{"id":"https://openalex.org/W2971118689","doi":"https://doi.org/10.1109/iros40897.2019.8968091","title":"Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications","display_name":"Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2971118689","doi":"https://doi.org/10.1109/iros40897.2019.8968091","mag":"2971118689"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968091","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1908.10184","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5084779517","display_name":"Tim Welschehold","orcid":"https://orcid.org/0000-0003-1163-4992"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim Welschehold","raw_affiliation_strings":["Institute of Computer Science, University of Freiburg,Germany","Institute of Computer Science University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, University of Freiburg,Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Institute of Computer Science University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028710264","display_name":"Nichola Abdo","orcid":"https://orcid.org/0000-0003-3060-9768"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nichola Abdo","raw_affiliation_strings":["Institute of Computer Science, University of Freiburg,Germany","Institute of Computer Science University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, University of Freiburg,Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Institute of Computer Science University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066296489","display_name":"Christian Dornhege","orcid":"https://orcid.org/0000-0003-3150-3623"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Dornhege","raw_affiliation_strings":["Institute of Computer Science, University of Freiburg,Germany","Institute of Computer Science University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, University of Freiburg,Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Institute of Computer Science University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Wolfram Burgard","raw_affiliation_strings":["Institute of Computer Science, University of Freiburg,Germany","Institute of Computer Science University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, University of Freiburg,Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Institute of Computer Science University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":0.4927,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65057198,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"4317","last_page":"4324"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7354579567909241},{"id":"https://openalex.org/keywords/commit","display_name":"Commit","score":0.6808624267578125},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.64149010181427},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6041603684425354},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.5920344591140747},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5737791657447815},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5397838354110718},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.530747652053833},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5146569013595581},{"id":"https://openalex.org/keywords/action-learning","display_name":"Action learning","score":0.4967263340950012},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4841064214706421},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4014824628829956},{"id":"https://openalex.org/keywords/teaching-method","display_name":"Teaching method","score":0.15079879760742188},{"id":"https://openalex.org/keywords/cooperative-learning","display_name":"Cooperative learning","score":0.11071720719337463},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10920879244804382},{"id":"https://openalex.org/keywords/mathematics-education","display_name":"Mathematics education","score":0.08695065975189209},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08167555928230286}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7354579567909241},{"id":"https://openalex.org/C153180980","wikidata":"https://www.wikidata.org/wiki/Q19776675","display_name":"Commit","level":2,"score":0.6808624267578125},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.64149010181427},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6041603684425354},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.5920344591140747},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5737791657447815},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5397838354110718},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.530747652053833},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5146569013595581},{"id":"https://openalex.org/C183759332","wikidata":"https://www.wikidata.org/wiki/Q343680","display_name":"Action learning","level":4,"score":0.4967263340950012},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4841064214706421},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4014824628829956},{"id":"https://openalex.org/C88610354","wikidata":"https://www.wikidata.org/wiki/Q1813494","display_name":"Teaching method","level":2,"score":0.15079879760742188},{"id":"https://openalex.org/C51672120","wikidata":"https://www.wikidata.org/wiki/Q303446","display_name":"Cooperative