{"id":"https://openalex.org/W2141098361","doi":"https://doi.org/10.1109/robot.2009.5152439","title":"Task-level imitation learning using variance-based movement optimization","display_name":"Task-level imitation learning using variance-based movement optimization","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2141098361","doi":"https://doi.org/10.1109/robot.2009.5152439","mag":"2141098361"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152439","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","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/A5086210535","display_name":"Manuel M\u00fchlig","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]},{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Muhlig","raw_affiliation_strings":["Honda Research Institute Europe GmBH, Offenbach, Germany","Research Institute of Cognition and Robotics, Bielefeld University, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe GmBH, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]},{"raw_affiliation_string":"Research Institute of Cognition and Robotics, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025560073","display_name":"Michael Gienger","orcid":"https://orcid.org/0000-0001-8036-2519"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Gienger","raw_affiliation_strings":["Honda Research Institute Europe GmBH, Offenbach, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe GmBH, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045672325","display_name":"Sven Hellbach","orcid":"https://orcid.org/0000-0002-7595-8913"},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Hellbach","raw_affiliation_strings":["Neuroinformatics and Cognitive Robotics Laboratory, Technical University Ilmenau, Ilmenau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroinformatics and Cognitive Robotics Laboratory, Technical University Ilmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085055595","display_name":"Jochen J. Steil","orcid":"https://orcid.org/0000-0002-6738-9933"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jochen J. Steil","raw_affiliation_strings":["Research Institute of Cognition and Robotics, Bielefeld University, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Cognition and Robotics, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053974584","display_name":"Christian Goerick","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Goerick","raw_affiliation_strings":["Honda Research Institute Europe GmBH, Offenbach, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe GmBH, Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.1724,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.99022457,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1177","last_page":"1184"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9943000078201294,"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":0.9883999824523926,"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/humanoid-robot","display_name":"Humanoid robot","score":0.9065020084381104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7262479662895203},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7108537554740906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6962070465087891},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6018433570861816},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5348078012466431},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.533465564250946},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5048323273658752},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.504663348197937},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49536025524139404},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.46525508165359497},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.44835904240608215},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4336521327495575},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.43238121271133423},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4290354549884796},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.40753304958343506},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3956840932369232},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34882450103759766},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12270429730415344}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9065020084381104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7262479662895203},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7108537554740906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6962070465087891},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6018433570861816},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5348078012466431},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.533465564250946},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5048323273658752},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.504663348197937},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49536025524139404},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.46525508165359497},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.44835904240608215},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4336521327495575},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.43238121271133423},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4290354549884796},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.40753304958343506},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3956840932369232},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34882450103759766},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12270429730415344},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2009.5152439","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152439","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.157.7003","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.157.7003","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cor-lab.de/corlab/cms/sites/default/files/MuehligICRA2009.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.701.8275","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.701.8275","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.tu-ilmenau.de/fileadmin/media/neurob/publications/conferences_int/2009/Muehlig-ICRA-2009.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W39942585","https://openalex.org/W1772739125","https://openalex.org/W1982486572","https://openalex.org/W2005870832","https://openalex.org/W2037461669","https://openalex.org/W2060277321","https://openalex.org/W2070016655","https://openalex.org/W2102873422","https://openalex.org/W2117778675","https://openalex.org/W2121016290","https://openalex.org/W2128677288","https://openalex.org/W2129515556","https://openalex.org/W2151378685","https://openalex.org/W2155134292","https://openalex.org/W2163848682","https://openalex.org/W2168175751","https://openalex.org/W2169008711","https://openalex.org/W2496620599","https://openalex.org/W2542762620","https://openalex.org/W2543071036","https://openalex.org/W4206787410","https://openalex.org/W6601641602","https://openalex.org/W6637859390"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2542221445","https://openalex.org/W177694623","https://openalex.org/W2531662632","https://openalex.org/W2314176764","https://openalex.org/W2134294860","https://openalex.org/W2724299411","https://openalex.org/W2493438666","https://openalex.org/W1965774354","https://openalex.org/W1806442025"],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,34,40,59],"the":[3,9,12,41,56,72,89,97,112,116,147,151,163,169,182],"field":[4],"of":[5,11,74,77,99,119,126,153],"humanoid":[6,32,86,164],"robotics":[7],"increase":[8],"complexity":[10],"tasks":[13,29,95],"that":[14,145,168],"such":[15,156],"robots":[16],"can":[17],"perform.":[18],"This":[19],"makes":[20],"it":[21,50],"increasingly":[22],"difficult":[23],"and":[24,62,194],"inconvenient":[25],"to":[26,36,54,91,114,138,181],"program":[27],"these":[28,67],"manually.":[30],"Furthermore,":[31],"robots,":[33,38],"contrast":[35],"industrial":[37],"should":[39],"distant":[42],"future":[43],"behave":[44],"within":[45],"a":[46,85,178,187],"social":[47],"environment.":[48],"Therefore,":[49],"must":[51],"be":[52],"possible":[53],"extend":[55],"robot's":[57],"abilities":[58],"an":[60,104,120,140],"easy":[61],"natural":[63],"way.":[64],"To":[65],"address":[66],"requirements,":[68],"this":[69],"work":[70],"investigates":[71],"topic":[73],"imitation":[75,105],"learning":[76,106,196],"motor":[78],"skills.":[79],"The":[80,133],"focus":[81],"lies":[82],"on":[83],"providing":[84],"robot":[87,113,165],"with":[88,129,162],"ability":[90],"learn":[92,115],"new":[93],"bi-manual":[94],"through":[96],"observation":[98],"object":[100],"trajectories.":[101],"For":[102],"this,":[103],"framework":[107],"is":[108,136,172],"presented,":[109],"which":[110],"allows":[111],"important":[117],"elements":[118],"observed":[121],"movement":[122,142,149],"task":[123],"by":[124],"application":[125],"probabilistic":[127],"encoding":[128],"Gaussian":[130],"Mixture":[131],"Models.":[132],"learned":[134],"information":[135,176],"used":[137],"initialize":[139],"attractor-based":[141],"generation":[143],"algorithm":[144],"optimizes":[146],"reproduced":[148],"towards":[150],"fulfillment":[152],"additional":[154],"criteria,":[155],"as":[157],"collision":[158],"avoidance.":[159],"Experiments":[160],"performed":[161],"ASIMO":[166],"show":[167],"proposed":[170],"system":[171],"suitable":[173],"for":[174,191],"transferring":[175],"from":[177],"human":[179],"demonstrator":[180],"robot.":[183],"These":[184],"results":[185],"provide":[186],"good":[188],"starting":[189],"point":[190],"more":[192],"complex":[193],"interactive":[195],"tasks.":[197]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
