{"id":"https://openalex.org/W4416750018","doi":"https://doi.org/10.1109/iros60139.2025.11246736","title":"Cross-Embodiment Robotic Manipulation Synthesis via Guided Demonstrations through CycleVAE and Human Behavior Transformer","display_name":"Cross-Embodiment Robotic Manipulation Synthesis via Guided Demonstrations through CycleVAE and Human Behavior Transformer","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750018","doi":"https://doi.org/10.1109/iros60139.2025.11246736"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246736","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246736","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/A5057842142","display_name":"Apan Dastider","orcid":null},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Apan Dastider","raw_affiliation_strings":["University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816","institution_ids":["https://openalex.org/I106165777"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Hao Fang","orcid":null},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Fang","raw_affiliation_strings":["University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816","institution_ids":["https://openalex.org/I106165777"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060908808","display_name":"Mingjie Lin","orcid":"https://orcid.org/0000-0002-3225-4406"},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingjie Lin","raw_affiliation_strings":["University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Central Florida,Department of Electrical and Computer Engineering,Orlando,FL,USA,32816","institution_ids":["https://openalex.org/I106165777"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I106165777"],"apc_list":null,"apc_paid":null,"fwci":3.3874,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.93138194,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9963","last_page":"9970"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.788100004196167,"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":0.788100004196167,"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/T12290","display_name":"Human Motion and Animation","score":0.09950000047683716,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.023099999874830246,"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/robotics","display_name":"Robotics","score":0.6223000288009644},{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.524399995803833},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.4169999957084656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.373199999332428},{"id":"https://openalex.org/keywords/human-motion","display_name":"Human motion","score":0.3720000088214874},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.3686000108718872},{"id":"https://openalex.org/keywords/subspace-topology","display_name":"Subspace topology","score":0.3684999942779541},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.35659998655319214}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7131999731063843},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6223000288009644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5866000056266785},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.524399995803833},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.4169999957084656},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3889999985694885},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.373199999332428},{"id":"https://openalex.org/C2986578859","wikidata":"https://www.wikidata.org/wiki/Q657632","display_name":"Human motion","level":3,"score":0.3720000088214874},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.3686000108718872},{"id":"https://openalex.org/C32834561","wikidata":"https://www.wikidata.org/wiki/Q660730","display_name":"Subspace topology","level":2,"score":0.3684999942779541},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.35659998655319214},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3434999883174896},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.3402999937534332},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3398999869823456},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3125},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29649999737739563},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.2953999936580658},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.29089999198913574},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2858999967575073},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.28519999980926514},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2786000072956085},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.26750001311302185},{"id":"https://openalex.org/C149810388","wikidata":"https://www.wikidata.org/wiki/Q5374873","display_name":"Emulation","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.25760000944137573},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246736","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246736","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":22,"referenced_works":["https://openalex.org/W2155541796","https://openalex.org/W2752574553","https://openalex.org/W2798434327","https://openalex.org/W2962793481","https://openalex.org/W2962970995","https://openalex.org/W2998125392","https://openalex.org/W3191807689","https://openalex.org/W3202115389","https://openalex.org/W4319300221","https://openalex.org/W4385430451","https://openalex.org/W4385430679","https://openalex.org/W4389667191","https://openalex.org/W4401414203","https://openalex.org/W4402353989","https://openalex.org/W4402354080","https://openalex.org/W4402545715","https://openalex.org/W4402890475","https://openalex.org/W4405785383","https://openalex.org/W4405786709","https://openalex.org/W4413917998","https://openalex.org/W4413945049","https://openalex.org/W4415482504"],"related_works":[],"abstract_inverted_index":{"Cross-embodiment":[0],"robotic":[1,27,40,125,129,143],"manipulation":[2,41,112],"synthesis":[3],"for":[4,96,108,151],"complicated":[5],"tasks":[6],"is":[7],"challenging,":[8],"partially":[9],"due":[10],"to":[11,61,77],"the":[12,19,79,88,93,97,109,128],"scarcity":[13],"of":[14,21,83,164],"paired":[15],"cross-embodiment":[16,39,154],"datasets":[17],"and":[18,45,156],"impediment":[20],"designing":[22],"intricate":[23,138],"controllers.":[24],"Inspired":[25],"by":[26],"learning":[28],"via":[29,43],"guided":[30],"human":[31,46,73,84,98],"expert":[32,85,99],"demonstration,":[33],"we":[34,50,69,91],"here":[35],"propose":[36,70],"a":[37,56,71,123],"novel":[38],"algorithm":[42,60,118],"CycleVAE":[44,53,107],"behavior":[47,74],"transformer.":[48],"First,":[49],"utilize":[51],"unsupervised":[52,153],"together":[54],"with":[55,127],"bidirectional":[57],"subspace":[58],"alignment":[59,155],"align":[62],"latent":[63],"motion":[64,81,144],"sequences":[65],"between":[66],"cross-embodiments.":[67],"Second,":[68],"casual":[72],"transformer":[75,95],"design":[76],"learn":[78],"intrinsic":[80],"dynamics":[82],"demonstrations.":[86],"During":[87],"test":[89],"case,":[90],"leverage":[92],"proposed":[94,117],"demonstration":[100],"generation,":[101],"which":[102],"will":[103],"be":[104,168],"aligned":[105],"using":[106,122],"final":[110],"human-robotic":[111],"synthesis.":[113],"We":[114],"validated":[115],"our":[116,165],"through":[119],"extensive":[120],"experiments":[121,166],"dexterous":[124],"manipulator":[126],"hand.":[130],"Our":[131],"results":[132,148],"successfully":[133],"generate":[134],"smooth":[135],"trajectories":[136],"across":[137],"tasks,":[139],"outperforming":[140],"prior":[141],"learning-based":[142],"planning":[145],"algorithms.":[146],"These":[147],"have":[149],"implications":[150],"performing":[152],"future":[157],"autonomous":[158],"robotics":[159],"design.":[160],"Complete":[161],"video":[162],"demonstrations":[163],"can":[167],"found":[169],"in":[170],"https://sites.google.com/view/humanrobots/home.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}