{"id":"https://openalex.org/W4385413607","doi":"https://doi.org/10.1109/lra.2023.3300238","title":"Learning Robotic Insertion Tasks From Human Demonstration","display_name":"Learning Robotic Insertion Tasks From Human Demonstration","publication_year":2023,"publication_date":"2023-07-31","ids":{"openalex":"https://openalex.org/W4385413607","doi":"https://doi.org/10.1109/lra.2023.3300238"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3300238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3300238","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/A5045711807","display_name":"Kaimeng Wang","orcid":"https://orcid.org/0000-0001-5955-9755"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kaimeng Wang","raw_affiliation_strings":["FANUC Advanced Research Laboratory, FANUC America Corporation, Union City, CA, USA"],"raw_orcid":"https://orcid.org/0000-0001-5955-9755","affiliations":[{"raw_affiliation_string":"FANUC Advanced Research Laboratory, FANUC America Corporation, Union City, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100433767","display_name":"Yu Zhao","orcid":"https://orcid.org/0009-0003-1045-9691"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu Zhao","raw_affiliation_strings":["FANUC Advanced Research Laboratory, FANUC America Corporation, Union City, CA, USA"],"raw_orcid":"https://orcid.org/0009-0003-1045-9691","affiliations":[{"raw_affiliation_string":"FANUC Advanced Research Laboratory, FANUC America Corporation, Union City, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081094990","display_name":"Ichiro Sakuma","orcid":"https://orcid.org/0000-0002-4919-9466"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ichiro Sakuma","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.39,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.79299062,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":"9","first_page":"5815","last_page":"5822"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9878000020980835,"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":0.7389601469039917},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7105990648269653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6768612861633301},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.599143922328949},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.581076979637146},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5036851763725281},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4262406826019287},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.4193839132785797},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37232089042663574},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3316023647785187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12154838442802429}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7389601469039917},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7105990648269653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6768612861633301},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.599143922328949},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.581076979637146},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5036851763725281},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4262406826019287},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.4193839132785797},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37232089042663574},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3316023647785187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12154838442802429},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3300238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3300238","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1749494163","https://openalex.org/W1923747199","https://openalex.org/W2030363462","https://openalex.org/W2119403459","https://openalex.org/W2197436471","https://openalex.org/W2526166478","https://openalex.org/W2574247547","https://openalex.org/W2771075179","https://openalex.org/W2891362316","https://openalex.org/W2899092266","https://openalex.org/W2963411833","https://openalex.org/W2963508807","https://openalex.org/W2964093990","https://openalex.org/W2981561950","https://openalex.org/W2981782661","https://openalex.org/W3000351149","https://openalex.org/W3022566517","https://openalex.org/W3034479523","https://openalex.org/W3045540573","https://openalex.org/W3081200565","https://openalex.org/W3091133300","https://openalex.org/W3101875589","https://openalex.org/W3133995976","https://openalex.org/W3207832698","https://openalex.org/W3214952050","https://openalex.org/W4225003209","https://openalex.org/W4283786747","https://openalex.org/W4294761851","https://openalex.org/W4321787715","https://openalex.org/W4383108491","https://openalex.org/W6687045409","https://openalex.org/W6742461812","https://openalex.org/W6747473740","https://openalex.org/W6757469721","https://openalex.org/W6764053384","https://openalex.org/W6764724164","https://openalex.org/W6776438516","https://openalex.org/W6779265984","https://openalex.org/W6789305357","https://openalex.org/W6796589144","https://openalex.org/W6802659552","https://openalex.org/W6847034507"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W3213722473","https://openalex.org/W2110944602","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"Robotic":[0],"insertion":[1,85],"tasks":[2],"often":[3],"rely":[4],"on":[5,156],"delicate":[6],"manual":[7],"tuning":[8],"due":[9],"to":[10,43,67,72,163],"the":[11,39,57,98,141,165,168],"complexity":[12],"of":[13,60,153,167],"contact":[14],"dynamics.":[15],"In":[16,25,70],"contrast,":[17],"human":[18,49],"is":[19,123],"remarkably":[20],"efficient":[21],"in":[22,134,148],"these":[23,74],"tasks.":[24,86],"this":[26],"context,":[27],"Programming":[28],"by":[29,47,140],"Demonstration":[30],"(PbD)":[31],"has":[32],"gained":[33],"much":[34],"traction":[35],"since":[36],"it":[37],"shows":[38],"possibility":[40],"for":[41,83,126],"robots":[42],"learn":[44],"new":[45,79,91],"skills":[46],"observing":[48],"demonstration.":[50],"However,":[51],"existing":[52],"PbD":[53],"approaches":[54],"suffer":[55],"from":[56],"high":[58],"cost":[59],"demonstration":[61,92],"data":[62,93],"collection,":[63],"and":[64,111,129,145],"low":[65],"robustness":[66],"task":[68],"uncertainties.":[69],"order":[71],"address":[73],"issues,":[75],"we":[76],"propose":[77],"a":[78,90,112,157],"PbD-based":[80],"learning":[81,105,120],"framework":[82,88],"robotic":[84],"This":[87],"includes":[89],"acquisition":[94],"system,":[95],"which":[96,135],"replaces":[97],"expensive":[99],"motion":[100],"capture":[101],"device":[102],"with":[103],"deep":[104],"based":[106],"hand":[107],"pose":[108],"tracking":[109],"algorithm":[110],"low-cost":[113],"RGBD":[114],"camera.":[115],"A":[116,151],"latent":[117],"skill-guided":[118],"reinforcement":[119],"(RL)":[121],"approach":[122],"also":[124],"included":[125],"safe,":[127],"efficient,":[128],"robust":[130],"human-robot":[131],"skill":[132],"transfer,":[133],"risky":[136],"explorations":[137],"are":[138,161],"prevented":[139],"reward":[142],"function":[143],"design":[144],"safety":[146],"constraints":[147],"action":[149],"space.":[150],"series":[152],"peg-hole-insertion":[154],"experiments":[155],"FANUC":[158],"industrial":[159],"robot":[160],"conducted":[162],"illustrate":[164],"effectiveness":[166],"proposed":[169],"approach.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}