learning","level":3,"score":0.11071720719337463},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10920879244804382},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.08695065975189209},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08167555928230286},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros40897.2019.8968091","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968091","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:1908.10184","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.10184","pdf_url":"https://arxiv.org/pdf/1908.10184","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":"mag:2971118689","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/1908.10184.pdf","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:freidok.uni-freiburg.de:267504","is_oa":false,"landing_page_url":"https://freidok.uni-freiburg.de/data/267504","pdf_url":null,"source":{"id":"https://openalex.org/S4306401057","display_name":"FreiDok plus (Universit\u00e4tsbibliothek Freiburg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I161046081","host_organization_name":"University of Freiburg","host_organization_lineage":["https://openalex.org/I161046081"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - Piscataway, NJ, 2019., ISBN: 978-1-7281-4004-9","raw_type":"article_in_conference_proceedings"},{"id":"doi:10.48550/arxiv.1908.10184","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1908.10184","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1908.10184","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.10184","pdf_url":"https://arxiv.org/pdf/1908.10184","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":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2971118689.pdf"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1494534478","https://openalex.org/W1619459736","https://openalex.org/W1977013839","https://openalex.org/W1986014385","https://openalex.org/W2063471043","https://openalex.org/W2086839920","https://openalex.org/W2121989750","https://openalex.org/W2126316555","https://openalex.org/W2128677288","https://openalex.org/W2131908539","https://openalex.org/W2143936212","https://openalex.org/W2149390907","https://openalex.org/W2161395589","https://openalex.org/W2203521679","https://openalex.org/W2207670488","https://openalex.org/W2403069916","https://openalex.org/W2407405831","https://openalex.org/W2560573001","https://openalex.org/W2565427121","https://openalex.org/W2753773864","https://openalex.org/W2771779534","https://openalex.org/W2774328603","https://openalex.org/W2805883505","https://openalex.org/W2910448276","https://openalex.org/W2962962024","https://openalex.org/W6681431202","https://openalex.org/W6713184877","https://openalex.org/W6743663275","https://openalex.org/W6746824559"],"related_works":["https://openalex.org/W3003530658","https://openalex.org/W2086100817","https://openalex.org/W2154342426","https://openalex.org/W2188001064","https://openalex.org/W2995508322","https://openalex.org/W2517466267","https://openalex.org/W3195099242","https://openalex.org/W3112615056","https://openalex.org/W2787257245","https://openalex.org/W2964327195","https://openalex.org/W2974316376","https://openalex.org/W2966730259","https://openalex.org/W1247499718","https://openalex.org/W3135166353","https://openalex.org/W3183955832","https://openalex.org/W2910588291","https://openalex.org/W2963026102","https://openalex.org/W3128507558","https://openalex.org/W1423979448","https://openalex.org/W2112458651"],"abstract_inverted_index":{"Learning":[0],"from":[1,18,44,94],"demonstrations":[2,49],"is":[3,22],"a":[4,19,23,45,122],"promising":[5],"paradigm":[6],"for":[7,69,116],"transferring":[8],"knowledge":[9],"to":[10,55,64,66,73,83,103,112,131,148],"robots.":[11],"However,":[12],"learning":[13,29,43,84],"mobile":[14,86],"manipulation":[15,87],"tasks":[16,163],"directly":[17],"human":[20],"teacher":[21,95,139,147],"complex":[24,162],"problem":[25],"as":[26],"it":[27,62],"requires":[28],"models":[30,89,99],"of":[31,38,48,58,108,134,158],"both":[32],"the":[33,39,56,59,71,101,138,146,156],"overall":[34],"task":[35,72,91],"goal":[36,92,152],"and":[37,90,111],"underlying":[40],"actions.":[41],"Additionally,":[42],"small":[46],"number":[47],"often":[50],"introduces":[51],"ambiguity":[52],"with":[53],"respect":[54],"intention":[57,140],"teacher,":[60],"making":[61],"challenging":[63],"commit":[65],"one":[67],"model":[68],"generalizing":[70],"new":[74,142],"settings.":[75,168],"In":[76],"this":[77],"paper,":[78],"we":[79,120],"present":[80],"an":[81,150],"approach":[82,160],"flexible":[85],"action":[88,98,110],"representations":[93],"demonstrations.":[96],"Our":[97],"enable":[100],"robot":[102],"consider":[104],"different":[105],"likely":[106],"outcomes":[107],"each":[109],"generate":[113],"feasible":[114,135],"trajectories":[115],"achieving":[117],"them.":[118],"Accordingly,":[119],"leverage":[121],"probabilistic":[123],"framework":[124],"based":[125],"on":[126],"Monte":[127],"Carlo":[128],"tree":[129],"search":[130],"compute":[132],"sequences":[133],"actions":[136],"imitating":[137],"in":[141,161,166],"settings":[143],"without":[144],"requiring":[145],"specify":[149],"explicit":[151],"state.":[153],"We":[154],"demonstrate":[155],"effectiveness":[157],"our":[159],"carried":[164],"out":[165],"real-world":[167]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}