10-10T00:00:00"}
