{"id":"https://openalex.org/W3134231938","doi":"https://doi.org/10.1109/iros51168.2021.9636023","title":"Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control","display_name":"Generalization Through Hand-Eye Coordination: An Action Space for Learning Spatially-Invariant Visuomotor Control","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3134231938","doi":"https://doi.org/10.1109/iros51168.2021.9636023","mag":"3134231938"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636023","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636023","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5100337522","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0001-9737-1673"},"institutions":[{"id":"https://openalex.org/I4210105015","display_name":"Stanford Health Care","ror":"https://ror.org/019wqcg20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210105015"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chen Wang","raw_affiliation_strings":["Stanford Vision and Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision and Learning Lab","institution_ids":["https://openalex.org/I4210105015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100431397","display_name":"Rui Wang","orcid":"https://orcid.org/0000-0003-3172-3167"},"institutions":[{"id":"https://openalex.org/I4210105015","display_name":"Stanford Health Care","ror":"https://ror.org/019wqcg20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210105015"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rui Wang","raw_affiliation_strings":["Stanford Vision and Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision and Learning Lab","institution_ids":["https://openalex.org/I4210105015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026180478","display_name":"Ajay Mandlekar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105015","display_name":"Stanford Health Care","ror":"https://ror.org/019wqcg20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210105015"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ajay Mandlekar","raw_affiliation_strings":["Stanford Vision and Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision and Learning Lab","institution_ids":["https://openalex.org/I4210105015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450462","display_name":"Li Fei-Fei","orcid":"https://orcid.org/0000-0002-7481-0810"},"institutions":[{"id":"https://openalex.org/I4210105015","display_name":"Stanford Health Care","ror":"https://ror.org/019wqcg20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210105015"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Li Fei-Fei","raw_affiliation_strings":["Stanford Vision and Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision and Learning Lab","institution_ids":["https://openalex.org/I4210105015"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042646536","display_name":"Silvio Savarese","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105015","display_name":"Stanford Health Care","ror":"https://ror.org/019wqcg20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210105015"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Silvio Savarese","raw_affiliation_strings":["Stanford Vision and Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision and Learning Lab","institution_ids":["https://openalex.org/I4210105015"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028834865","display_name":"Danfei Xu","orcid":"https://orcid.org/0000-0002-8744-3861"},"institutions":[{"id":"https://openalex.org/I4210105015","display_name":"Stanford Health Care","ror":"https://ror.org/019wqcg20","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210105015"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Danfei Xu","raw_affiliation_strings":["Stanford Vision and Learning Lab"],"affiliations":[{"raw_affiliation_string":"Stanford Vision and Learning Lab","institution_ids":["https://openalex.org/I4210105015"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100337522"],"corresponding_institution_ids":["https://openalex.org/I4210105015"],"apc_list":null,"apc_paid":null,"fwci":4.3711,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.96156231,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"8913","last_page":"8920"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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":0.9990000128746033,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9866999983787537,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/invariant","display_name":"Invariant (physics)","score":0.5862644910812378},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5705624222755432},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5675965547561646},{"id":"https://openalex.org/keywords/eye\u2013hand-coordination","display_name":"Eye\u2013hand coordination","score":0.5248354077339172},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4786045253276825},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38894957304000854},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22905051708221436},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09242576360702515}],"concepts":[{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.5862644910812378},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5705624222755432},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5675965547561646},{"id":"https://openalex.org/C122434488","wikidata":"https://www.wikidata.org/wiki/Q565578","display_name":"Eye\u2013hand