{"id":"https://openalex.org/W4415883195","doi":"https://doi.org/10.1109/jiot.2025.3629345","title":"MGAD-FMDM: A Modular Robotic Multitask Imitation Learning Method","display_name":"MGAD-FMDM: A Modular Robotic Multitask Imitation Learning Method","publication_year":2025,"publication_date":"2025-11-04","ids":{"openalex":"https://openalex.org/W4415883195","doi":"https://doi.org/10.1109/jiot.2025.3629345"},"language":null,"primary_location":{"id":"doi:10.1109/jiot.2025.3629345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3629345","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-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/A5100387801","display_name":"Yue Li","orcid":"https://orcid.org/0000-0002-5368-0789"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Li","raw_affiliation_strings":["School of Artificial Intelligence, Hebei University of Technology, Tianjin, China","School of Mechanical Engineering, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-5368-0789","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100341554","display_name":"Yang Li","orcid":"https://orcid.org/0000-0002-0840-5796"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Li","raw_affiliation_strings":["School of Artificial Intelligence, Hebei University of Technology, Tianjin, China","School of Mechanical Engineering, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-0840-5796","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]},{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010519889","display_name":"Jiexin Xie","orcid":"https://orcid.org/0000-0002-3095-3086"},"institutions":[{"id":"https://openalex.org/I5343935","display_name":"Guilin University of Electronic Technology","ror":"https://ror.org/05arjae42","country_code":"CN","type":"education","lineage":["https://openalex.org/I5343935"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiexin Xie","raw_affiliation_strings":["School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin, China"],"raw_orcid":"https://orcid.org/0000-0002-3095-3086","affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin, China","institution_ids":["https://openalex.org/I5343935"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100611042","display_name":"Shijie Guo","orcid":"https://orcid.org/0000-0002-1335-2852"},"institutions":[{"id":"https://openalex.org/I184843921","display_name":"Hebei University of Technology","ror":"https://ror.org/018hded08","country_code":"CN","type":"education","lineage":["https://openalex.org/I184843921"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shijie Guo","raw_affiliation_strings":["School of Mechanical Engineering, Hebei University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-1335-2852","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hebei University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I184843921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35999316,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"1","first_page":"1299","last_page":"1313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.63919997215271,"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":0.63919997215271,"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":0.16210000216960907,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.04560000076889992,"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/modular-design","display_name":"Modular design","score":0.611299991607666},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5800999999046326},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5692999958992004},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.47200000286102295},{"id":"https://openalex.org/keywords/discriminator","display_name":"Discriminator","score":0.4693000018596649},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.45320001244544983},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.3849000036716461},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.383899986743927},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.37529999017715454}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8393999934196472},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7006000280380249},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.611299991607666},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5800999999046326},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5692999958992004},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.47200000286102295},{"id":"https://openalex.org/C2779803651","wikidata":"https://www.wikidata.org/wiki/Q5282088","display_name":"Discriminator","level":3,"score":0.4693000018596649},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.45320001244544983},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4106999933719635},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.3849000036716461},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.383899986743927},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.37529999017715454},{"id":"https://openalex.org/C173414695","wikidata":"https://www.wikidata.org/wiki/Q5510276","display_name":"Fusion