{"id":"https://openalex.org/W4416749370","doi":"https://doi.org/10.1109/iros60139.2025.11246547","title":"Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation","display_name":"Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749370","doi":"https://doi.org/10.1109/iros60139.2025.11246547"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246547","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246547","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":"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/A5101008812","display_name":"Cheng Pan","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Cheng Pan","raw_affiliation_strings":["Swiss Federal Institute of Technology Lausanne,Faculty of Mechanical Engineering,Lausanne,Switzerland,1015"],"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology Lausanne,Faculty of Mechanical Engineering,Lausanne,Switzerland,1015","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051157483","display_name":"Hung Hon Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Hung Hon Cheng","raw_affiliation_strings":["Swiss Federal Institute of Technology Lausanne,Faculty of Mechanical Engineering,Lausanne,Switzerland,1015"],"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology Lausanne,Faculty of Mechanical Engineering,Lausanne,Switzerland,1015","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032508996","display_name":"Josie Hughes","orcid":"https://orcid.org/0000-0001-8410-3565"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Josie Hughes","raw_affiliation_strings":["Swiss Federal Institute of Technology Lausanne,Faculty of Mechanical Engineering,Lausanne,Switzerland,1015"],"affiliations":[{"raw_affiliation_string":"Swiss Federal Institute of Technology Lausanne,Faculty of Mechanical Engineering,Lausanne,Switzerland,1015","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101008812"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48314078,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15510","last_page":"15516"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.44830000400543213,"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":0.44830000400543213,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.24079999327659607,"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"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.06589999794960022,"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/teleoperation","display_name":"Teleoperation","score":0.9535999894142151},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6442000269889832},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5267999768257141},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4007999897003174},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.3528999984264374},{"id":"https://openalex.org/keywords/corrective-feedback","display_name":"Corrective feedback","score":0.3027999997138977},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.28439998626708984}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9535999894142151},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6442000269889832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6384000182151794},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5267999768257141},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48590001463890076},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4007999897003174},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3716999888420105},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.3528999984264374},{"id":"https://openalex.org/C2779305910","wikidata":"https://www.wikidata.org/wiki/Q5172809","display_name":"Corrective feedback","level":2,"score":0.3027999997138977},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.29420000314712524},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.28439998626708984},{"id":"https://openalex.org/C58328972","wikidata":"https://www.wikidata.org/wiki/Q184609","display_name":"Expert system","level":2,"score":0.28299999237060547},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.28209999203681946},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C34585555","wikidata":"https://www.wikidata.org/wiki/Q1368723","display_name":"Learning curve","level":2,"score":0.2791000008583069},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2646999955177307},{"id":"https://openalex.org/C133462117","wikidata":"https://www.wikidata.org/wiki/Q4929239","display_name":"Data collection","level":2,"score":0.2646999955177307},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2567000091075897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246547","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246547","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1520340982","https://openalex.org/W2794908222","https://openalex.org/W2799745602","https://openalex.org/W2966994213","https://openalex.org/W2976205474","https://openalex.org/W3020478135","https://openalex.org/W3202542428","https://openalex.org/W3202598378","https://openalex.org/W4312361190","https://openalex.org/W4402354127","https://openalex.org/W4403337227","https://openalex.org/W4413945063"],"related_works":[],"abstract_inverted_index":{"Teleoperated":[0],"robotic":[1],"manipulators":[2],"enable":[3],"the":[4,83,105,111,117,132,160],"collection":[5],"of":[6,27,80,119,163],"demonstration":[7],"data,":[8],"which":[9,101],"can":[10,23,45,53,73],"be":[11,54],"used":[12],"to":[13,30,37,82,140],"train":[14],"control":[15],"policies":[16,33],"through":[17],"imitation":[18,155],"learning.":[19],"However,":[20],"such":[21,166],"methods":[22],"require":[24],"significant":[25],"amounts":[26],"training":[28],"data":[29],"develop":[31],"robust":[32],"or":[34],"adapt":[35],"them":[36],"new":[38],"and":[39,57,113,170],"unseen":[40],"tasks.":[41],"While":[42],"expert":[43,112,134],"feedback":[44,52],"significantly":[46],"enhance":[47],"policy":[48,88],"performance,":[49],"providing":[50],"continuous":[51],"cognitively":[55],"demanding":[56],"time-consuming":[58],"for":[59],"experts.":[60],"To":[61],"address":[62],"this":[63],"challenge,":[64],"we":[65,91,147],"propose":[66,92],"using":[67],"a":[68,87,93,141],"cable-driven":[69],"teleoperation":[70],"system":[71],"that":[72,129,149],"provide":[74],"spatial":[75,106],"corrections":[76],"with":[77],"6":[78],"degrees":[79],"freedom":[81],"trajectories":[84],"generated":[85],"by":[86,110,123,137],"model.":[89],"Specifically,":[90],"correction":[94],"method":[95],"termed":[96],"Decaying":[97],"Relative":[98],"Correction":[99],"(DRC),":[100],"is":[102],"based":[103],"upon":[104],"offset":[107],"vector":[108],"provided":[109],"exists":[114],"temporarily,":[115],"reducing":[116],"number":[118],"intervention":[120,135],"steps":[121],"required":[122,133],"an":[124,153],"expert.":[125],"Our":[126],"results":[127],"demonstrate":[128],"DRC":[130,151],"reduces":[131],"rate":[136,162],"30%":[138],"compared":[139],"standard":[142],"absolute":[143],"corrective":[144],"method.":[145],"Furthermore,":[146],"show":[148],"integrating":[150],"within":[152],"online":[154],"learning":[156],"framework":[157],"rapidly":[158],"increases":[159],"success":[161],"manipulation":[164],"tasks":[165],"as":[167],"raspberry":[168],"harvesting":[169],"cloth":[171],"wiping.":[172]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
