{"id":"https://openalex.org/W4226496675","doi":"https://doi.org/10.1109/lra.2022.3196159","title":"Learning Bidirectional Translation Between Descriptions and Actions With Small Paired Data","display_name":"Learning Bidirectional Translation Between Descriptions and Actions With Small Paired Data","publication_year":2022,"publication_date":"2022-08-22","ids":{"openalex":"https://openalex.org/W4226496675","doi":"https://doi.org/10.1109/lra.2022.3196159"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3196159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3196159","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://waseda.repo.nii.ac.jp/records/2007284","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051452615","display_name":"Minori Toyoda","orcid":"https://orcid.org/0000-0003-0908-4215"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Minori Toyoda","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0908-4215","affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042849965","display_name":"Kanata Suzuki","orcid":"https://orcid.org/0000-0001-7122-7649"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I2252096349","display_name":"Fujitsu (Japan)","ror":"https://ror.org/038e2g226","country_code":"JP","type":"company","lineage":["https://openalex.org/I2252096349"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kanata Suzuki","raw_affiliation_strings":["Artificial Intelligence Laboratories, Fujitsu Limited, Kanagawa, Japan","Faculty of Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-7122-7649","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Laboratories, Fujitsu Limited, Kanagawa, Japan","institution_ids":["https://openalex.org/I2252096349"]},{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101814461","display_name":"Yoshihiko Hayashi","orcid":"https://orcid.org/0000-0002-1682-1976"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiko Hayashi","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1682-1976","affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055922202","display_name":"Tetsuya Ogata","orcid":"https://orcid.org/0000-0001-7015-0379"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuya Ogata","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Tokyo, Japan","National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","Waseda Research Institute for Science and Engineering (WISE) at Waseda University, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-7015-0379","affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Waseda Research Institute for Science and Engineering (WISE) at Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5051452615"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":0.7143,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.69721217,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"7","issue":"4","first_page":"10930","last_page":"10937"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10181","display_name":"Natural Language Processing Techniques","score":0.9977999925613403,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9933000206947327,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7982434630393982},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.6845283508300781},{"id":"https://openalex.org/keywords/translation","display_name":"Translation (biology)","score":0.6684957146644592},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6033703088760376},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.5323866605758667},{"id":"https://openalex.org/keywords/modalities","display_name":"Modalities","score":0.49339762330055237},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.4648522138595581},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.410944402217865},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33837834000587463}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7982434630393982},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.6845283508300781},{"id":"https://openalex.org/C149364088","wikidata":"https://www.wikidata.org/wiki/Q185917","display_name":"Translation (biology)","level":4,"score":0.6684957146644592},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6033703088760376},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.5323866605758667},{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.49339762330055237},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.4648522138595581},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.410944402217865},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33837834000587463},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C105580179","wikidata":"https://www.wikidata.org/wiki/Q188928","display_name":"Messenger RNA","level":3,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2022.3196159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3196159","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:irdb.nii.ac.jp:00835:0007255988","is_oa":true,"landing_page_url":"https://waseda.repo.nii.ac.jp/records/2007284","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal article"},{"id":"pmh:oai:arXiv.org:2203.04218","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.04218","pdf_url":"https://arxiv.org/pdf/2203.04218","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:00835:0007255988","is_oa":true,"landing_page_url":"https://waseda.repo.nii.ac.jp/records/2007284","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1522301498","https://openalex.org/W2088335308","https://openalex.org/W2101105183","https://openalex.org/W2131774270","https://openalex.org/W2474702929","https://openalex.org/W2614519765","https://openalex.org/W2619383789","https://openalex.org/W2740582239","https://openalex.org/W2786785665","https://openalex.org/W2862846329","https://openalex.org/W2896457183","https://openalex.org/W2936695845","https://openalex.org/W3003905039","https://openalex.org/W3009561768","https://openalex.org/W3011574394","https://openalex.org/W3088409176","https://openalex.org/W3100859887","https://openalex.org/W3106003309","https://openalex.org/W3125772723","https://openalex.org/W3139333591","https://openalex.org/W3156636935","https://openalex.org/W3176195078","https://openalex.org/W3206384369","https://openalex.org/W3207212285","https://openalex.org/W4210352519","https://openalex.org/W4294170691","https://openalex.org/W4385245566","https://openalex.org/W6631190155","https://openalex.org/W6682691769","https://openalex.org/W6739901393","https://openalex.org/W6748313183","https://openalex.org/W6761205521","https://openalex.org/W6774670964","https://openalex.org/W6779977557"],"related_works":["https://openalex.org/W73545470","https://openalex.org/W4224266612","https://openalex.org/W2383394264","https://openalex.org/W4320153225","https://openalex.org/W4293261942","https://openalex.org/W3125968744","https://openalex.org/W2167701463","https://openalex.org/W2110287964","https://openalex.org/W4307407935","https://openalex.org/W649759291"],"abstract_inverted_index":{"This":[0],"study":[1,67],"achieved":[2],"bidirectional":[3,74],"translation":[4],"between":[5],"descriptions":[6,21,86],"and":[7,22,58,87,144,184],"actions":[8,23,88,143,177],"using":[9,107,136],"small":[10,108],"paired":[11,52,109,138,159],"data":[12,113,122,160],"from":[13],"different":[14],"modalities.":[15],"The":[16,146,165],"ability":[17],"to":[18,28,56,60,102,161],"mutually":[19],"generate":[20],"is":[24,54],"essential":[25],"for":[26,73,85,115],"robots":[27],"collaborate":[29],"with":[30,89],"humans":[31],"in":[32,180],"their":[33,104],"daily":[34],"lives,":[35],"which":[36],"generally":[37],"requires":[38],"a":[39,51,69,90,124,137,181],"large":[40,91,125],"dataset":[41,53,139],"that":[42,149,175],"maintains":[43],"comprehensive":[44],"pairs":[45],"of":[46,93,141,158,167,171],"both":[47],"modality":[48],"data.":[49,95,110],"However,":[50],"expensive":[55],"construct":[57],"difficult":[59],"collect.":[61],"To":[62],"address":[63],"this":[64,66],"issue,":[65],"proposes":[68],"two-stage":[70],"training":[71],"method":[72,135,151],"translation.":[75],"In":[76],"the":[77,99,112,156,168,185],"proposed":[78],"method,":[79],"we":[80,97],"train":[81,162],"recurrent":[82],"autoencoders":[83],"(RAEs)":[84],"amount":[92,157],"non-paired":[94],"Then,":[96],"fine-tune":[98],"entire":[100],"model":[101],"bind":[103],"intermediate":[105,169],"representations":[106,170],"Because":[111],"used":[114],"pre-training":[116],"do":[117],"not":[118],"require":[119],"pairing,":[120],"behavior-only":[121],"or":[123],"language":[126],"corpus":[127],"can":[128],"be":[129],"used.":[130],"We":[131],"experimentally":[132],"evaluated":[133],"our":[134,150],"consisting":[140],"motion-captured":[142],"descriptions.":[145],"results":[147],"showed":[148,174],"performed":[152],"well,":[153],"even":[154],"when":[155],"was":[163],"small.":[164],"visualization":[166],"each":[172],"RAE":[173],"similar":[176],"were":[178,189],"encoded":[179],"clustered":[182],"position":[183],"corresponding":[186],"feature":[187],"vectors":[188],"well":[190],"aligned.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2022-05-05T00:00:00"}
