{"id":"https://openalex.org/W2217469417","doi":"https://doi.org/10.1109/iros.2015.7354002","title":"Probabilistic graph based spatial assembly relation inference for programming of assembly task by demonstration","display_name":"Probabilistic graph based spatial assembly relation inference for programming of assembly task by demonstration","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2217469417","doi":"https://doi.org/10.1109/iros.2015.7354002","mag":"2217469417"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5100372007","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-2461-4651"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yue Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101943689","display_name":"Jie Cai","orcid":"https://orcid.org/0000-0001-9863-0489"},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Cai","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028731909","display_name":"Yabiao Wang","orcid":"https://orcid.org/0000-0002-6592-8411"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yabiao Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102171441","display_name":"Youzhong Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]},{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Youzhong Hu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101528125","display_name":"Rong Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100724297","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0003-4822-8939"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]},{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, P.R. China","institution_ids":["https://openalex.org/I55712492","https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101736937","display_name":"Jiafan Zhang","orcid":"https://orcid.org/0000-0001-9997-446X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiafan Zhang","raw_affiliation_strings":["ABB Corporate Research, P.R. China"],"affiliations":[{"raw_affiliation_string":"ABB Corporate Research, P.R. China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100573145","display_name":"Liwei Qi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liwei Qi","raw_affiliation_strings":["ABB Corporate Research, P.R. China"],"affiliations":[{"raw_affiliation_string":"ABB Corporate Research, P.R. China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100372007"],"corresponding_institution_ids":["https://openalex.org/I4391767838","https://openalex.org/I55712492"],"apc_list":null,"apc_paid":null,"fwci":1.683,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.86250263,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4402","last_page":"4407"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9921000003814697,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9728000164031982,"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":0.7376543283462524},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6195933222770691},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5802735090255737},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5342833995819092},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5298433303833008},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.5132803916931152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4591059684753418},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4414677023887634},{"id":"https://openalex.org/keywords/latent-variable","display_name":"Latent variable","score":0.4235553741455078},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41654908657073975},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.413915753364563},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.4133085608482361},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.282098650932312},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12597578763961792}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7376543283462524},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6195933222770691},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5802735090255737},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5342833995819092},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5298433303833008},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.5132803916931152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4591059684753418},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4414677023887634},{"id":"https://openalex.org/C51167844","wikidata":"https://www.wikidata.org/wiki/Q4422623","display_name":"Latent variable","level":2,"score":0.4235553741455078},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41654908657073975},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.413915753364563},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4133085608482361},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.282098650932312},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12597578763961792},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7354002","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354002","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1969579675","https://openalex.org/W2023056405","https://openalex.org/W2030020244","https://openalex.org/W2045225768","https://openalex.org/W2047192127","https://openalex.org/W2049633694","https://openalex.org/W2056270948","https://openalex.org/W2059279601","https://openalex.org/W2120591602","https://openalex.org/W2132973153","https://openalex.org/W2153906143","https://openalex.org/W2155748157","https://openalex.org/W2161746516","https://openalex.org/W2170451787","https://openalex.org/W2314707229","https://openalex.org/W3148218866","https://openalex.org/W4248598408"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W2055243143","https://openalex.org/W2943623134","https://openalex.org/W2494523064","https://openalex.org/W2013493105","https://openalex.org/W3154990682","https://openalex.org/W2560201613","https://openalex.org/W2588219639","https://openalex.org/W2215759665","https://openalex.org/W2163814182"],"abstract_inverted_index":{"In":[0,27,123],"robot":[1],"programming":[2],"by":[3,58],"demonstration":[4],"(PBD)":[5],"for":[6],"assembly":[7,36,194],"tasks,":[8],"one":[9],"of":[10,22,51,78,137],"the":[11,17,25,49,54,70,82,85,97,100,112,116,135,146,152,165,171,186],"important":[12],"topics":[13],"is":[14,45,72,93,104,173],"to":[15,39,47,95,109,133,164],"inference":[16],"poses":[18,50],"and":[19,61,127,167],"spatial":[20],"relations":[21,83,103,153],"parts":[23],"during":[24],"demonstration.":[26],"this":[28,41],"paper,":[29],"we":[30],"propose":[31],"a":[32,65,119,176],"world":[33,129,192],"model":[34,44],"called":[35],"graph":[37],"(AG)":[38],"achieve":[40],"task.":[42],"The":[43,141],"able":[46],"represent":[48],"all":[52],"parts,":[53],"relations,":[55],"observations":[56],"provided":[57],"vision":[59],"techniques":[60],"prior":[62,107],"knowledge":[63,108],"in":[64,159,190],"unified":[66],"probabilistic":[67],"graph.":[68],"Then":[69],"problem":[71],"stated":[73],"as":[74,106,154,185],"likelihood":[75],"maximization":[76,90],"estimation":[77],"pose":[79],"parameters":[80],"with":[81,179],"being":[84],"latent":[86],"variables.":[87],"Classification":[88],"expectation":[89],"algorithm":[91,117],"(CEM)":[92],"employed":[94,158],"solve":[96],"model.":[98],"Besides,":[99],"contradiction":[101],"between":[102],"incorporated":[105],"better":[110,149],"shape":[111],"posterior,":[113],"thus":[114],"guiding":[115],"find":[118],"more":[120],"accurate":[121],"solution.":[122],"experiments,":[124],"both":[125],"simulated":[126],"real":[128,191],"datasets":[130],"are":[131],"applied":[132],"evaluate":[134],"performance":[136],"our":[138],"proposed":[139],"method.":[140],"experimental":[142],"results":[143],"show":[144],"that":[145],"AG":[147],"gives":[148],"accuracy":[150],"than":[151],"deterministic":[155],"variables":[156],"(RDV)":[157],"some":[160],"previous":[161],"works":[162],"due":[163],"robustness":[166],"global":[168],"consistency.":[169],"Finally,":[170],"solution":[172],"implemented":[174],"into":[175],"PBD":[177],"system":[178],"ABB":[180],"industrial":[181],"robotic":[182],"arm":[183],"simulator":[184],"execution":[187],"stage,":[188],"succeeding":[189],"captured":[193],"tasks.":[195]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}