{"id":"https://openalex.org/W7151068454","doi":"https://doi.org/10.1109/lra.2026.3681188","title":"Towards Robot Skill Learning and Adaptation With Gaussian Processes","display_name":"Towards Robot Skill Learning and Adaptation With Gaussian Processes","publication_year":2026,"publication_date":"2026-04-06","ids":{"openalex":"https://openalex.org/W7151068454","doi":"https://doi.org/10.1109/lra.2026.3681188"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3681188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3681188","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/A5133062662","display_name":"A K M Nadimul Haque","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"A K M Nadimul Haque","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0001-8725-4385","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042792890","display_name":"Fouad Sukkar","orcid":"https://orcid.org/0000-0002-7041-5151"},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Fouad Sukkar","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-7041-5151","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031338128","display_name":"Sheila Sutjipto","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sheila Sutjipto","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-0697-0265","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120065510","display_name":"Cedric Le Gentil","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cedric Le Gentil","raw_affiliation_strings":["Mobile Robotics Lab, ETH Zurich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-9790-5935","affiliations":[{"raw_affiliation_string":"Mobile Robotics Lab, ETH Zurich, Z&#x00FC;rich, Switzerland","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125923367","display_name":"Marc G. Carmichael","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Marc G. Carmichael","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0001-8439-0074","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5133034370","display_name":"Teresa Vidal-Calleja","orcid":null},"institutions":[{"id":"https://openalex.org/I114017466","display_name":"University of Technology Sydney","ror":"https://ror.org/03f0f6041","country_code":"AU","type":"education","lineage":["https://openalex.org/I114017466"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Teresa Vidal-Calleja","raw_affiliation_strings":["Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-5763-9644","affiliations":[{"raw_affiliation_string":"Robotics Institute, University of Technology Sydney, Ultimo, NSW, Australia","institution_ids":["https://openalex.org/I114017466"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41970132,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"5","first_page":"6408","last_page":"6415"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9625999927520752,"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"}},"topics":[{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9625999927520752,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.003800000064074993,"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":0.002099999925121665,"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/process","display_name":"Process (computing)","score":0.5},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.487199991941452},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4731999933719635},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.4018999934196472},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.3871000111103058},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.3012999892234802}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5608999729156494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5512999892234802},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.487199991941452},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4731999933719635},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.4018999934196472},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.3871000111103058},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3012999892234802},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.3012999892234802},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.30059999227523804},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C132758656","wikidata":"https://www.wikidata.org/wiki/Q5307365","display_name":"Dreyfus model of skill acquisition","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26030001044273376},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.25940001010894775}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3681188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3681188","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2136719407","https://openalex.org/W2419216244","https://openalex.org/W2736887377","https://openalex.org/W3007160909","https://openalex.org/W3138784139","https://openalex.org/W3201276701","https://openalex.org/W3216933777","https://openalex.org/W4205763583","https://openalex.org/W4313562991","https://openalex.org/W4387678044","https://openalex.org/W4393353106","https://openalex.org/W4403676507","https://openalex.org/W4405787374","https://openalex.org/W4409519026","https://openalex.org/W7118811253"],"related_works":[],"abstract_inverted_index":{"General":[0],"robot":[1],"skill":[2,15,27,45,68],"adaptation":[3,16,56,69,102],"requires":[4],"expressive":[5,49,80],"representations":[6],"robust":[7,67],"to":[8,93,104,134,149,197,224],"varying":[9],"task":[10],"configurations.":[11,113],"While":[12],"recent":[13],"learning-based":[14],"methods":[17,103,178,196],"refined":[18],"via":[19],"Reinforcement":[20],"learning":[21],"(RL)":[22],"have":[23],"shown":[24],"success,":[25],"existing":[26],"models":[28],"often":[29],"lack":[30],"sufficient":[31],"representational":[32],"capacity":[33],"for":[34,77,106],"anything":[35],"beyond":[36],"minor":[37],"environmental":[38],"changes.":[39],"In":[40],"contrast,":[41],"Gaussian":[42],"process":[43],"(GP)-based":[44],"modelling":[46],"provides":[47,217],"an":[48,115,143],"representation":[50,192,220],"with":[51,74],"useful":[52],"analytical":[53,91],"properties;":[54],"however,":[55],"of":[57,210,222],"GP-based":[58,191],"skills":[59],"remains":[60],"underexplored.":[61],"This":[62],"paper":[63],"proposes":[64],"a":[65,129,218,228],"novel,":[66],"framework":[70],"that":[71,118,146,189],"utilises":[72],"GPs":[73],"sparse":[75],"via-points":[76,122,151],"compact":[78,219],"and":[79,89,111,157,168,174,202],"modelling.":[81],"The":[82],"model":[83],"leverages":[84],"the":[85,95,107,120,125,139,154,186,190,211],"demonstrated":[86,230],"trajectory's":[87],"first":[88],"second":[90],"derivatives":[92],"preserve":[94],"skill's":[96],"kinematic":[97,155,212],"profile.":[98,213],"We":[99],"present":[100],"three":[101,163,195],"cater":[105],"variability":[108],"between":[109],"initial":[110],"observed":[112],"Firstly,":[114],"optimisation":[116,140],"agent":[117,132,145],"adjusts":[119],"path's":[121],"while":[123],"preserving":[124],"demonstration":[126],"velocity.":[127],"Second,":[128],"behaviour":[130],"cloning":[131],"trained":[133],"replicate":[135],"output":[136],"trajectories":[137],"from":[138,227],"agent.":[141],"Lastly,":[142],"RL":[144],"has":[147],"learnt":[148],"modify":[150],"whilst":[152],"maintaining":[153],"profile":[156],"faster":[158],"feed-forward":[159],"adaptation.":[160],"Evaluated":[161],"across":[162],"tasks":[164],"(drawer":[165],"opening,":[166],"cube-pushing":[167],"bar":[169],"manipulation)":[170],"in":[171,182],"both":[172],"simulation":[173],"hardware,":[175],"our":[176,215],"proposed":[177],"outperform":[179],"every":[180],"benchmark":[181],"success":[183],"rates.":[184],"Furthermore,":[185],"results":[187],"demonstrate":[188],"enables":[193],"all":[194],"attain":[198],"high":[199],"cosine":[200],"similarity":[201],"low":[203],"velocity":[204],"magnitude":[205],"errors,":[206],"indicating":[207],"strong":[208],"preservation":[209],"Overall,":[214],"formulation":[216],"capable":[221],"adapting":[223],"large":[225],"deviations":[226],"single":[229],"skill.":[231]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-04-07T00:00:00"}
