{"id":"https://openalex.org/W2773759438","doi":"https://doi.org/10.1109/mfi.2017.8170389","title":"Robot programming by demonstration of multiple tasks within a common environment","display_name":"Robot programming by demonstration of multiple tasks within a common environment","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2773759438","doi":"https://doi.org/10.1109/mfi.2017.8170389","mag":"2773759438"},"language":"en","primary_location":{"id":"doi:10.1109/mfi.2017.8170389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2017.8170389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-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/A5085787626","display_name":"Tohid Alizadeh","orcid":"https://orcid.org/0000-0002-9717-3009"},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":true,"raw_author_name":"Tohid Alizadeh","raw_affiliation_strings":["Department of robotics and mechatronics, Nazarbayev University, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Department of robotics and mechatronics, Nazarbayev University, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037370310","display_name":"Batyrkhan Saduanov","orcid":null},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Batyrkhan Saduanov","raw_affiliation_strings":["Department of robotics and mechatronics, Nazarbayev University, Astana, Kazakhstan"],"affiliations":[{"raw_affiliation_string":"Department of robotics and mechatronics, Nazarbayev University, Astana, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5085787626"],"corresponding_institution_ids":["https://openalex.org/I60559429"],"apc_list":null,"apc_paid":null,"fwci":0.6035,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.71007653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"608","last_page":"613"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9962000250816345,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9930999875068665,"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":0.7936020493507385},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7890240550041199},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7260733246803284},{"id":"https://openalex.org/keywords/mixture-model","display_name":"Mixture model","score":0.7027631998062134},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.698092520236969},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.540695071220398},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.540344774723053},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5256009101867676},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.5151142477989197},{"id":"https://openalex.org/keywords/relevance","display_name":"Relevance (law)","score":0.47561413049697876},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.41302624344825745},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08705651760101318}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7936020493507385},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7890240550041199},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7260733246803284},{"id":"https://openalex.org/C61224824","wikidata":"https://www.wikidata.org/wiki/Q2260434","display_name":"Mixture model","level":2,"score":0.7027631998062134},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.698092520236969},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.540695071220398},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.540344774723053},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5256009101867676},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.5151142477989197},{"id":"https://openalex.org/C158154518","wikidata":"https://www.wikidata.org/wiki/Q7310970","display_name":"Relevance (law)","level":2,"score":0.47561413049697876},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41302624344825745},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08705651760101318},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mfi.2017.8170389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mfi.2017.8170389","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W582055897","https://openalex.org/W1623311931","https://openalex.org/W1976536305","https://openalex.org/W1977013839","https://openalex.org/W1986014385","https://openalex.org/W2001709653","https://openalex.org/W2012479417","https://openalex.org/W2016219463","https://openalex.org/W2053324916","https://openalex.org/W2063471043","https://openalex.org/W2069324174","https://openalex.org/W2100993276","https://openalex.org/W2107249153","https://openalex.org/W2128677288","https://openalex.org/W2130912818","https://openalex.org/W2144752499","https://openalex.org/W2293741035","https://openalex.org/W2328100584","https://openalex.org/W2500624988","https://openalex.org/W2523923895","https://openalex.org/W2586505867","https://openalex.org/W2587356734","https://openalex.org/W4252287909","https://openalex.org/W4300982816","https://openalex.org/W6676264799","https://openalex.org/W6681414149"],"related_works":["https://openalex.org/W2085384747","https://openalex.org/W2088166309","https://openalex.org/W1891216533","https://openalex.org/W2967461658","https://openalex.org/W4387678044","https://openalex.org/W4388660734","https://openalex.org/W2901891836","https://openalex.org/W1989667785","https://openalex.org/W2117552637","https://openalex.org/W4304140541"],"abstract_inverted_index":{"Most":[0],"of":[1,37,52,58,112,132],"the":[2,38,50,53,64,73,89,104,107,110,113,123,130,133,139,144,147,154,158,164],"available":[3,39,90],"robot":[4,148],"programming":[5],"by":[6],"demonstration":[7],"(PbD)":[8],"approaches":[9],"focus":[10],"on":[11],"learning":[12,108],"a":[13,17,32,176],"single":[14],"task,":[15,121],"in":[16,85,172],"given":[18],"environmental":[19],"situation.":[20],"In":[21],"this":[22],"paper,":[23],"we":[24],"propose":[25],"to":[26,71,152],"learn":[27],"multiple":[28],"tasks":[29],"together,":[30],"within":[31],"common":[33],"environment,":[34],"using":[35,175],"one":[36],"PbD":[40],"approaches.":[41],"Task-parameterized":[42],"Gaussian":[43],"mixture":[44],"model":[45],"(TP-GMM)":[46],"is":[47,169],"used":[48,70],"at":[49],"core":[51],"proposed":[54,167],"approach.":[55],"A":[56],"database":[57],"TP-GMMs":[59],"will":[60,68,79,92,116,125,142,149],"be":[61,69,80,93,117,126,150],"constructed":[62],"for":[63,119],"tasks,":[65,84],"and":[66,122,146,157,162,174],"it":[67],"provide":[72],"reproduction":[74],"when":[75],"needed.":[76],"The":[77,166],"environment":[78],"shared":[81],"between":[82],"different":[83],"other":[86],"words,":[87],"all":[88],"objects":[91],"considered":[94],"as":[95,100],"external":[96],"task":[97,114,145,160],"parameters":[98,115,131,161],"(TPs),":[99],"they":[101],"may":[102],"modulate":[103],"task.":[105],"During":[106],"part,":[109],"relevance":[111],"extracted":[118],"each":[120],"information":[124],"stored":[127],"together":[128],"with":[129],"corresponding":[134],"updated":[135],"TP-GMM.":[136],"For":[137],"reproduction,":[138],"end":[140],"user":[141],"specify":[143],"able":[151],"pick":[153],"relevant":[155,159],"TP-GMM":[156],"reproduce":[163],"movement.":[165],"approach":[168],"tested":[170],"both":[171],"simulation":[173],"robotic":[177],"experiment.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}