{"id":"https://openalex.org/W2909238590","doi":"https://doi.org/10.1109/iros.2018.8593634","title":"Multi-Modal Robot Apprenticeship: Imitation Learning Using Linearly Decayed DMP+ in a Human-Robot Dialogue System","display_name":"Multi-Modal Robot Apprenticeship: Imitation Learning Using Linearly Decayed DMP+ in a Human-Robot Dialogue System","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909238590","doi":"https://doi.org/10.1109/iros.2018.8593634","mag":"2909238590"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593634","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/A5017822851","display_name":"Yan Wu","orcid":"https://orcid.org/0000-0002-4644-0664"},"institutions":[{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]},{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Yan Wu","raw_affiliation_strings":["Yan Wu and Keng Peng Tee are with the A*STAR Institute for\u2022 Infocomm Research, Singapore"],"affiliations":[{"raw_affiliation_string":"Yan Wu and Keng Peng Tee are with the A*STAR Institute for\u2022 Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000","https://openalex.org/I115228651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063712591","display_name":"Ruohan Wang","orcid":"https://orcid.org/0000-0002-5208-4555"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ruohan Wang","raw_affiliation_strings":["Ruohan Wang is with Imperial College London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Ruohan Wang is with Imperial College London, United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024161267","display_name":"Luis Fernando D\u2019Haro","orcid":"https://orcid.org/0000-0002-3411-7384"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Luis F. D'Haro","raw_affiliation_strings":["Luis F. D'Haro is with Universidad Polit\u00e9cnica de Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Luis F. D'Haro is with Universidad Polit\u00e9cnica de Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022050902","display_name":"Rafael E. Banchs","orcid":null},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Rafael E. Banchs","raw_affiliation_strings":["Rafael E. Banchs is with Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"Rafael E. Banchs is with Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045199303","display_name":"Keng Peng Tee","orcid":"https://orcid.org/0000-0001-7162-9066"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I3005327000","display_name":"Institute for Infocomm Research","ror":"https://ror.org/053rfa017","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I3005327000","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Keng Peng Tee","raw_affiliation_strings":["Yan Wu and Keng Peng Tee are with the A*STAR Institute for\u2022 Infocomm Research, Singapore"],"affiliations":[{"raw_affiliation_string":"Yan Wu and Keng Peng Tee are with the A*STAR Institute for\u2022 Infocomm Research, Singapore","institution_ids":["https://openalex.org/I3005327000","https://openalex.org/I115228651"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5017822851"],"corresponding_institution_ids":["https://openalex.org/I115228651","https://openalex.org/I3005327000"],"apc_list":null,"apc_paid":null,"fwci":1.6554,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.85399946,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9937999844551086,"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/T12031","display_name":"Speech and dialogue systems","score":0.9936000108718872,"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":0.7365286946296692},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6774592399597168},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.5855892896652222},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5665134787559509},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5489646792411804},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5436739921569824},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5002174377441406},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.47144851088523865},{"id":"https://openalex.org/keywords/tutor","display_name":"TUTOR","score":0.4259811043739319},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3445970118045807},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13130050897598267},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08601874113082886}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7365286946296692},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6774592399597168},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.5855892896652222},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5665134787559509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5489646792411804},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5436739921569824},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5002174377441406},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.47144851088523865},{"id":"https://openalex.org/C2778371403","wikidata":"https://www.wikidata.org/wiki/Q7672049","display_name":"TUTOR","level":2,"score":0.4259811043739319},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3445970118045807},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13130050897598267},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08601874113082886},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8593634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593634","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W1597173708","https://openalex.org/W1964812476","https://openalex.org/W1982486572","https://openalex.org/W1986014385","https://openalex.org/W1999874108","https://openalex.org/W2002011434","https://openalex.org/W2010953845","https://openalex.org/W2037461669","https://openalex.org/W2078768837","https://openalex.org/W2087599975","https://openalex.org/W2093037264","https://openalex.org/W2113698995","https://openalex.org/W2116226448","https://openalex.org/W2125612430","https://openalex.org/W2136719407","https://openalex.org/W2149563148","https://openalex.org/W2151975555","https://openalex.org/W2155307968","https://openalex.org/W2156430693","https://openalex.org/W2161395589","https://openalex.org/W2250635077","https://openalex.org/W2288288262","https://openalex.org/W2471581187","https://openalex.org/W2474390746","https://openalex.org/W2507739667","https://openalex.org/W2533523411","https://openalex.org/W2551150528","https://openalex.org/W2564924180","https://openalex.org/W2786893887","https://openalex.org/W2787630583","https://openalex.org/W2963221965","https://openalex.org/W2982543669","https://openalex.org/W3121541553","https://openalex.org/W4241649586","https://openalex.org/W6670090580","https://openalex.org/W6720328194","https://openalex.org/W6738261575"],"related_works":["https://openalex.org/W2478195092","https://openalex.org/W4312351362","https://openalex.org/W2362145073","https://openalex.org/W2358338760","https://openalex.org/W183073912","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W4365788246","https://openalex.org/W2913184176","https://openalex.org/W1936970628"],"abstract_inverted_index":{"Robot":[0],"learning":[1,78,108,163],"by":[2],"demonstration":[3,50,152],"gives":[4],"robots":[5,23],"the":[6,54,95,114,159],"ability":[7],"to":[8,17,24,44,56,59,97,116,120,124,156],"learn":[9,45,60,98],"tasks":[10,46,66,166],"which":[11],"they":[12],"have":[13],"not":[14],"been":[15,42],"programmed":[16],"do":[18],"before.":[19],"The":[20,134],"paradigm":[21,39],"allows":[22],"work":[25],"in":[26,33,67,86,132,167],"a":[27,48,63,68,76,87,121,168],"greater":[28],"range":[29],"of":[30,65,136,164],"real-world":[31],"applications":[32],"our":[34],"daily":[35],"life.":[36],"However,":[37],"this":[38,72],"has":[40],"traditionally":[41],"applied":[43],"from":[47],"single":[49],"modality.":[51],"This":[52],"restricts":[53],"approach":[55,79],"be":[57],"scaled":[58],"and":[61,92,129],"execute":[62],"series":[64],"real-life":[69],"environment.":[70],"In":[71],"paper,":[73],"we":[74],"propose":[75],"multi-modal":[77],"using":[80],"DMP+":[81,138],"with":[82,90,139],"linear":[83,140],"decay":[84,141],"integrated":[85],"dialogue":[88],"system":[89,142,160],"speech":[91],"ontology":[93],"for":[94],"robot":[96],"seamlessly":[99],"through":[100],"natural":[101],"interaction":[102],"modalities":[103],"(like":[104],"an":[105],"apprentice)":[106],"while":[107],"or":[109],"re-learning":[110],"is":[111,143,153],"done":[112],"on":[113],"fly":[115],"allow":[117],"partial":[118],"updates":[119],"learned":[122],"task":[123],"reduce":[125],"potential":[126],"user":[127],"fatigue":[128],"operational":[130],"downtime":[131],"teaching.":[133],"performance":[135],"new":[137],"statistically":[144],"benchmarked":[145],"against":[146],"state-of-the-art":[147],"DMP":[148],"implementations.":[149],"A":[150],"gluing":[151],"also":[154],"conducted":[155],"show":[157],"how":[158],"provides":[161],"seamless":[162],"multiple":[165],"flexible":[169],"manufacturing":[170],"set-up.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
