{"id":"https://openalex.org/W3129721466","doi":"https://doi.org/10.1109/iros45743.2020.9341758","title":"A Geometric Perspective on Visual Imitation Learning","display_name":"A Geometric Perspective on Visual Imitation Learning","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3129721466","doi":"https://doi.org/10.1109/iros45743.2020.9341758","mag":"3129721466"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/A5085327057","display_name":"Jun Jin","orcid":"https://orcid.org/0000-0002-4295-502X"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jun Jin","raw_affiliation_strings":["University of Alberta,Department of Computing Science,Edmonton AB,Canada,T6G 2E8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alberta,Department of Computing Science,Edmonton AB,Canada,T6G 2E8","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016750375","display_name":"Laura Petrich","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Laura Petrich","raw_affiliation_strings":["University of Alberta,Department of Computing Science,Edmonton AB,Canada,T6G 2E8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alberta,Department of Computing Science,Edmonton AB,Canada,T6G 2E8","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006157212","display_name":"Masood Dehghan","orcid":"https://orcid.org/0000-0003-2293-6101"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Masood Dehghan","raw_affiliation_strings":["University of Alberta,Department of Computing Science,Edmonton AB,Canada,T6G 2E8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alberta,Department of Computing Science,Edmonton AB,Canada,T6G 2E8","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030948380","display_name":"Martin J\u00e4gersand","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Martin Jagersand","raw_affiliation_strings":["University of Alberta,Department of Computing Science,Edmonton AB,Canada,T6G 2E8"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alberta,Department of Computing Science,Edmonton AB,Canada,T6G 2E8","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":1.0768,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.8053648,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9976999759674072,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9976999759674072,"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/T12859","display_name":"Cell Image Analysis Techniques","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/1304","display_name":"Biophysics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9864000082015991,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.7065688371658325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.703538715839386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6626361608505249},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5751606822013855},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45624154806137085},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4286479353904724},{"id":"https://openalex.org/keywords/mirroring","display_name":"Mirroring","score":0.4188503623008728},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4143630266189575},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4109017252922058},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39283737540245056},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08162698149681091}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.7065688371658325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.703538715839386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6626361608505249},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5751606822013855},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45624154806137085},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4286479353904724},{"id":"https://openalex.org/C189645446","wikidata":"https://www.wikidata.org/wiki/Q350865","display_name":"Mirroring","level":2,"score":0.4188503623008728},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4143630266189575},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4109017252922058},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39283737540245056},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08162698149681091},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros45743.2020.9341758","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341758","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W1510971492","https://openalex.org/W1567816525","https://openalex.org/W1613163714","https://openalex.org/W1903836554","https://openalex.org/W1924770834","https://openalex.org/W1967097499","https://openalex.org/W1986014385","https://openalex.org/W1992989752","https://openalex.org/W1999874108","https://openalex.org/W2008849352","https://openalex.org/W2033819227","https://openalex.org/W2038487359","https://openalex.org/W2050730932","https://openalex.org/W2082991751","https://openalex.org/W2117228865","https://openalex.org/W2120591602","https://openalex.org/W2124386111","https://openalex.org/W2124904960","https://openalex.org/W2146277765","https://openalex.org/W2155748157","https://openalex.org/W2164343368","https://openalex.org/W2192203593","https://openalex.org/W2290104316","https://openalex.org/W2414119096","https://openalex.org/W2416663518","https://openalex.org/W2606780347","https://openalex.org/W2755546070","https://openalex.org/W2788822937","https://openalex.org/W2796390970","https://openalex.org/W2811406147","https://openalex.org/W2892557643","https://openalex.org/W2919115771","https://openalex.org/W2919255197","https://openalex.org/W2960029743","https://openalex.org/W2963277051","https://openalex.org/W2963590100","https://openalex.org/W2964000117","https://openalex.org/W2964021598","https://openalex.org/W2967857025","https://openalex.org/W2970705309","https://openalex.org/W2991276239","https://openalex.org/W3089891697","https://openalex.org/W3091470805","https://openalex.org/W3122822150","https://openalex.org/W4288020136","https://openalex.org/W6633868352","https://openalex.org/W6640212811","https://openalex.org/W6650265722","https://openalex.org/W6683981157","https://openalex.org/W6685126250","https://openalex.org/W6696380822","https://openalex.org/W6718092244","https://openalex.org/W6736685754","https://openalex.org/W6744181227","https://openalex.org/W6750174199","https://openalex.org/W6752823625","https://openalex.org/W6760329984","https://openalex.org/W6765399202","https://openalex.org/W6766848740","https://openalex.org/W6768067148","https://openalex.org/W6783448580","https://openalex.org/W6789494410"],"related_works":["https://openalex.org/W2081134829","https://openalex.org/W2012196799","https://openalex.org/W2914953798","https://openalex.org/W2016936103","https://openalex.org/W1969752774","https://openalex.org/W2551163313","https://openalex.org/W2294049764","https://openalex.org/W2108584188","https://openalex.org/W1980969160","https://openalex.org/W2404041551"],"abstract_inverted_index":{"We":[0,23,78],"consider":[1],"the":[2],"problem":[3,30],"of":[4,82,129],"visual":[5,47,123],"imitation":[6],"learning":[7,20,83,88],"without":[8],"human":[9,74],"kinesthetic":[10],"teaching":[11],"or":[12],"teleoperation,":[13],"nor":[14],"access":[15],"to":[16,28,43,65,101,133],"an":[17,58,94],"interactive":[18],"reinforcement":[19],"training":[21,39],"environment.":[22],"present":[24],"a":[25,89,109,114],"geometric":[26,32,69,118],"perspective":[27],"this":[29],"where":[31],"feature":[33,70],"correspondences":[34],"are":[35],"learned":[36],"from":[37,73,85],"one":[38],"video":[40,76],"and":[41,96],"used":[42],"execute":[44],"tasks":[45],"via":[46],"servoing.":[48],"Specifically,":[49],"we":[50],"propose":[51],"VGS-IL":[52],"(Visual":[53],"Geometric":[54],"Skill":[55],"Imitation":[56],"Learning),":[57],"end-to-end":[59],"geometry-parameterized":[60,90],"task":[61,91,110,131],"concept":[62,92,111],"inference":[63],"method,":[64],"infer":[66],"globally":[67],"consistent":[68],"association":[71],"rules":[72],"demonstration":[75],"frames.":[77],"show":[79],"that,":[80],"instead":[81],"actions":[84],"image":[86],"pixels,":[87],"provides":[93,113],"explainable":[95],"invariant":[97],"representation":[98,112],"across":[99],"demonstrator":[100],"imitator":[102],"under":[103],"various":[104],"environmental":[105],"settings.":[106],"Moreover,":[107],"such":[108],"direct":[115],"link":[116],"with":[117],"vision":[119],"based":[120],"controllers":[121],"(e.g.":[122],"servoing),":[124],"allowing":[125],"for":[126],"efficient":[127],"mapping":[128],"high-level":[130],"concepts":[132],"low-level":[134],"robot":[135],"actions.":[136]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
