{"id":"https://openalex.org/W2886047842","doi":"https://doi.org/10.1109/iros.2018.8593552","title":"Active Learning based on Data Uncertainty and Model Sensitivity","display_name":"Active Learning based on Data Uncertainty and Model Sensitivity","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2886047842","doi":"https://doi.org/10.1109/iros.2018.8593552","mag":"2886047842"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5014597367","display_name":"Nutan Chen","orcid":"https://orcid.org/0000-0001-7571-0742"},"institutions":[{"id":"https://openalex.org/I4210157570","display_name":"Data:Lab Munich (Germany)","ror":"https://ror.org/04jbk1p62","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210157570"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nutan Chen","raw_affiliation_strings":["AI Research, Data: Lab, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AI Research, Data: Lab, Munich, Germany","institution_ids":["https://openalex.org/I4210157570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050826237","display_name":"Alexej Klushyn","orcid":null},"institutions":[{"id":"https://openalex.org/I4210157570","display_name":"Data:Lab Munich (Germany)","ror":"https://ror.org/04jbk1p62","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210157570"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexej Klushyn","raw_affiliation_strings":["AI Research, Data: Lab, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AI Research, Data: Lab, Munich, Germany","institution_ids":["https://openalex.org/I4210157570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086955688","display_name":"Alexandros Paraschos","orcid":"https://orcid.org/0000-0002-3930-4840"},"institutions":[{"id":"https://openalex.org/I4210157570","display_name":"Data:Lab Munich (Germany)","ror":"https://ror.org/04jbk1p62","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210157570"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexandros Paraschos","raw_affiliation_strings":["AI Research, Data: Lab, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AI Research, Data: Lab, Munich, Germany","institution_ids":["https://openalex.org/I4210157570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088480694","display_name":"Djalel Benbouzid","orcid":"https://orcid.org/0009-0007-9022-0291"},"institutions":[{"id":"https://openalex.org/I4210157570","display_name":"Data:Lab Munich (Germany)","ror":"https://ror.org/04jbk1p62","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210157570"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Djalel Benbouzid","raw_affiliation_strings":["AI Research, Data: Lab, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AI Research, Data: Lab, Munich, Germany","institution_ids":["https://openalex.org/I4210157570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022626150","display_name":"Patrick van der Smagt","orcid":"https://orcid.org/0000-0003-4418-4916"},"institutions":[{"id":"https://openalex.org/I4210157570","display_name":"Data:Lab Munich (Germany)","ror":"https://ror.org/04jbk1p62","country_code":"DE","type":"company","lineage":["https://openalex.org/I4210157570"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Patrick Van der Smagt","raw_affiliation_strings":["AI Research, Data: Lab, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AI Research, Data: Lab, Munich, Germany","institution_ids":["https://openalex.org/I4210157570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6896,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.88193341,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1547","last_page":"1554"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9908999800682068,"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":0.6346556544303894},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6166684627532959},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6144730448722839},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6048261523246765},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.6023473739624023},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5917518138885498},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5556836724281311},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5487249493598938},{"id":"https://openalex.org/keywords/latent-variable","display_name":"Latent variable","score":0.540091335773468},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.5223639607429504},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.4799261689186096},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4438120424747467},{"id":"https://openalex.org/keywords/active-learning","display_name":"Active learning (machine learning)","score":0.4369303286075592},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.4346989095211029},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.42261961102485657},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.3119438886642456},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14809906482696533}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6346556544303894},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6166684627532959},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6144730448722839},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6048261523246765},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.6023473739624023},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5917518138885498},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5556836724281311},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5487249493598938},{"id":"https://openalex.org/C51167844","wikidata":"https://www.wikidata.org/wiki/Q4422623","display_name":"Latent