{"id":"https://openalex.org/W3003386778","doi":"https://doi.org/10.1109/iros40897.2019.8968543","title":"Synthesizing Robot Manipulation Programs from a Single Observed Human Demonstration","display_name":"Synthesizing Robot Manipulation Programs from a Single Observed Human Demonstration","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003386778","doi":"https://doi.org/10.1109/iros40897.2019.8968543","mag":"3003386778"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968543","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":["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/A5068695596","display_name":"Justin Huang","orcid":"https://orcid.org/0000-0002-8270-0742"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Justin Huang","raw_affiliation_strings":["Jet Propulsion Laboratory,Pasadena,CA,USA,91109","Jet Propulsion Laboratory, Pasadena, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory,Pasadena,CA,USA,91109","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, Pasadena, CA, USA","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108257764","display_name":"Dieter Fox","orcid":"https://orcid.org/0009-0009-4694-9127"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dieter Fox","raw_affiliation_strings":["University of Washington,School for Computer Science and Engineering,Seattle,WA,USA,98195","School for Computer Science and Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,School for Computer Science and Engineering,Seattle,WA,USA,98195","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"School for Computer Science and Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063086622","display_name":"Maya \u00c7akmak","orcid":"https://orcid.org/0000-0001-8457-6610"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maya Cakmak","raw_affiliation_strings":["University of Washington,School for Computer Science and Engineering,Seattle,WA,USA,98195","School for Computer Science and Engineering, University of Washington, Seattle, WA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,School for Computer Science and Engineering,Seattle,WA,USA,98195","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"School for Computer Science and Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1686,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.52976345,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4585","last_page":"4592"},"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":0.9962999820709229,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9876000285148621,"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":0.8302905559539795},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7542811632156372},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.7164140939712524},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6831657886505127},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.5774062275886536},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5752273201942444},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5698009729385376},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5351778864860535},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5346258282661438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5066526532173157},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.500272274017334},{"id":"https://openalex.org/keywords/generalizability-theory","display_name":"Generalizability theory","score":0.46459126472473145},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.43547219038009644}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8302905559539795},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7542811632156372},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.7164140939712524},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6831657886505127},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.5774062275886536},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5752273201942444},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5698009729385376},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5351778864860535},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5346258282661438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5066526532173157},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.500272274017334},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.46459126472473145},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.43547219038009644},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968543","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968543","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W187005120","https://openalex.org/W1601599065","https://openalex.org/W1684361744","https://openalex.org/W1903029394","https://openalex.org/W1969897050","https://openalex.org/W1982051861","https://openalex.org/W1986014385","https://openalex.org/W1990654347","https://openalex.org/W2004707451","https://openalex.org/W2012804028","https://openalex.org/W2026400040","https://openalex.org/W2049981393","https://openalex.org/W2063471043","https://openalex.org/W2063978650","https://openalex.org/W2093271548","https://openalex.org/W2114441423","https://openalex.org/W2123523026","https://openalex.org/W2124032835","https://openalex.org/W2127844098","https://openalex.org/W2128483493","https://openalex.org/W2158582431","https://openalex.org/W2161395589","https://openalex.org/W2162008260","https://openalex.org/W2164933242","https://openalex.org/W2294089271","https://openalex.org/W2296594443","https://openalex.org/W2314161171","https://openalex.org/W2328283485","https://openalex.org/W2589775493","https://openalex.org/W2591957724","https://openalex.org/W2593261762","https://openalex.org/W2609990452","https://openalex.org/W2793667181","https://openalex.org/W2811445575","https://openalex.org/W2890783894","https://openalex.org/W2963669336","https://openalex.org/W2963703448","https://openalex.org/W2963802910","https://openalex.org/W2964115315","https://openalex.org/W2964127152","https://openalex.org/W2964218020","https://openalex.org/W4211008118","https://openalex.org/W4233491225","https://openalex.org/W4252387763","https://openalex.org/W4255827778","https://openalex.org/W6734502593","https://openalex.org/W6740202502","https://openalex.org/W6744925309","https://openalex.org/W6753239927"],"related_works":["https://openalex.org/W2118717649","https://openalex.org/W2413243053","https://openalex.org/W410723623","https://openalex.org/W2015341305","https://openalex.org/W2035068594","https://openalex.org/W4225593417","https://openalex.org/W2573498121","https://openalex.org/W3022298670","https://openalex.org/W3160494304","https://openalex.org/W3006162251"],"abstract_inverted_index":{"Programming":[0,42],"by":[1,43,65],"Demonstration":[2,44],"(PbD)":[3],"lets":[4],"users":[5,28,56,75],"with":[6],"little":[7,32],"technical":[8],"background":[9],"program":[10,58],"a":[11,41,51,62,90,110,117,133],"wide":[12],"variety":[13],"of":[14,92,126,135],"manipulation":[15,48,95],"tasks":[16,60,96],"for":[17,27,61,100],"robots,":[18],"but":[19],"it":[20],"should":[21],"be":[22],"as":[23,25,31,34,82,89],"intuitive":[24],"possible":[26],"while":[29],"requiring":[30],"time":[33],"possible.":[35],"In":[36],"this":[37],"paper,":[38],"we":[39],"present":[40,98],"system":[45],"that":[46],"synthesizes":[47],"programs":[49,102,108],"from":[50,103],"single":[52],"observed":[53,104],"demonstration,":[54],"allowing":[55],"to":[57,78,109,112],"new":[59,118],"robot":[63,111],"simply":[64],"performing":[66],"the":[67,79,114,122],"task":[68,115],"once":[69],"themselves.":[70],"A":[71],"human-in-the-loop":[72],"interface":[73],"helps":[74],"make":[76],"corrections":[77],"perceptual":[80],"state":[81],"needed.":[83],"We":[84,120],"introduce":[85],"Object":[86],"Interaction":[87],"Programs":[88],"representation":[91],"multi-object,":[93],"bimanual":[94],"and":[97,106,124],"algorithms":[99],"extracting":[101],"demonstrations":[105],"transferring":[107],"perform":[113],"in":[116],"scene.":[119],"demonstrate":[121],"expressivity":[123],"generalizability":[125],"our":[127],"approach":[128],"through":[129],"an":[130],"evaluation":[131],"on":[132],"benchmark":[134],"complex":[136],"tasks.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
