{"id":"https://openalex.org/W4405785714","doi":"https://doi.org/10.1109/iros58592.2024.10802198","title":"MuTT: A Multimodal Trajectory Transformer for Robot Skills","display_name":"MuTT: A Multimodal Trajectory Transformer for Robot Skills","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785714","doi":"https://doi.org/10.1109/iros58592.2024.10802198"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802198","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5091926813","display_name":"Claudius Kienle","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Claudius Kienle","raw_affiliation_strings":["ArtiMinds Robotics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"ArtiMinds Robotics,Karlsruhe,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042555050","display_name":"Benjamin Alt","orcid":"https://orcid.org/0009-0002-8790-1671"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Benjamin Alt","raw_affiliation_strings":["ArtiMinds Robotics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"ArtiMinds Robotics,Karlsruhe,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088778825","display_name":"Onur \u00c7elik","orcid":"https://orcid.org/0000-0003-3400-5929"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Onur Celik","raw_affiliation_strings":["KIT,Autonomous Learning Robots,Germany"],"affiliations":[{"raw_affiliation_string":"KIT,Autonomous Learning Robots,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060732954","display_name":"Philipp Becker","orcid":"https://orcid.org/0009-0004-6253-0944"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Philipp Becker","raw_affiliation_strings":["KIT,Autonomous Learning Robots,Germany"],"affiliations":[{"raw_affiliation_string":"KIT,Autonomous Learning Robots,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068983877","display_name":"Darko Kati\u0107","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Darko Katic","raw_affiliation_strings":["ArtiMinds Robotics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"ArtiMinds Robotics,Karlsruhe,Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002178630","display_name":"Rainer J\u00e4kel","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rainer J\u00e4kel","raw_affiliation_strings":["ArtiMinds Robotics,Karlsruhe,Germany"],"affiliations":[{"raw_affiliation_string":"ArtiMinds Robotics,Karlsruhe,Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110467801","display_name":"Gerhard Neumann","orcid":"https://orcid.org/0000-0002-5483-4225"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gerhard Neumann","raw_affiliation_strings":["KIT,Autonomous Learning Robots,Germany"],"affiliations":[{"raw_affiliation_string":"KIT,Autonomous Learning Robots,Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5091926813"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6989,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.73321495,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"9644","last_page":"9651"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9837999939918518,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9837999939918518,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9648000001907349,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9240999817848206,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5996332764625549},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5925639271736145},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5746556520462036},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5408613681793213},{"id":"https://openalex.org/keywords/multimodal-therapy","display_name":"Multimodal therapy","score":0.4360162019729614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42101404070854187},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4205373227596283},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3905457556247711},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3250073492527008},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2308366298675537},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.19752424955368042},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.13248303532600403},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12044426798820496},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.06738603115081787},{"id":"https://openalex.org/keywords/psychotherapist","display_name":"Psychotherapist","score":0.051119476556777954}],"concepts":[{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5996332764625549},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5925639271736145},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5746556520462036},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5408613681793213},{"id":"https://openalex.org/C4441509","wikidata":"https://www.wikidata.org/wiki/Q6418787","display_name":"Multimodal therapy","level":2,"score":0.4360162019729614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42101404070854187},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4205373227596283},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3905457556247711},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3250073492527008},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2308366298675537},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.19752424955368042},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.13248303532600403},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12044426798820496},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.06738603115081787},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.051119476556777954},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802198","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802198","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/F4320311649","display_name":"Ministry of Education","ror":"https://ror.org/036nq5137"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W770013183","https://openalex.org/W1596757878","https://openalex.org/W2020009149","https://openalex.org/W2055362048","https://openalex.org/W2136719407","https://openalex.org/W2143075311","https://openalex.org/W2152195021","https://openalex.org/W2192203593","https://openalex.org/W2604382266","https://openalex.org/W2967717386","https://openalex.org/W3152331843","https://openalex.org/W3164670515","https://openalex.org/W3196047368","https://openalex.org/W3205644108","https://openalex.org/W3207251970","https://openalex.org/W3209059054","https://openalex.org/W4289527962","https://openalex.org/W4383108577","https://openalex.org/W4385430679","https://openalex.org/W4385431288","https://openalex.org/W4392679398","https://openalex.org/W4402353985","https://openalex.org/W6671837947","https://openalex.org/W6682631034","https://openalex.org/W6737778391","https://openalex.org/W6739901393","https://openalex.org/W6767279747","https://openalex.org/W6789753369","https://openalex.org/W6791353385","https://openalex.org/W6797586992","https://openalex.org/W6804244202","https://openalex.org/W6810168380","https://openalex.org/W6839389559","https://openalex.org/W6846421636","https://openalex.org/W6847885021","https://openalex.org/W6848903804","https://openalex.org/W6849915793","https://openalex.org/W6850087972","https://openalex.org/W6850503672","https://openalex.org/W6854738657"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"High-level":[0],"robot":[1,9,67,74,104,113,135],"skills":[2,68],"represent":[3],"an":[4],"increasingly":[5],"popular":[6],"paradigm":[7],"in":[8,43],"programming.":[10],"However,":[11],"configuring":[12],"the":[13,80,110,117,121],"skills\u2019":[14],"parameters":[15,33,115],"for":[16,28,116,123,129],"a":[17,21,56,87,97,102],"specific":[18],"task":[19],"remains":[20],"manual":[22],"and":[23,73,84],"time-consuming":[24],"endeavor.":[25],"Existing":[26],"approaches":[27],"learning":[29],"or":[30,39],"optimizing":[31],"these":[32,48],"often":[34],"require":[35],"numerous":[36],"real-world":[37,124],"executions":[38,65,125],"do":[40],"not":[41],"work":[42],"dynamic":[44],"environments.":[45],"To":[46],"address":[47],"challenges,":[49],"we":[50,78,92],"propose":[51],"Multimodal":[52],"Trajectory":[53],"Transformer":[54],"(MuTT),":[55],"novel":[57,88],"encoder-decoder":[58],"transformer":[59],"architecture":[60],"designed":[61],"to":[62],"predict":[63],"environment-aware":[64],"of":[66,82,112,134],"by":[69],"integrating":[70],"vision,":[71],"trajectory,":[72,85],"skill":[75,105,114,151],"parameters.":[76],"Notably,":[77],"pioneer":[79],"fusion":[81],"vision":[83],"introducing":[86],"trajectory":[89],"projection.":[90],"Furthermore,":[91],"illustrate":[93],"MuTT\u2019s":[94],"efficacy":[95],"as":[96],"predictor":[98],"when":[99],"combined":[100],"with":[101,131],"model-based":[103],"optimizer.":[106],"This":[107],"approach":[108],"facilitates":[109],"optimization":[111],"current":[118],"environment,":[119],"without":[120],"need":[122],"during":[126],"optimization.":[127],"Designed":[128],"compatibility":[130],"any":[132],"representation":[133],"skills,":[136],"MuTT":[137],"demonstrates":[138],"its":[139],"versatility":[140],"across":[141,148],"three":[142],"comprehensive":[143],"experiments,":[144],"showcasing":[145],"superior":[146],"performance":[147],"two":[149],"different":[150],"representations.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}