{"id":"https://openalex.org/W4416751231","doi":"https://doi.org/10.1109/iros60139.2025.11246635","title":"One-Shot Robust Imitation Learning for Long-Horizon Visuomotor Tasks from Unsegmented Demonstrations","display_name":"One-Shot Robust Imitation Learning for Long-Horizon Visuomotor Tasks from Unsegmented Demonstrations","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416751231","doi":"https://doi.org/10.1109/iros60139.2025.11246635"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246635","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/A5041230489","display_name":"Shaokang Wu","orcid":"https://orcid.org/0000-0002-7809-9720"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Shaokang Wu","raw_affiliation_strings":["University of Leeds,School of Computer Science,Leeds,UK,LS29JT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Leeds,School of Computer Science,Leeds,UK,LS29JT","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039924624","display_name":"Yijin Wang","orcid":"https://orcid.org/0000-0003-4438-6366"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yijin Wang","raw_affiliation_strings":["University of Leeds,School of Computer Science,Leeds,UK,LS29JT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Leeds,School of Computer Science,Leeds,UK,LS29JT","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012387768","display_name":"Yanlong Huang","orcid":"https://orcid.org/0000-0002-5395-5076"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yanlong Huang","raw_affiliation_strings":["University of Leeds,School of Computer Science,Leeds,UK,LS29JT"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Leeds,School of Computer Science,Leeds,UK,LS29JT","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I130828816"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8127","last_page":"8133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8062999844551086,"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":0.8062999844551086,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.06469999998807907,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.03550000116229057,"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/imitation","display_name":"Imitation","score":0.5450000166893005},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5178999900817871},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.44179999828338623},{"id":"https://openalex.org/keywords/concatenation","display_name":"Concatenation (mathematics)","score":0.3716999888420105},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.3176000118255615},{"id":"https://openalex.org/keywords/motor-learning","display_name":"Motor learning","score":0.29580000042915344},{"id":"https://openalex.org/keywords/contrast","display_name":"Contrast (vision)","score":0.28380000591278076}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6389999985694885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6104000210762024},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5450000166893005},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5178999900817871},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4494999945163727},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.44179999828338623},{"id":"https://openalex.org/C87619178","wikidata":"https://www.wikidata.org/wiki/Q126002","display_name":"Concatenation (mathematics)","level":2,"score":0.3716999888420105},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3176000118255615},{"id":"https://openalex.org/C107690735","wikidata":"https://www.wikidata.org/wiki/Q852461","display_name":"Motor learning","level":2,"score":0.29580000042915344},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.28769999742507935},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.28380000591278076},{"id":"https://openalex.org/C2779321571","wikidata":"https://www.wikidata.org/wiki/Q7936605","display_name":"Visual learning","level":2,"score":0.2784999907016754},{"id":"https://openalex.org/C40506919","wikidata":"https://www.wikidata.org/wiki/Q7452469","display_name":"Sequence learning","level":2,"score":0.27790001034736633},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2644999921321869},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.2587999999523163},{"id":"https://openalex.org/C28006648","wikidata":"https://www.wikidata.org/wiki/Q6934509","display_name":"Multi-task learning","level":3,"score":0.25839999318122864},{"id":"https://openalex.org/C3020716817","wikidata":"https://www.wikidata.org/wiki/Q4132092","display_name":"Visual feedback","level":2,"score":0.25769999623298645},{"id":"https://openalex.org/C34868163","wikidata":"https://www.wikidata.org/wiki/Q5141211","display_name":"Cognitive imitation","level":3,"score":0.25760000944137573},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.2547999918460846},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.2547000050544739}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246635","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":[{"id":"https://openalex.org/F4320320006","display_name":"Royal Society","ror":"https://ror.org/03wnrjx87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2100993276","https://openalex.org/W2129202194","https://openalex.org/W2136719407","https://openalex.org/W2796176989","https://openalex.org/W2890600282","https://openalex.org/W2909940853","https://openalex.org/W2949071206","https://openalex.org/W2963703448","https://openalex.org/W2964319110","https://openalex.org/W3039055967","https://openalex.org/W4385430679"],"related_works":[],"abstract_inverted_index":{"In":[0,82],"contrast":[1],"to":[2,37,76,92,117],"single-skill":[3],"tasks,":[4],"long-horizon":[5,53,113],"tasks":[6,119],"play":[7],"a":[8,16,20,60,94,121],"crucial":[9],"role":[10],"in":[11],"our":[12],"daily":[13],"life,":[14],"e.g.,":[15],"pouring":[17,27],"task":[18,134],"requires":[19],"proper":[21],"concatenation":[22],"of":[23,63,70,142,145],"reaching,":[24],"grasping":[25],"and":[26,79,90,115,130,148],"subtasks.":[28],"As":[29],"an":[30],"efficient":[31],"solution":[32],"for":[33,97,110],"transferring":[34],"human":[35],"skills":[36],"robots,":[38],"imitation":[39,56,71,98],"learning":[40,52,57,72,111],"has":[41],"achieved":[42],"great":[43],"progress":[44],"over":[45],"the":[46,68,140],"last":[47],"two":[48],"decades.":[49],"However,":[50],"when":[51],"visuomotor":[54],"skills,":[55],"often":[58],"demands":[59],"large":[61],"amount":[62],"semantically":[64],"segmented":[65],"demonstrations.":[66],"Moreover,":[67],"performance":[69],"could":[73],"be":[74],"susceptible":[75],"external":[77,128],"perturbation":[78],"visual":[80,131,146],"occlusion.":[81],"this":[83],"paper,":[84],"we":[85],"exploit":[86],"dynamical":[87],"movement":[88],"primitives":[89],"meta-learning":[91],"provide":[93],"new":[95],"framework":[96],"learning,":[99],"called":[100],"Meta-Imitation":[101],"Learning":[102],"with":[103,120],"Adaptive":[104],"Dynamical":[105],"Primitives":[106],"(MiLa).":[107],"MiLa":[108,124],"allows":[109],"unsegmented":[112],"demonstrations":[114],"adapting":[116],"unseen":[118],"single":[122],"demonstration.":[123],"can":[125],"also":[126],"resist":[127],"disturbances":[129],"occlusion":[132,147],"during":[133],"execution.":[135],"Real-world":[136],"robotic":[137],"experiments":[138],"demonstrate":[139],"superiority":[141],"MiLa,":[143],"irrespective":[144],"random":[149],"perturbations":[150],"on":[151],"robots.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}