{"id":"https://openalex.org/W4211240529","doi":"https://doi.org/10.1109/lra.2022.3150013","title":"Learning Task-Parameterized Skills From Few Demonstrations","display_name":"Learning Task-Parameterized Skills From Few Demonstrations","publication_year":2022,"publication_date":"2022-02-12","ids":{"openalex":"https://openalex.org/W4211240529","doi":"https://doi.org/10.1109/lra.2022.3150013"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3150013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3150013","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5035166402","display_name":"Jihong Zhu","orcid":"https://orcid.org/0000-0001-8185-5497"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["DE","NL"],"is_corresponding":false,"raw_author_name":"Jihong Zhu","raw_affiliation_strings":["Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","Honda Research Institute Europe, Offenbach/Main, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8185-5497","affiliations":[{"raw_affiliation_string":"Cognitive Robotics, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Honda Research Institute Europe, Offenbach/Main, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025560073","display_name":"Michael Gienger","orcid":"https://orcid.org/0000-0001-8036-2519"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Gienger","raw_affiliation_strings":["Honda Research Institute Europe, Offenbach/Main, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8036-2519","affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe, Offenbach/Main, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035229829","display_name":"Jens Kober","orcid":"https://orcid.org/0000-0001-7257-5434"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jens Kober","raw_affiliation_strings":["Cognitive Robotics, 3mE, Delft University of Technology, Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-7257-5434","affiliations":[{"raw_affiliation_string":"Cognitive Robotics, 3mE, Delft University of Technology, Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.636,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.93188535,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"4063","last_page":"4070"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9912999868392944,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9786999821662903,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.8397181034088135},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.8371838331222534},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.7924890518188477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7524517774581909},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5521293878555298},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.49484843015670776},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4941411316394806},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.47744613885879517},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.44232314825057983},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.42981451749801636},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42394402623176575},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08582893013954163},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08391246199607849}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.8397181034088135},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.8371838331222534},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.7924890518188477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7524517774581909},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5521293878555298},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49484843015670776},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4941411316394806},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47744613885879517},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.44232314825057983},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.42981451749801636},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42394402623176575},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08582893013954163},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08391246199607849},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3150013","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3150013","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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"},{"id":"pmh:oai:tudelft.nl:uuid:5d68b631-43fb-44d3-aa40-ea9307022ecc","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:5d68b631-43fb-44d3-aa40-ea9307022ecc","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1551864151","https://openalex.org/W1964929969","https://openalex.org/W2041580073","https://openalex.org/W2057853719","https://openalex.org/W2100993276","https://openalex.org/W2107092366","https://openalex.org/W2136719407","https://openalex.org/W2141098361","https://openalex.org/W2167117957","https://openalex.org/W2168175751","https://openalex.org/W2243880070","https://openalex.org/W2605907393","https://openalex.org/W2738231311","https://openalex.org/W2796176989","https://openalex.org/W2902791462","https://openalex.org/W2937476238","https://openalex.org/W2961077157","https://openalex.org/W2963099939","https://openalex.org/W2963485691","https://openalex.org/W2965567119","https://openalex.org/W2979490629","https://openalex.org/W2994446013","https://openalex.org/W3003570760","https://openalex.org/W3004105558","https://openalex.org/W3004328337","https://openalex.org/W3006497026","https://openalex.org/W3118161885","https://openalex.org/W3176838722","https://openalex.org/W3207043744","https://openalex.org/W6680971464","https://openalex.org/W6747311492","https://openalex.org/W6769174716","https://openalex.org/W6786332875","https://openalex.org/W6803138953"],"related_works":["https://openalex.org/W2051058708","https://openalex.org/W154868527","https://openalex.org/W1494268238","https://openalex.org/W1983207144","https://openalex.org/W2490706771","https://openalex.org/W1976468483","https://openalex.org/W2480116122","https://openalex.org/W1516574938","https://openalex.org/W3214675586","https://openalex.org/W3046835365"],"abstract_inverted_index":{"Moving":[0],"away":[1],"from":[2],"repetitive":[3],"tasks,":[4],"robots":[5],"nowadays":[6],"demand":[7],"versatile":[8],"skills":[9,95],"that":[10],"adapt":[11],"to":[12,63,79],"different":[13,48,53],"situations.":[14,49],"Task-parameterized":[15],"learning":[16,93],"improves":[17],"the":[18,29,59,81],"generalization":[19],"of":[20],"motion":[21],"policies":[22],"by":[23],"encoding":[24],"relevant":[25],"contextual":[26],"information":[27],"in":[28,47],"task":[30,35],"parameters,":[31],"hence":[32],"enabling":[33],"flexible":[34],"executions.":[36],"However,":[37],"training":[38,67,83],"such":[39],"a":[40,76],"policy":[41,89],"often":[42],"requires":[43],"collecting":[44],"multiple":[45],"demonstrations":[46],"To":[50],"comprehensively":[51],"create":[52],"situations":[54],"is":[55,71],"non-trivial":[56],"thus":[57,91],"renders":[58],"method":[60],"less":[61],"applicable":[62],"real-world":[64],"problems.":[65],"Therefore,":[66],"with":[68,85,96],"fewer":[69],"demonstrations/situations":[70],"desirable.":[72],"This":[73],"paper":[74],"presents":[75],"novel":[77],"concept":[78],"augment":[80],"original":[82],"dataset":[84],"synthetic":[86],"data":[87],"for":[88],"improvements,":[90],"allows":[92],"task-parameterized":[94],"few":[97],"demonstrations.":[98]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}