{"id":"https://openalex.org/W2909098022","doi":"https://doi.org/10.1109/iros.2018.8594133","title":"Robust Robot Learning from Demonstration and Skill Repair Using Conceptual Constraints","display_name":"Robust Robot Learning from Demonstration and Skill Repair Using Conceptual Constraints","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909098022","doi":"https://doi.org/10.1109/iros.2018.8594133","mag":"2909098022"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594133","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":"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/A5079413818","display_name":"Carl L. Mueller","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carl Mueller","raw_affiliation_strings":["Department of Computer Science, University of Colorado Boulder, Engineering Drive, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado Boulder, Engineering Drive, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024185833","display_name":"Jeff Venicx","orcid":null},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeff Venicx","raw_affiliation_strings":["Department of Computer Science, University of Colorado Boulder, Engineering Drive, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado Boulder, Engineering Drive, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034950112","display_name":"Bradley Hayes","orcid":"https://orcid.org/0000-0002-0723-1085"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bradley Hayes","raw_affiliation_strings":["Department of Computer Science, University of Colorado Boulder, Engineering Drive, Boulder, CO, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Colorado Boulder, Engineering Drive, Boulder, CO, USA","institution_ids":["https://openalex.org/I188538660"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I188538660"],"apc_list":null,"apc_paid":null,"fwci":6.0175,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.98066831,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6029","last_page":"6036"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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":0.9984999895095825,"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":0.9983000159263611,"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":0.9911999702453613,"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":0.7618206739425659},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7067303657531738},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6406705379486084},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6037397384643555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.520359456539154},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.5138331055641174},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.5077963471412659},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.49215787649154663},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4898638427257538},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.4390294551849365},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37201470136642456},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.11922657489776611},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10319530963897705},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.08100134134292603}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7618206739425659},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7067303657531738},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6406705379486084},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6037397384643555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.520359456539154},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.5138331055641174},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.5077963471412659},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.49215787649154663},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4898638427257538},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.4390294551849365},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37201470136642456},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.11922657489776611},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10319530963897705},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.08100134134292603},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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.2018.8594133","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594133","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":[{"id":"https://metadata.un.org/sdg/4","score":0.6299999952316284,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W187005120","https://openalex.org/W1065174047","https://openalex.org/W1684361744","https://openalex.org/W1986014385","https://openalex.org/W1999874108","https://openalex.org/W2053910308","https://openalex.org/W2054661770","https://openalex.org/W2061562262","https://openalex.org/W2068127265","https://openalex.org/W2078158966","https://openalex.org/W2081034428","https://openalex.org/W2091921805","https://openalex.org/W2103254706","https://openalex.org/W2122410182","https://openalex.org/W2123694750","https://openalex.org/W2135043890","https://openalex.org/W2138739434","https://openalex.org/W2138804539","https://openalex.org/W2158582431","https://openalex.org/W2171054284","https://openalex.org/W2181594852","https://openalex.org/W2214018736","https://openalex.org/W2264426170","https://openalex.org/W2296594443","https://openalex.org/W2409715576","https://openalex.org/W2589775493","https://openalex.org/W2605907393","https://openalex.org/W2623293810","https://openalex.org/W2737087486","https://openalex.org/W2786426168","https://openalex.org/W2901136733","https://openalex.org/W3098878766","https://openalex.org/W4211008118","https://openalex.org/W4211133235","https://openalex.org/W4234821663","https://openalex.org/W4302161581","https://openalex.org/W6678264118","https://openalex.org/W6747820993","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2110944602","https://openalex.org/W3213722473","https://openalex.org/W40488765","https://openalex.org/W108140644","https://openalex.org/W1564680838","https://openalex.org/W2060591604","https://openalex.org/W1505626156","https://openalex.org/W2166791242","https://openalex.org/W3012440055","https://openalex.org/W2967461658"],"abstract_inverted_index":{"Learning":[0,49],"from":[1,50,131],"demonstration":[2,103],"(LfD)":[3],"has":[4],"enabled":[5],"robots":[6],"to":[7,33,38,92,107,120,128,135],"rapidly":[8],"gain":[9],"new":[10,140],"skills":[11,95],"and":[12,60,109],"capabilities":[13],"by":[14,18],"leveraging":[15],"examples":[16],"provided":[17],"novice":[19],"human":[20],"operators.":[21],"While":[22],"effective,":[23],"this":[24,43],"training":[25],"mechanism":[26],"presents":[27],"the":[28,70,79,105],"potential":[29,118],"for":[30,56,117],"sub-optimal":[31],"demonstrations":[32,77,130,141],"negatively":[34],"impact":[35],"performance":[36],"due":[37],"unintentional":[39],"operator":[40],"error.":[41],"In":[42],"work":[44],"we":[45,85],"introduce":[46],"Concept":[47],"Constrained":[48],"Demonstration":[51],"(CC-LfD),":[52],"a":[53,100,132],"novel":[54],"algorithm":[55],"robust":[57],"skill":[58,61],"learning":[59],"repair":[62,94],"that":[63,87],"incorporates":[64],"annotations":[65],"of":[66,72],"conceptually-grounded":[67],"constraints":[68,124],"(in":[69],"form":[71],"planning":[73],"predicates)":[74],"during":[75],"live":[76],"into":[78],"LfD":[80],"process.":[81],"Through":[82],"our":[83],"evaluation,":[84],"show":[86],"CC-LfD":[88],"can":[89,125],"be":[90,126],"used":[91,127],"quickly":[93],"with":[96,138],"as":[97,99],"little":[98],"single":[101],"annotated":[102],"without":[104],"need":[106],"identify":[108],"remove":[110],"low-quality":[111],"demonstrations.":[112],"We":[113],"also":[114],"provide":[115],"evidence":[116],"applications":[119],"transfer":[121],"learning,":[122],"whereby":[123],"adapt":[129],"related":[133],"task":[134],"achieve":[136],"proficiency":[137],"few":[139],"required.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