coordination","level":2,"score":0.5248354077339172},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4786045253276825},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38894957304000854},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22905051708221436},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09242576360702515},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9636023","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636023","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":74,"referenced_works":["https://openalex.org/W639708223","https://openalex.org/W1514535095","https://openalex.org/W1684361744","https://openalex.org/W1926515346","https://openalex.org/W1931877416","https://openalex.org/W2031571562","https://openalex.org/W2088182877","https://openalex.org/W2110304639","https://openalex.org/W2112474089","https://openalex.org/W2121989750","https://openalex.org/W2139734816","https://openalex.org/W2147527908","https://openalex.org/W2154543878","https://openalex.org/W2155007355","https://openalex.org/W2158782408","https://openalex.org/W2166302491","https://openalex.org/W2167224731","https://openalex.org/W2174803659","https://openalex.org/W2527925052","https://openalex.org/W2755546070","https://openalex.org/W2772449134","https://openalex.org/W2811406147","https://openalex.org/W2898634286","https://openalex.org/W2925241625","https://openalex.org/W2925486737","https://openalex.org/W2951527505","https://openalex.org/W2955368974","https://openalex.org/W2962732055","https://openalex.org/W2962746398","https://openalex.org/W2962793652","https://openalex.org/W2962936820","https://openalex.org/W2962957031","https://openalex.org/W2963092423","https://openalex.org/W2963634205","https://openalex.org/W2963669336","https://openalex.org/W2964000117","https://openalex.org/W2964161785","https://openalex.org/W2970909667","https://openalex.org/W2971202257","https://openalex.org/W2987273245","https://openalex.org/W2991276239","https://openalex.org/W3003310656","https://openalex.org/W3004058922","https://openalex.org/W3010709437","https://openalex.org/W3012502279","https://openalex.org/W3016361525","https://openalex.org/W3037767967","https://openalex.org/W3039055967","https://openalex.org/W3086412568","https://openalex.org/W3088304681","https://openalex.org/W3091470805","https://openalex.org/W3091677803","https://openalex.org/W3099815795","https://openalex.org/W3101438731","https://openalex.org/W3208114164","https://openalex.org/W3210669192","https://openalex.org/W4211008118","https://openalex.org/W4287601675","https://openalex.org/W4288414710","https://openalex.org/W4295720520","https://openalex.org/W6630875275","https://openalex.org/W6640174482","https://openalex.org/W6682137061","https://openalex.org/W6685664872","https://openalex.org/W6744181227","https://openalex.org/W6752823625","https://openalex.org/W6755243447","https://openalex.org/W6763704883","https://openalex.org/W6765456200","https://openalex.org/W6774917587","https://openalex.org/W6782766965","https://openalex.org/W6783068448","https://openalex.org/W6786561125","https://openalex.org/W6803138953"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Imitation":[0],"Learning":[1],"(IL)":[2],"is":[3,46,111],"an":[4],"effective":[5],"framework":[6],"to":[7,20,22,43,55,66,113,126],"learn":[8],"visuomotor":[9,106],"skills":[10],"from":[11,90],"offline":[12],"demonstration":[13],"data.":[14,30],"However,":[15],"IL":[16],"methods":[17],"often":[18],"fail":[19],"generalize":[21],"new":[23,127],"scene":[24,128],"configurations":[25],"not":[26],"covered":[27],"by":[28],"training":[29],"On":[31],"the":[32,67,115],"other":[33],"hand,":[34],"humans":[35,54],"can":[36],"manipulate":[37],"objects":[38,62],"in":[39],"varying":[40],"conditions.":[41],"Key":[42],"such":[44],"capability":[45],"hand-eye":[47,88],"coordination,":[48],"a":[49,77,95,105],"cognitive":[50],"ability":[51],"that":[52,85,104],"enables":[53],"adaptively":[56],"direct":[57],"their":[58],"movements":[59,89],"at":[60,133],"task-relevant":[61],"and":[63,123],"be":[64],"invariant":[65],"objects\u2019":[68],"absolute":[69],"spatial":[70,117],"location.":[71],"In":[72],"this":[73],"work,":[74],"we":[75,102],"present":[76],"learnable":[78],"action":[79],"space,":[80],"Hand-eye":[81],"Action":[82],"Networks":[83],"(HAN)":[84],"learns":[86],"coordinated":[87],"human":[91],"teleoperated":[92],"demonstrations.":[93],"Through":[94],"set":[96],"of":[97,120],"challenging":[98],"multi-stage":[99],"manipulation":[100],"tasks,":[101],"show":[103],"policy":[107],"equipped":[108],"with":[109],"HAN":[110],"able":[112],"inherit":[114],"key":[116],"invariance":[118],"property":[119],"handeye":[121],"coordination":[122],"achieve":[124],"generalization":[125],"configurations.":[129],"Additional":[130],"materials":[131],"available":[132],"https://sites.google.com/stanford.edu/han":[134]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}