mechanism","level":4,"score":0.3621000051498413},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.36149999499320984},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3582000136375427},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.34040001034736633},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.32030001282691956},{"id":"https://openalex.org/C2778869765","wikidata":"https://www.wikidata.org/wiki/Q6028363","display_name":"Inefficiency","level":2,"score":0.313400000333786},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.29660001397132874},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.2953999936580658},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2953000068664551},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.29260000586509705},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.28040000796318054},{"id":"https://openalex.org/C127532173","wikidata":"https://www.wikidata.org/wiki/Q179904","display_name":"Hourglass","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jiot.2025.3629345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jiot.2025.3629345","pdf_url":null,"source":{"id":"https://openalex.org/S2480266640","display_name":"IEEE Internet of Things Journal","issn_l":"2327-4662","issn":["2327-4662","2372-2541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Internet of Things Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1493293602","display_name":null,"funder_award_id":"B2023003013","funder_id":"https://openalex.org/F4320317780","funder_display_name":"Postdoctoral\u00a0Science\u00a0Foundation\u00a0of\u00a0Hubei\u00a0Province"},{"id":"https://openalex.org/G2771873003","display_name":null,"funder_award_id":"U23A20344","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8005537420","display_name":null,"funder_award_id":"62303154","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320317780","display_name":"Postdoctoral\u00a0Science\u00a0Foundation\u00a0of\u00a0Hubei\u00a0Province","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1973767001","https://openalex.org/W2549401308","https://openalex.org/W2739076664","https://openalex.org/W2884886306","https://openalex.org/W2963216850","https://openalex.org/W2963430933","https://openalex.org/W2973266032","https://openalex.org/W2974888503","https://openalex.org/W2976205474","https://openalex.org/W3034704453","https://openalex.org/W3091086138","https://openalex.org/W3141797743","https://openalex.org/W3162734126","https://openalex.org/W3174295900","https://openalex.org/W3200958309","https://openalex.org/W3208451383","https://openalex.org/W4221155158","https://openalex.org/W4229456016","https://openalex.org/W4283824940","https://openalex.org/W4296010390","https://openalex.org/W4321021825","https://openalex.org/W4361029864","https://openalex.org/W4378419839","https://openalex.org/W4380715556","https://openalex.org/W4386075497","https://openalex.org/W4386076670","https://openalex.org/W4390659346","https://openalex.org/W4390778533","https://openalex.org/W4391468387","https://openalex.org/W4392659481","https://openalex.org/W4393159998","https://openalex.org/W4400770903","https://openalex.org/W4401864348","https://openalex.org/W4402774768","https://openalex.org/W4403582598","https://openalex.org/W4405785361","https://openalex.org/W4406110736","https://openalex.org/W4413145289","https://openalex.org/W4413147828","https://openalex.org/W4415800339","https://openalex.org/W4415800589"],"related_works":[],"abstract_inverted_index":{"Multi-task":[0],"imitation":[1,16,48,73],"learning":[2,17,118],"is":[3,60],"a":[4,40,89,96],"pressing":[5],"issue":[6],"for":[7,45,79],"robotics":[8],"applications.":[9],"However,":[10],"the":[11,25,55,72,84,92,102,108,128,138],"inaccuracy":[12],"and":[13,113,155],"inefficiency":[14],"of":[15,99,140],"frequently":[18],"limits":[19],"current":[20],"approaches.":[21],"To":[22],"cope":[23],"with":[24,32,36],"problem,":[26],"this":[27],"paper":[28],"proposes":[29],"Modules":[30],"Generation":[31],"Adaptive":[33],"Discriminator-Feedback":[34],"Mechanism":[35],"Diffusion":[37],"Model":[38],"(MGAD-FMDM),":[39],"novel":[41],"general":[42],"modular":[43],"method":[44],"robotic":[46],"multi-task":[47],"learning.":[49],"A":[50,75],"transferable":[51],"adaptive":[52],"discriminator":[53],"constitutes":[54],"first":[56,100],"component":[57],"whose":[58],"function":[59],"to":[61,70],"automatically":[62],"generate":[63],"potential":[64],"primitive":[65],"modules,":[66],"which":[67],"enables":[68],"robots":[69],"improve":[71],"accuracy.":[74],"universal":[76],"feedback":[77,93],"mechanism":[78,94],"guiding":[80],"policy":[81],"updates":[82],"represents":[83],"second":[85],"development.":[86],"By":[87],"employing":[88],"diffusion":[90],"model,":[91],"achieves":[95,131],"two-step":[97],"process":[98],"recognizing":[101],"expert":[103,114],"demonstrated":[104],"distribution,":[105],"then":[106],"evaluating":[107],"fit":[109],"between":[110],"imitated":[111],"trajectories":[112],"demonstrations,":[115],"thereby":[116],"enhancing":[117],"efficiency.":[119],"Extensive":[120],"experiments":[121],"on":[122],"practical":[123],"robot":[124],"tasks":[125],"indicate":[126],"that":[127],"proposed":[129],"MGAD-FMDM":[130],"superior":[132],"performance":[133],"over":[134],"state-of-the-art":[135],"methods,":[136],"including":[137],"improvements":[139],"2.22%-34.85%":[141],"in":[142,147,151,157],"Spearman\u2019s":[143],"rank":[144],"correlation,":[145],"14.29%-100.00%":[146],"success":[148],"rate,":[149],"5.43%-64.35%":[150],"earth":[152],"mover\u2019s":[153],"distance,":[154],"21.74%-30.10%":[156],"convergence":[158],"speed.":[159],"The":[160],"video":[161],"can":[162],"be":[163],"obtained":[164],"at:":[165],"https://github.com/yueli0827/Robotic-Multi-Task-Imitation-Learning.":[166]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-04T00:00:00"}