{"id":"https://openalex.org/W4416748159","doi":"https://doi.org/10.1109/iros60139.2025.11245947","title":"Arc-Length-Based Warping for Robot Skill Synthesis from Multiple Demonstrations","display_name":"Arc-Length-Based Warping for Robot Skill Synthesis from Multiple Demonstrations","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748159","doi":"https://doi.org/10.1109/iros60139.2025.11245947"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11245947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5031429196","display_name":"Giovanni Braglia","orcid":"https://orcid.org/0000-0002-2230-8191"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giovanni Braglia","raw_affiliation_strings":["Italian Institute of Technology,Genova,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Genova,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006956998","display_name":"Davide Tebaldi","orcid":"https://orcid.org/0000-0003-1432-0489"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Davide Tebaldi","raw_affiliation_strings":["University of Modena and Reggio Emilia,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088729127","display_name":"Andr\u00e9 Eug\u00eanio Lazzaretti","orcid":"https://orcid.org/0000-0003-1861-3369"},"institutions":[{"id":"https://openalex.org/I1283613182","display_name":"Universidade Tecnol\u00f3gica Federal do Paran\u00e1","ror":"https://ror.org/002v2kq79","country_code":"BR","type":"education","lineage":["https://openalex.org/I1283613182"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Andr\u00e9 E. Lazzaretti","raw_affiliation_strings":["Federal Technological University of Paran&#x00E1; (UTFPR),Curitiba,Brazil"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Federal Technological University of Paran&#x00E1; (UTFPR),Curitiba,Brazil","institution_ids":["https://openalex.org/I1283613182"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070487792","display_name":"Luigi Biagiotti","orcid":"https://orcid.org/0000-0002-2343-6929"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Biagiotti","raw_affiliation_strings":["University of Modena and Reggio Emilia,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Modena and Reggio Emilia,Italy","institution_ids":["https://openalex.org/I122346577"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.994,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.92712042,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8111","last_page":"8118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12205","display_name":"Time Series Analysis and Forecasting","score":0.4189000129699707,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T12205","display_name":"Time Series Analysis and Forecasting","score":0.4189000129699707,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.36079999804496765,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.06440000236034393,"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/robot","display_name":"Robot","score":0.6901000142097473},{"id":"https://openalex.org/keywords/dynamic-time-warping","display_name":"Dynamic time warping","score":0.6827999949455261},{"id":"https://openalex.org/keywords/image-warping","display_name":"Image warping","score":0.6341000199317932},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5990999937057495},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5534999966621399},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.3856000006198883},{"id":"https://openalex.org/keywords/pantograph","display_name":"Pantograph","score":0.37770000100135803},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3716999888420105},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.35420000553131104}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.692799985408783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6901000142097473},{"id":"https://openalex.org/C88516994","wikidata":"https://www.wikidata.org/wiki/Q1268863","display_name":"Dynamic time warping","level":2,"score":0.6827999949455261},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.6341000199317932},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5990999937057495},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5687999725341797},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5534999966621399},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49880000948905945},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.3856000006198883},{"id":"https://openalex.org/C20756127","wikidata":"https://www.wikidata.org/wiki/Q722757","display_name":"Pantograph","level":2,"score":0.37770000100135803},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3716999888420105},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.35420000553131104},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3538999855518341},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.3375999927520752},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3314000070095062},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.3303000032901764},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.329800009727478},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.32089999318122864},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3091999888420105},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.29280000925064087},{"id":"https://openalex.org/C2779386606","wikidata":"https://www.wikidata.org/wiki/Q2393642","display_name":"Handwriting","level":2,"score":0.2833999991416931},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2775999903678894},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.27570000290870667},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2709999978542328}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11245947","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245947","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unimore.it:11380/1390988","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11245947","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"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":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1851172369","https://openalex.org/W1993232435","https://openalex.org/W1993316444","https://openalex.org/W1994232616","https://openalex.org/W2084616221","https://openalex.org/W2128160875","https://openalex.org/W2128677288","https://openalex.org/W2129202194","https://openalex.org/W2144994235","https://openalex.org/W2154543878","https://openalex.org/W2161395589","https://openalex.org/W2163783488","https://openalex.org/W2209319420","https://openalex.org/W2553480184","https://openalex.org/W2771896380","https://openalex.org/W2942380124","https://openalex.org/W3118688377","https://openalex.org/W3199856433","https://openalex.org/W4229006403","https://openalex.org/W4240592325","https://openalex.org/W4293704422","https://openalex.org/W4402891823"],"related_works":[],"abstract_inverted_index":{"In":[0,46],"robotics,":[1],"Learning":[2],"from":[3],"Demonstration":[4],"(LfD)":[5],"aims":[6],"to":[7,10,26,101,141,164],"transfer":[8],"skills":[9],"robots":[11],"by":[12,71],"using":[13],"multiple":[14,153],"demonstrations":[15,21],"of":[16,68,76,92,111,138,178,185],"the":[17,69,77,82,88,118,125,146,149,186],"same":[18,150],"task.":[19],"These":[20],"are":[22,99,162],"recorded":[23,97],"and":[24,90,161,166,182],"processed":[25],"extract":[27],"a":[28,52,108,133],"consistent":[29],"skill":[30,93],"representation.":[31],"This":[32,79],"process":[33],"typically":[34],"requires":[35],"temporal":[36,85],"alignment":[37,67],"through":[38],"techniques":[39],"such":[40],"as":[41],"Dynamic":[42],"Time":[43],"Warping":[44],"(DTW).":[45],"this":[47],"pa":[48],"per,":[49],"we":[50,131],"consider":[51],"novel":[53],"algorithm,":[54],"named":[55],"Spatial":[56],"Sampling":[57],"(SS),":[58],"specifically":[59],"designed":[60],"for":[61,84],"robot":[62,139],"trajectories,":[63],"that":[64,158],"enables":[65],"time-independent":[66],"trajectories":[70],"providing":[72],"an":[73],"arc-length":[74],"parametrization":[75],"signals.":[78],"approach":[80],"eliminates":[81],"need":[83],"alignment,":[86],"enhancing":[87],"accuracy":[89],"robustness":[91],"representation,":[94],"especially":[95],"when":[96],"movements":[98],"subject":[100,163],"intermittent":[102],"motions":[103],"or":[104],"extremely":[105],"variable":[106],"speeds,":[107],"common":[109],"characteristic":[110],"operations":[112],"based":[113],"on":[114],"kinesthetic":[115],"teaching,":[116],"where":[117,145],"operator":[119],"may":[120],"encounter":[121],"difficulties":[122],"in":[123,176],"guiding":[124],"end-effector":[126],"smoothly.":[127],"To":[128],"prove":[129],"this,":[130],"built":[132],"custom":[134],"publicly":[135],"available":[136],"dataset":[137],"recordings":[140],"test":[142],"real-world":[143],"movements,":[144],"user":[147],"tracks":[148],"geometric":[151],"path":[152],"times,":[154],"with":[155],"motion":[156],"laws":[157],"vary":[159],"greatly":[160],"starting":[165],"stopping.":[167],"The":[168],"SS":[169],"demonstrates":[170],"better":[171],"performances":[172],"against":[173],"state-of-the-art":[174],"algorithms":[175],"terms":[177],"(i)":[179],"trajectory":[180],"synchronization":[181],"(ii)":[183],"quality":[184],"extracted":[187],"skill.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-11-28T00:00:00"}
