{"id":"https://openalex.org/W4403863376","doi":"https://doi.org/10.1109/lra.2024.3487506","title":"The Art of Imitation: Learning Long-Horizon Manipulation Tasks From Few Demonstrations","display_name":"The Art of Imitation: Learning Long-Horizon Manipulation Tasks From Few Demonstrations","publication_year":2024,"publication_date":"2024-10-29","ids":{"openalex":"https://openalex.org/W4403863376","doi":"https://doi.org/10.1109/lra.2024.3487506"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3487506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3487506","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/A5038060538","display_name":"Jan Ole von Hartz","orcid":"https://orcid.org/0000-0001-6162-8596"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Ole von Hartz","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6162-8596","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084779517","display_name":"Tim Welschehold","orcid":"https://orcid.org/0000-0003-1163-4992"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tim Welschehold","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1163-4992","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039639553","display_name":"Abhinav Valada","orcid":"https://orcid.org/0000-0003-4710-3114"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Abhinav Valada","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4710-3114","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038908529","display_name":"Joschka Boedecker","orcid":"https://orcid.org/0000-0002-3486-7345"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joschka Boedecker","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3486-7345","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Freiburg im Breisgau, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":1.5093,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.81531615,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":"12","first_page":"11369","last_page":"11376"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9847999811172485,"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/T12290","display_name":"Human Motion and Animation","score":0.9847999811172485,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9718999862670898,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9634000062942505,"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/imitation","display_name":"Imitation","score":0.8703833818435669},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.6028392910957336},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49895739555358887},{"id":"https://openalex.org/keywords/cognitive-psychology","display_name":"Cognitive psychology","score":0.44856876134872437},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40253889560699463},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.36839595437049866},{"id":"https://openalex.org/keywords/cognitive-science","display_name":"Cognitive science","score":0.32351094484329224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32059919834136963},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1142946183681488},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.1045030951499939}],"concepts":[{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.8703833818435669},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.6028392910957336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49895739555358887},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.44856876134872437},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40253889560699463},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.36839595437049866},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.32351094484329224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32059919834136963},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1142946183681488},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.1045030951499939},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3487506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3487506","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":[{"score":0.47999998927116394,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G5212067111","display_name":"Deep Learning Cluster","funder_award_id":"417962828","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320309480","display_name":"Nvidia","ror":"https://ror.org/03jdj4y14"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1976536305","https://openalex.org/W2001709653","https://openalex.org/W2016219463","https://openalex.org/W2033178790","https://openalex.org/W2064675550","https://openalex.org/W2100993276","https://openalex.org/W2128677288","https://openalex.org/W2136719407","https://openalex.org/W2151378685","https://openalex.org/W2154543878","https://openalex.org/W2587356734","https://openalex.org/W2738231311","https://openalex.org/W2949071206","https://openalex.org/W2964057747","https://openalex.org/W2964319110","https://openalex.org/W3007769740","https://openalex.org/W3132408504","https://openalex.org/W3202542428","https://openalex.org/W3215849696","https://openalex.org/W3216933777","https://openalex.org/W4312361190","https://openalex.org/W4385403811","https://openalex.org/W4386821556","https://openalex.org/W4390874575","https://openalex.org/W4394805047","https://openalex.org/W4396941466","https://openalex.org/W6680971464","https://openalex.org/W6804558562","https://openalex.org/W6811470611","https://openalex.org/W6843759960","https://openalex.org/W6849915793","https://openalex.org/W6853471121","https://openalex.org/W6854108904","https://openalex.org/W6856460627","https://openalex.org/W6861392586","https://openalex.org/W6863509447"],"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/W2665305151"],"abstract_inverted_index":{"Task":[0],"Parametrized":[1],"Gaussian":[2],"Mixture":[3],"Models":[4],"(TP-GMM)":[5],"are":[6,18,40,168],"a":[7,98,105],"sample-efficient":[8],"method":[9,106],"for":[10],"learning":[11,123],"object-centric":[12],"robot":[13],"manipulation":[14,125],"tasks.":[15],"However,":[16],"there":[17],"several":[19],"open":[20],"challenges":[21,35],"to":[22,45,53,76,107],"applying":[23],"TP-GMMs":[24],"in":[25],"the":[26,55,73,86,165],"wild.":[27],"In":[28],"this":[29],"work,":[30],"we":[31,71,88,103],"tackle":[32],"three":[33],"crucial":[34],"synergistically.":[36],"First,":[37],"end-effector":[38,57],"velocities":[39,75],"non-Euclidean":[41],"and":[42,62,64,78,93,161],"thus":[43,51],"hard":[44],"model":[46,65],"using":[47,67,132],"standard":[48],"GMMs.":[49,69],"We":[50],"propose":[52],"factorize":[54],"robot's":[56],"velocity":[58],"into":[59],"its":[60],"direction":[61],"magnitude,":[63],"them":[66],"Riemannian":[68],"Second,":[70],"leverage":[72,95],"factorized":[74],"segment":[77],"sequence":[79],"skills":[80,167],"from":[81,117,127],"complex":[82,124],"demonstration":[83],"trajectories.":[84],"Through":[85],"segmentation,":[87],"further":[89],"align":[90],"skill":[91,116],"trajectories":[92],"hence":[94],"time":[96],"as":[97],"powerful":[99],"inductive":[100],"bias.":[101],"Third,":[102],"present":[104],"automatically":[108],"detect":[109],"relevant":[110],"task":[111],"parameters":[112],"<italic":[113],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[114],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">per</i>":[115],"visual":[118],"observations.":[119,135],"Our":[120,153],"approach":[121,144],"enables":[122],"tasks":[126],"just":[128],"five":[129],"demonstrations":[130],"while":[131,164],"only":[133],"RGB-D":[134],"Extensive":[136],"experimental":[137],"evaluations":[138],"on":[139],"RLBench":[140],"demonstrate":[141],"that":[142],"our":[143],"achieves":[145],"state-of-the-art":[146],"performance":[147],"with":[148],"20-fold":[149],"improved":[150],"sample":[151],"efficiency.":[152],"policies":[154],"generalize":[155],"across":[156],"different":[157],"environments,":[158],"object":[159,162],"instances,":[160],"positions,":[163],"learned":[166],"reusable.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}