{"id":"https://openalex.org/W3003534191","doi":"https://doi.org/10.1109/iros40897.2019.8967996","title":"Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives","display_name":"Uncertainty-Aware Imitation Learning using Kernelized Movement Primitives","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003534191","doi":"https://doi.org/10.1109/iros40897.2019.8967996","mag":"3003534191"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8967996","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967996","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1903.02114","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012562539","display_name":"Jo\u00e3o Silv\u00e9rio","orcid":"https://orcid.org/0000-0003-1428-8933"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Jo\u00e3o Silv\u00e9rio","raw_affiliation_strings":["Idiap Research Institute CH-1920 Martigny,Switzerland","Idiap Research Institute CH-1920 Martigny, Switzerland"],"affiliations":[{"raw_affiliation_string":"Idiap Research Institute CH-1920 Martigny,Switzerland","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"Idiap Research Institute CH-1920 Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012387768","display_name":"Yanlong Huang","orcid":"https://orcid.org/0000-0002-5395-5076"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Yanlong Huang","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017337432","display_name":"Fares J. Abu\u2010Dakka","orcid":"https://orcid.org/0000-0001-9062-9416"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Fares J. Abu-Dakka","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063761733","display_name":"Leonel Rozo","orcid":"https://orcid.org/0000-0001-5970-9135"},"institutions":[{"id":"https://openalex.org/I889804353","display_name":"Robert Bosch (Germany)","ror":"https://ror.org/01fe0jt45","country_code":"DE","type":"company","lineage":["https://openalex.org/I889804353"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Leonel Rozo","raw_affiliation_strings":["Bosch Center for Artificial Intelligence,Renningen,Germany,71272","Bosch Center for Artificial Intelligence, Renningen, Germany"],"affiliations":[{"raw_affiliation_string":"Bosch Center for Artificial Intelligence,Renningen,Germany,71272","institution_ids":["https://openalex.org/I889804353"]},{"raw_affiliation_string":"Bosch Center for Artificial Intelligence, Renningen, Germany","institution_ids":["https://openalex.org/I889804353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Department of Advanced Robotics,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5012562539"],"corresponding_institution_ids":["https://openalex.org/I7495430"],"apc_list":null,"apc_paid":null,"fwci":2.5275,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":{"value":0.89979999,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"90","last_page":"97"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9986000061035156,"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":0.9925000071525574,"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/leverage","display_name":"Leverage (statistics)","score":0.7958848476409912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7228662967681885},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7171043157577515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6828120946884155},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.625933051109314},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.5542204976081848},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5427641272544861},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5419751405715942},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5347615480422974},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.51027512550354},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4625586271286011},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.4277484714984894},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3668069839477539},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10318499803543091}],"concepts":[{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7958848476409912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7228662967681885},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7171043157577515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6828120946884155},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.625933051109314},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.5542204976081848},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5427641272544861},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5419751405715942},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5347615480422974},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.51027512550354},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4625586271286011},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.4277484714984894},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3668069839477539},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10318499803543091},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros40897.2019.8967996","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8967996","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1903.02114","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.02114","pdf_url":"https://arxiv.org/pdf/1903.02114","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/43200","is_oa":true,"landing_page_url":"https://research.aalto.fi/en/publications/67299af6-229b-4ef7-a740-3348aa07c90d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401662","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"acceptedVersion"},{"id":"pmh:oai:infoscience.epfl.ch:275408","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/275408","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/275408","raw_type":"Text"},{"id":"pmh:oai:zenodo.org:5599666","is_oa":true,"landing_page_url":"https://doi.org/10.1109/IROS40897.2019.8967996","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1903.02114","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1903.02114","pdf_url":"https://arxiv.org/pdf/1903.02114","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W770013183","https://openalex.org/W1746819321","https://openalex.org/W1851340573","https://openalex.org/W1986014385","https://openalex.org/W2053324916","https://openalex.org/W2063978650","https://openalex.org/W2112474089","https://openalex.org/W2118291463","https://openalex.org/W2131865378","https://openalex.org/W2136719407","https://openalex.org/W2140801763","https://openalex.org/W2149764047","https://openalex.org/W2170078560","https://openalex.org/W2209455490","https://openalex.org/W2213488769","https://openalex.org/W2738836907","https://openalex.org/W2885325819","https://openalex.org/W2909077862","https://openalex.org/W2909940853","https://openalex.org/W2962730596","https://openalex.org/W2964319110","https://openalex.org/W2967519533","https://openalex.org/W4211049957","https://openalex.org/W6677522094","https://openalex.org/W6679875354","https://openalex.org/W6680971464","https://openalex.org/W6684632043"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2665305151"],"abstract_inverted_index":{"During":[0],"the":[1,16,95,174,181,186],"past":[2],"few":[3],"years,":[4],"probabilistic":[5],"approaches":[6],"to":[7,29,67,100,124,132,158],"imitation":[8,73],"learning":[9,74],"have":[10],"earned":[11],"a":[12,31,39,69,82,135,146,150,154,160],"relevant":[13],"place":[14],"in":[15,27,92,145],"robotics":[17],"literature.":[18],"One":[19],"of":[20,45,88,97],"their":[21,117],"most":[22],"prominent":[23],"features":[24],"is":[25,90,165],"that,":[26],"addition":[28],"extracting":[30],"mean":[32],"trajectory":[33],"from":[34,104],"task":[35,164],"demonstrations,":[36,127],"they":[37,121],"provide":[38,68],"variance":[40],"estimation.":[41],"The":[42,163],"intuitive":[43],"meaning":[44],"this":[46,59],"variance,":[47],"however,":[48],"changes":[49],"across":[50],"different":[51],"techniques,":[52],"indicating":[53],"either":[54],"variability":[55],"or":[56],"uncertainty.":[57],"In":[58],"paper":[60],"we":[61,171],"leverage":[62,125],"kernelized":[63],"movement":[64],"primitives":[65],"(KMP)":[66],"new":[70],"perspective":[71],"on":[72],"by":[75],"predicting":[76],"variability,":[77],"correlations":[78],"and":[79,119,153,170,184],"uncertainty":[80],"using":[81],"single":[83],"model.":[84],"This":[85],"rich":[86],"set":[87],"information":[89],"used":[91],"combination":[93],"with":[94,106,189],"fusion":[96],"optimal":[98,190],"controllers":[99],"learn":[101],"robot":[102,156,175],"actions":[103,118],"data,":[105],"two":[107,168,187],"main":[108],"advantages:":[109],"i)":[110],"robots":[111],"become":[112],"safe":[113],"when":[114],"uncertain":[115],"about":[116],"ii)":[120],"are":[122],"able":[123],"partial":[126],"given":[128],"as":[129],"elementary":[130],"sub-tasks,":[131],"optimally":[133],"perform":[134],"higher":[136],"level,":[137],"more":[138],"complex":[139],"task.":[140],"We":[141],"showcase":[142],"our":[143],"approach":[144],"painting":[147],"task,":[148],"where":[149],"human":[151],"user":[152],"KUKA":[155],"collaborate":[157],"paint":[159],"wooden":[161],"board.":[162],"divided":[166],"into":[167],"sub-tasks":[169,188],"show":[172],"that":[173],"becomes":[176],"compliant":[177],"(hence":[178],"safe)":[179],"outside":[180],"training":[182],"regions":[183],"executes":[185],"gains":[191],"otherwise.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-02T15:55:50.835912","created_date":"2025-10-10T00:00:00"}
