{"id":"https://openalex.org/W2209295589","doi":"https://doi.org/10.1109/iros.2015.7354120","title":"Learning from multiple demonstrations using trajectory-aware non-rigid registration with applications to deformable object manipulation","display_name":"Learning from multiple demonstrations using trajectory-aware non-rigid registration with applications to deformable object manipulation","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2209295589","doi":"https://doi.org/10.1109/iros.2015.7354120","mag":"2209295589"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354120","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354120","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":"conference-paper","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/A5027666200","display_name":"Alex X. Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex X. Lee","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017906439","display_name":"Abhishek Gupta","orcid":"https://orcid.org/0000-0003-1117-325X"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abhishek Gupta","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052673069","display_name":"Henry Horng\u2010Shing Lu","orcid":"https://orcid.org/0000-0002-4392-3361"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Henry Lu","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026322200","display_name":"Sergey Levine","orcid":"https://orcid.org/0000-0001-6764-2743"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sergey Levine","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049349154","display_name":"Pieter Abbeel","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pieter Abbeel","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":7.2422,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.98494715,"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":"5265","last_page":"5272"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9937000274658203,"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":0.7979062795639038},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7573177814483643},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7133452296257019},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7010797262191772},{"id":"https://openalex.org/keywords/rigid-transformation","display_name":"Rigid transformation","score":0.6652799844741821},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.6290425062179565},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.6153540015220642},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.5812181234359741},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5555317401885986},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5426284670829773},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.501300573348999},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.47969362139701843},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.44168806076049805},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4229530990123749},{"id":"https://openalex.org/keywords/variation","display_name":"Variation (astronomy)","score":0.41541382670402527},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10950544476509094},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.07079243659973145}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7979062795639038},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7573177814483643},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7133452296257019},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7010797262191772},{"id":"https://openalex.org/C126795593","wikidata":"https://www.wikidata.org/wiki/Q7333813","display_name":"Rigid transformation","level":2,"score":0.6652799844741821},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.6290425062179565},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.6153540015220642},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.5812181234359741},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5555317401885986},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5426284670829773},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.501300573348999},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.47969362139701843},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.44168806076049805},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4229530990123749},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.41541382670402527},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10950544476509094},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.07079243659973145},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7354120","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354120","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W114565888","https://openalex.org/W1590340078","https://openalex.org/W1684361744","https://openalex.org/W1801976851","https://openalex.org/W1851340573","https://openalex.org/W1966783348","https://openalex.org/W1975059663","https://openalex.org/W1976536305","https://openalex.org/W1986014385","https://openalex.org/W1999874108","https://openalex.org/W2025468671","https://openalex.org/W2049633694","https://openalex.org/W2068641309","https://openalex.org/W2091344462","https://openalex.org/W2098774185","https://openalex.org/W2128160875","https://openalex.org/W2128409098","https://openalex.org/W2128677288","https://openalex.org/W2131908539","https://openalex.org/W2134236847","https://openalex.org/W2135043890","https://openalex.org/W2146766088","https://openalex.org/W2158235281","https://openalex.org/W2161365670","https://openalex.org/W2166302491","https://openalex.org/W2169498096","https://openalex.org/W2171490473","https://openalex.org/W2293883387","https://openalex.org/W2472053385","https://openalex.org/W4211008118","https://openalex.org/W4298876635","https://openalex.org/W6638440308","https://openalex.org/W6674884181","https://openalex.org/W6720215821"],"related_works":["https://openalex.org/W2130674020","https://openalex.org/W2093748878","https://openalex.org/W4245917595","https://openalex.org/W2807666361","https://openalex.org/W3133797311","https://openalex.org/W3200139265","https://openalex.org/W2350930271","https://openalex.org/W3212285421","https://openalex.org/W4384300934","https://openalex.org/W3217574491"],"abstract_inverted_index":{"Learning":[0],"from":[1],"demonstration":[2,40],"by":[3,50],"means":[4],"of":[5,21],"non-rigid":[6,29,74],"point":[7],"cloud":[8],"registration":[9,30,75,84],"is":[10,64],"an":[11],"effective":[12],"tool":[13],"for":[14],"learning":[15],"to":[16,31,81,91],"manipulate":[17],"a":[18,51,72,127],"wide":[19],"range":[20],"deformable":[22],"objects.":[23],"However,":[24],"most":[25],"methods":[26,103],"that":[27,36,71,77,88,104,110],"use":[28],"transfer":[32],"demonstrated":[33],"trajectories":[34],"assume":[35],"the":[37,83,92],"test":[38],"and":[39,59,123],"scene":[41],"are":[42,89,105],"structurally":[43],"very":[44],"similar,":[45],"with":[46,57],"any":[47],"variation":[48,100],"explained":[49],"non-linear":[52],"transformation.":[53],"In":[54,66],"real-world":[55],"tasks":[56],"clutter":[58],"distractor":[60],"objects,":[61],"this":[62,67,111],"assumption":[63],"unrealistic.":[65],"work,":[68],"we":[69],"show":[70],"trajectory-aware":[73],"method":[76],"uses":[78],"multiple":[79],"demonstrations":[80],"focus":[82],"process":[85],"on":[86,116],"points":[87],"relevant":[90],"task":[93],"can":[94],"effectively":[95],"handle":[96],"significantly":[97],"greater":[98],"visual":[99],"than":[101],"prior":[102],"not":[106],"trajectory-aware.":[107],"We":[108],"demonstrate":[109],"approach":[112],"achieves":[113],"superior":[114],"generalization":[115],"several":[117],"challenging":[118],"tasks,":[119],"including":[120],"towel":[121],"folding":[122],"grasping":[124],"objects":[125],"in":[126],"box":[128],"containing":[129],"irrelevant":[130],"distractors.":[131]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
