{"id":"https://openalex.org/W4225873172","doi":"https://doi.org/10.1109/lra.2022.3146589","title":"Bottom-Up Skill Discovery From Unsegmented Demonstrations for Long-Horizon Robot Manipulation","display_name":"Bottom-Up Skill Discovery From Unsegmented Demonstrations for Long-Horizon Robot Manipulation","publication_year":2022,"publication_date":"2022-01-27","ids":{"openalex":"https://openalex.org/W4225873172","doi":"https://doi.org/10.1109/lra.2022.3146589"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3146589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146589","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","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/A5101638642","display_name":"Yifeng Zhu","orcid":"https://orcid.org/0000-0003-2580-5748"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yifeng Zhu","raw_affiliation_strings":["Department of Computer Science, The University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-2580-5748","affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001594330","display_name":"Peter Stone","orcid":"https://orcid.org/0000-0002-6795-420X"},"institutions":[{"id":"https://openalex.org/I2800278093","display_name":"Sony Corporation (United States)","ror":"https://ror.org/05k91zb11","country_code":"US","type":"company","lineage":["https://openalex.org/I2800278093"]},{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Stone","raw_affiliation_strings":["Department of Computer Science, The University of Texas at Austin, Austin, TX, USA","Sony AI, USA"],"raw_orcid":"https://orcid.org/0000-0002-6795-420X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Sony AI, USA","institution_ids":["https://openalex.org/I2800278093"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030826237","display_name":"Yuke Zhu","orcid":"https://orcid.org/0000-0002-9198-2227"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuke Zhu","raw_affiliation_strings":["Department of Computer Science, The University of Texas at Austin, Austin, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, The University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1218,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.94855942,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"4126","last_page":"4133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9991000294685364,"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":0.9983999729156494,"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/task","display_name":"Task (project management)","score":0.7815345525741577},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.7114389538764954},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6631855368614197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5914545655250549},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5617583990097046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5372858047485352},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5206084251403809},{"id":"https://openalex.org/keywords/dreyfus-model-of-skill-acquisition","display_name":"Dreyfus model of skill acquisition","score":0.5197374820709229},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4774892032146454},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.45197200775146484},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3215409517288208},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13461115956306458},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09265369176864624}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7815345525741577},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.7114389538764954},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6631855368614197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5914545655250549},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5617583990097046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5372858047485352},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5206084251403809},{"id":"https://openalex.org/C132758656","wikidata":"https://www.wikidata.org/wiki/Q5307365","display_name":"Dreyfus model of skill acquisition","level":2,"score":0.5197374820709229},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4774892032146454},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.45197200775146484},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3215409517288208},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13461115956306458},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09265369176864624},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3146589","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3146589","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306994","display_name":"Lockheed Martin","ror":"https://ror.org/026er9r08"},{"id":"https://openalex.org/F4320313876","display_name":"Robert Bosch (Australia) Pty","ror":null},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":69,"referenced_works":["https://openalex.org/W377632744","https://openalex.org/W1529739011","https://openalex.org/W1585861384","https://openalex.org/W1837533429","https://openalex.org/W1907587592","https://openalex.org/W1959608418","https://openalex.org/W2022760091","https://openalex.org/W2027972120","https://openalex.org/W2039170454","https://openalex.org/W2070683816","https://openalex.org/W2097856935","https://openalex.org/W2105348292","https://openalex.org/W2108535023","https://openalex.org/W2109910161","https://openalex.org/W2112474089","https://openalex.org/W2116064496","https://openalex.org/W2132914434","https://openalex.org/W2135639338","https://openalex.org/W2307770531","https://openalex.org/W2397253692","https://openalex.org/W2556477470","https://openalex.org/W2601322194","https://openalex.org/W2605016475","https://openalex.org/W2794957743","https://openalex.org/W2892211305","https://openalex.org/W2898525034","https://openalex.org/W2902592652","https://openalex.org/W2919658942","https://openalex.org/W2963438456","https://openalex.org/W2963669336","https://openalex.org/W2963927307","https://openalex.org/W2964055695","https://openalex.org/W2968344028","https://openalex.org/W2982673782","https://openalex.org/W3012366945","https://openalex.org/W3012573144","https://openalex.org/W3034731205","https://openalex.org/W3038298277","https://openalex.org/W3039055967","https://openalex.org/W3088304681","https://openalex.org/W3090369311","https://openalex.org/W3128894241","https://openalex.org/W3150398929","https://openalex.org/W3150915266","https://openalex.org/W3174700686","https://openalex.org/W3207612633","https://openalex.org/W6616173779","https://openalex.org/W6629152578","https://openalex.org/W6634945376","https://openalex.org/W6640963894","https://openalex.org/W6676557315","https://openalex.org/W6684863604","https://openalex.org/W6730153900","https://openalex.org/W6734215269","https://openalex.org/W6735944222","https://openalex.org/W6736050541","https://openalex.org/W6740801417","https://openalex.org/W6748566876","https://openalex.org/W6748603076","https://openalex.org/W6748972340","https://openalex.org/W6755748847","https://openalex.org/W6756211030","https://openalex.org/W6757043833","https://openalex.org/W6764724164","https://openalex.org/W6769035977","https://openalex.org/W6772008794","https://openalex.org/W6779099061","https://openalex.org/W6779719205","https://openalex.org/W6782766965"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W96612179"],"abstract_inverted_index":{"We":[0,10,114],"tackle":[1],"real-world":[2,112],"long-horizon":[3,85],"robot":[4,32],"manipulation":[5,86,140],"tasks":[6],"through":[7,46],"skill":[8],"discovery.":[9],"present":[11],"a":[12,17,39,76,95,124],"bottom-up":[13],"approach":[14],"to":[15,29,79,83,111,156],"learning":[16,136],"library":[18],"of":[19,53,98],"reusable":[20],"skills":[21,28,58,82,143],"from":[22,43,145,159],"unsegmented":[23],"demonstrations":[24,100,147],"and":[25,64,122],"use":[26],"these":[27,81],"synthesize":[30],"prolonged":[31],"behaviors.":[33],"Our":[34,127],"method":[35,118,128],"starts":[36],"with":[37,69],"constructing":[38],"hierarchical":[40,70],"task":[41,51,151],"structure":[42],"each":[44],"demonstration":[45],"agglomerative":[47],"clustering.":[48],"From":[49],"the":[50,61,149],"structures":[52],"multi-task":[54,146],"demonstrations,":[55],"we":[56,74],"identify":[57],"based":[59],"on":[60,94,123],"recurring":[62],"patterns":[63],"train":[65,75],"goal-conditioned":[66],"sensorimotor":[67],"policies":[68],"imitation":[71,135],"learning.":[72],"Finally,":[73],"meta":[77],"controller":[78],"compose":[80],"solve":[84],"tasks.":[87,141,161],"The":[88],"entire":[89],"model":[90],"can":[91],"be":[92],"trained":[93],"small":[96],"set":[97],"human":[99],"collected":[101],"within":[102],"30":[103],"minutes":[104],"without":[105],"further":[106],"annotations,":[107],"making":[108],"it":[109],"amendable":[110],"deployment.":[113],"systematically":[115],"evaluated":[116],"our":[117],"in":[119,138],"simulation":[120],"environments":[121],"real":[125],"robot.":[126],"has":[129],"shown":[130],"superior":[131],"performance":[132],"over":[133],"state-of-the-art":[134],"methods":[137],"multi-stage":[139],"Furthermore,":[142],"discovered":[144,158],"boost":[148],"average":[150],"success":[152],"by":[153],"8%":[154],"compared":[155],"those":[157],"individual":[160]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}