variable","level":2,"score":0.540091335773468},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.5223639607429504},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.4799261689186096},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4438120424747467},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.4369303286075592},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.4346989095211029},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.42261961102485657},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.3119438886642456},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14809906482696533},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W1747872814","https://openalex.org/W1766336887","https://openalex.org/W1779483307","https://openalex.org/W1872312298","https://openalex.org/W1909320841","https://openalex.org/W1959608418","https://openalex.org/W1975672287","https://openalex.org/W2004303440","https://openalex.org/W2070678636","https://openalex.org/W2077261816","https://openalex.org/W2083875149","https://openalex.org/W2085989833","https://openalex.org/W2099201756","https://openalex.org/W2114804859","https://openalex.org/W2124244761","https://openalex.org/W2134442711","https://openalex.org/W2138309709","https://openalex.org/W2139709458","https://openalex.org/W2140535827","https://openalex.org/W2151716017","https://openalex.org/W2158582431","https://openalex.org/W2194775991","https://openalex.org/W2570764145","https://openalex.org/W2597787948","https://openalex.org/W2605576515","https://openalex.org/W2726933900","https://openalex.org/W2765340009","https://openalex.org/W2775751232","https://openalex.org/W2903158431","https://openalex.org/W2949071206","https://openalex.org/W2951786554","https://openalex.org/W2951911250","https://openalex.org/W2962897886","https://openalex.org/W2963275229","https://openalex.org/W2963289229","https://openalex.org/W2963682248","https://openalex.org/W2964011399","https://openalex.org/W2964121744","https://openalex.org/W3022637862","https://openalex.org/W4244799118","https://openalex.org/W4252861488","https://openalex.org/W4299512017","https://openalex.org/W4302434451","https://openalex.org/W6631190155","https://openalex.org/W6637994300","https://openalex.org/W6638116569","https://openalex.org/W6639732818","https://openalex.org/W6640963894","https://openalex.org/W6680065111","https://openalex.org/W6680878686","https://openalex.org/W6735374517","https://openalex.org/W6735802298","https://openalex.org/W6740302412","https://openalex.org/W6745792544","https://openalex.org/W6745907911","https://openalex.org/W6747136208","https://openalex.org/W6756615331","https://openalex.org/W6776986922"],"related_works":["https://openalex.org/W2616125534","https://openalex.org/W2770703741","https://openalex.org/W2963987720","https://openalex.org/W3022187094","https://openalex.org/W4295680417","https://openalex.org/W2963790827","https://openalex.org/W3190687883","https://openalex.org/W2786010873","https://openalex.org/W2146310005","https://openalex.org/W4287325290"],"abstract_inverted_index":{"Robots":[0],"can":[1,51],"rapidly":[2],"acquire":[3],"new":[4],"skills":[5,12],"from":[6,138,196],"demonstrations.":[7],"However,":[8],"during":[9],"generalisation":[10],"of":[11,55,64,102,123,165],"or":[13,43],"transitioning":[14,172],"across":[15,173],"fundamentally":[16],"different":[17,174],"skills,":[18,171,175],"it":[19],"is":[20,85],"unclear":[21],"whether":[22],"the":[23,26,31,47,53,57,100,103,110,121,124,147,163,181],"robot":[24],"has":[25],"necessary":[27],"knowledge":[28,145],"to":[29,34,40,44,105,117],"perform":[30],"task.":[32],"Failing":[33],"detect":[35,106],"missing":[36,65],"information":[37],"often":[38],"leads":[39],"abrupt":[41,118],"movements":[42],"collisions":[45,179],"with":[46,180],"environment.":[48,182],"Active":[49],"learning":[50,74,93,153],"quantify":[52],"uncertainty":[54],"performing":[56],"task":[58],"and,":[59],"in":[60,94,109,120],"general,":[61],"locate":[62],"regions":[63],"information.":[66],"We":[67,161],"introduce":[68],"a":[69,154,188,199],"novel":[70],"algorithm":[71,132],"for":[72,79,134,152,157],"active":[73],"and":[75,91,150,176,198],"demonstrate":[76,162],"its":[77,194],"utility":[78],"generating":[80,158],"smooth":[81,159],"trajectories.":[82],"Our":[83],"approach":[84,167],"based":[86],"on":[87,99,168],"deep":[88],"generative":[89],"models":[90],"metric":[92],"latent":[95,111,155],"spaces.":[96],"It":[97],"relies":[98],"Jacobian":[101],"likelihood":[104],"non-smooth":[107,127],"transitions":[108,114,128],"space,":[112],"i.e.,":[113],"that":[115,139],"lead":[116],"changes":[119],"movement":[122],"robot.":[125],"When":[126],"are":[129],"detected,":[130],"our":[131,166,184],"asks":[133],"an":[135],"additional":[136],"demonstration":[137],"specific":[140],"region.":[141],"The":[142],"newly":[143],"acquired":[144],"modifies":[146],"data":[148],"manifold":[149],"allows":[151],"representation":[156],"movements.":[160],"efficacy":[164],"generalising":[169],"elementary":[170],"implicitly":[177],"avoiding":[178],"For":[183],"experiments,":[185],"we":[186,192],"use":[187],"simulated":[189],"pendulum":[190],"where":[191],"observe":[193],"motion":[195],"images":[197],"7-DoF":[200],"anthropomorphic":[201],"arm.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
