{"id":"https://openalex.org/W4317383745","doi":"https://doi.org/10.1109/robio55434.2022.10011860","title":"Learning Disentangled Representations and Temporal-Correlation Dynamics for Robotic Anomaly Diagnosis","display_name":"Learning Disentangled Representations and Temporal-Correlation Dynamics for Robotic Anomaly Diagnosis","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383745","doi":"https://doi.org/10.1109/robio55434.2022.10011860"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011860","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011860","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100407437","display_name":"Dong Liu","orcid":"https://orcid.org/0000-0002-4095-7531"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dong Liu","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China","Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040144876","display_name":"Hongmin Wu","orcid":"https://orcid.org/0000-0001-8517-5296"},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]},{"id":"https://openalex.org/I4210103524","display_name":"Guangdong Academy of Sciences","ror":"https://ror.org/01g9hkj35","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210103524"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongmin Wu","raw_affiliation_strings":["Institute of Intelligent Manufacturing, Guangdong Academy of Sciences,Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","Pazhou Lab, Guangzhou, China","Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Manufacturing, Guangdong Academy of Sciences,Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]},{"raw_affiliation_string":"Pazhou Lab, Guangzhou, China","institution_ids":[]},{"raw_affiliation_string":"Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou, China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110950581","display_name":"Kezheng Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I4210103524","display_name":"Guangdong Academy of Sciences","ror":"https://ror.org/01g9hkj35","country_code":"CN","type":"government","lineage":["https://openalex.org/I4210103524"]},{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kezheng Sun","raw_affiliation_strings":["Institute of Intelligent Manufacturing, Guangdong Academy of Sciences,Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Institute of Intelligent Manufacturing, Guangdong Academy of Sciences,Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]},{"raw_affiliation_string":"Guangdong Key Laboratory of Modern Control Technology, Institute of Intelligent Manufacturing, Guangdong Academy of Sciences, Guangzhou, China","institution_ids":["https://openalex.org/I4210142539","https://openalex.org/I4210103524"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013471002","display_name":"Yisheng Guan","orcid":"https://orcid.org/0000-0002-7011-0331"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisheng Guan","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China","Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL),Guangzhou,China","institution_ids":["https://openalex.org/I139024713"]},{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100407437"],"corresponding_institution_ids":["https://openalex.org/I139024713"],"apc_list":null,"apc_paid":null,"fwci":0.1039,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.34868563,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"abs/2001.09084","issue":null,"first_page":"495","last_page":"500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9998000264167786,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9998000264167786,"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/T12205","display_name":"Time Series Analysis and Forecasting","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T11667","display_name":"Advanced Chemical Sensor Technologies","score":0.9469000101089478,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.822799801826477},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7304093241691589},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6726391911506653},{"id":"https://openalex.org/keywords/anomaly","display_name":"Anomaly (physics)","score":0.5567794442176819},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.485270231962204},{"id":"https://openalex.org/keywords/correlation","display_name":"Correlation","score":0.48184072971343994},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.4667496979236603},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45531946420669556},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.4376906454563141},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.42879927158355713},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.41994738578796387},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.37828436493873596},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3722442090511322},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13106834888458252},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09870558977127075}],"concepts":[{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.822799801826477},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7304093241691589},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6726391911506653},{"id":"https://openalex.org/C12997251","wikidata":"https://www.wikidata.org/wiki/Q567560","display_name":"Anomaly (physics)","level":2,"score":0.5567794442176819},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.485270231962204},{"id":"https://openalex.org/C117220453","wikidata":"https://www.wikidata.org/wiki/Q5172842","display_name":"Correlation","level":2,"score":0.48184072971343994},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.4667496979236603},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45531946420669556},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.4376906454563141},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.42879927158355713},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.41994738578796387},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.37828436493873596},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3722442090511322},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13106834888458252},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09870558977127075},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C26873012","wikidata":"https://www.wikidata.org/wiki/Q214781","display_name":"Condensed matter physics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/robio55434.2022.10011860","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011860","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","score":0.46000000834465027,"id":"https://metadata.un.org/sdg/17"}],"awards":[{"id":"https://openalex.org/G1689471929","display_name":null,"funder_award_id":"2017YT05G026","funder_id":"https://openalex.org/F4320333334","funder_display_name":"Guangdong Province Introduction of Innovative R&D Team"}],"funders":[{"id":"https://openalex.org/F4320333334","display_name":"Guangdong Province Introduction of Innovative R&D Team","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1536447791","https://openalex.org/W1778594840","https://openalex.org/W1989417520","https://openalex.org/W2025768430","https://openalex.org/W2091921805","https://openalex.org/W2254039850","https://openalex.org/W2405774341","https://openalex.org/W2515503816","https://openalex.org/W2768480811","https://openalex.org/W2864662136","https://openalex.org/W2891054364","https://openalex.org/W2920800903","https://openalex.org/W2944504485","https://openalex.org/W2952016241","https://openalex.org/W2952673310","https://openalex.org/W2956607501","https://openalex.org/W2962974944","https://openalex.org/W2963684088","https://openalex.org/W3007103823","https://openalex.org/W3008872739","https://openalex.org/W3138887128","https://openalex.org/W3191026187","https://openalex.org/W4214717370","https://openalex.org/W4289704203","https://openalex.org/W4391602018","https://openalex.org/W6632102171","https://openalex.org/W6685352114","https://openalex.org/W6754654578","https://openalex.org/W6773710023"],"related_works":["https://openalex.org/W2983142544","https://openalex.org/W2891059443","https://openalex.org/W4281663961","https://openalex.org/W3208888551","https://openalex.org/W4313561566","https://openalex.org/W3208386644","https://openalex.org/W4220682630","https://openalex.org/W4389832810","https://openalex.org/W3181622257","https://openalex.org/W3163146846"],"abstract_inverted_index":{"Anomalous":[0],"diagnosis":[1,100],"is":[2,59,70],"valuable":[3],"for":[4,26,77,97],"reducing":[5],"potential":[6],"damages":[7],"in":[8,15],"long-term":[9],"autonomy":[10],"robot":[11,27,98],"manipulation":[12],"tasks,":[13],"especially":[14],"Human-robot":[16],"collaboration":[17],"scenarios.":[18],"Deep":[19],"learning-based":[20],"methods":[21,138],"have":[22],"been":[23],"widely":[24],"investigated":[25],"anomaly":[28,75,99],"diagnosis,":[29],"which":[30],"can":[31],"effectively":[32],"encode":[33],"complex":[34],"dynamics":[35],"from":[36,119],"multi-modal":[37],"sensory":[38],"data.":[39],"However,":[40],"the":[41,48,82,103,112,136,140,144],"lacking":[42],"of":[43,50,107,143],"enough":[44],"anomalous":[45,117],"samples":[46,76,118,155],"and":[47,52,91,150],"fusion":[49],"high-dimensional":[51],"modality":[53],"correlation":[54,105],"as":[55,57],"well":[56],"time-dependent":[58],"still":[60],"a":[61,67,92,128],"challenging":[62],"problem.":[63],"In":[64],"this":[65],"paper,":[66],"novel":[68],"framework":[69],"introduced":[71],"to":[72],"generate":[73],"synthetic":[74,154],"data":[78],"augmentation":[79],"by":[80,101],"learning":[81,102],"disentangled":[83,87],"representation":[84],"with":[85,153],"sequential":[86],"variational":[88],"autoencoder":[89],"(sDVAE),":[90],"temporal-correlation":[93],"VAE":[94],"(tcVAE)":[95],"model":[96],"temporal":[104],"features":[106],"multimodal":[108],"anomalies.":[109],"To":[110],"evaluate":[111],"proposed":[113,137],"methods,":[114],"115":[115],"original":[116],"7":[120],"representative":[121],"anomalies":[122],"that":[123,135],"are":[124],"first":[125],"recorded":[126],"on":[127],"self-developed":[129],"human-robot":[130],"kitting":[131],"task.":[132],"Results":[133],"indicate":[134],"show":[139],"best":[141],"performance":[142],"highest":[145],"precision":[146],"(97%),":[147],"f1-score":[148],"(95%),":[149],"accuracy":[151],"(93%)":[152],"across":[156],"all":[157],"baseline":[158],"methods.":[159]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}