{"id":"https://openalex.org/W2106338164","doi":"https://doi.org/10.1109/robot.2009.5152466","title":"Imitation learning with generalized task descriptions","display_name":"Imitation learning with generalized task descriptions","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2106338164","doi":"https://doi.org/10.1109/robot.2009.5152466","mag":"2106338164"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152466","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":"conference-paper","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/A5076300410","display_name":"Clemens Eppner","orcid":"https://orcid.org/0000-0002-5398-4037"},"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":"C. Eppner","raw_affiliation_strings":["Computer Science Department, University of Freiburg, Germany","Computer Science Department of the University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Computer Science Department of the University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084377170","display_name":"J. Sturm","orcid":"https://orcid.org/0009-0006-2570-3759"},"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":"J. Sturm","raw_affiliation_strings":["Computer Science Department, University of Freiburg, Germany","Computer Science Department of the University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Computer Science Department of the University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"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":"M. Bennewitz","raw_affiliation_strings":["Computer Science Department, University of Freiburg, Germany","Computer Science Department of the University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Computer Science Department of the University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"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":"C. Stachniss","raw_affiliation_strings":["Computer Science Department, University of Freiburg, Germany","Computer Science Department of the University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Computer Science Department of the University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084499878","display_name":"Wolfram Burgard","orcid":"https://orcid.org/0000-0002-5680-6500"},"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":"W. Burgard","raw_affiliation_strings":["Computer Science Department, University of Freiburg, Germany","Computer Science Department of the University of Freiburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Computer Science Department of the University of Freiburg, 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":null,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3968","last_page":"3974"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9998000264167786,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.995199978351593,"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":0.7396632432937622},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6809190511703491},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6720158457756042},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6207267045974731},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5657156109809875},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5503232479095459},{"id":"https://openalex.org/keywords/dynamic-bayesian-network","display_name":"Dynamic Bayesian network","score":0.5496892333030701},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.47972598671913147},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4658276438713074},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4572874903678894},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4218660295009613},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.4165528118610382},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.35440361499786377},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.3283193111419678},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09518507122993469},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08537676930427551}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7396632432937622},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6809190511703491},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6720158457756042},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6207267045974731},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5657156109809875},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5503232479095459},{"id":"https://openalex.org/C82142266","wikidata":"https://www.wikidata.org/wiki/Q3456604","display_name":"Dynamic Bayesian network","level":3,"score":0.5496892333030701},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.47972598671913147},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4658276438713074},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4572874903678894},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4218660295009613},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.4165528118610382},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.35440361499786377},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.3283193111419678},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09518507122993469},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08537676930427551},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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":4,"locations":[{"id":"doi:10.1109/robot.2009.5152466","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152466","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:10.1.1.150.3550","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.150.3550","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~stachnis/pdf/eppner09icra.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.212.2686","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.212.2686","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/~maren/papers/eppner09icra.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.231.1182","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.231.1182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.informatik.uni-freiburg.de/%7Esturm/media/eppner09icra.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W195812645","https://openalex.org/W1521785144","https://openalex.org/W1534304300","https://openalex.org/W1594783240","https://openalex.org/W1684361744","https://openalex.org/W1909846898","https://openalex.org/W1952489873","https://openalex.org/W2005870832","https://openalex.org/W2025939589","https://openalex.org/W2037841262","https://openalex.org/W2062691475","https://openalex.org/W2104876183","https://openalex.org/W2117778675","https://openalex.org/W2122364547","https://openalex.org/W2123967136","https://openalex.org/W2127972053","https://openalex.org/W2144908914","https://openalex.org/W2155134292","https://openalex.org/W2158607953","https://openalex.org/W2168945912","https://openalex.org/W2323447981","https://openalex.org/W4205362845","https://openalex.org/W4211008118","https://openalex.org/W6607902129","https://openalex.org/W6635508374","https://openalex.org/W6640954454","https://openalex.org/W6678157427"],"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/W2026275902"],"abstract_inverted_index":{"In":[0,36],"this":[1],"paper,":[2],"we":[3,39,104],"present":[4],"an":[5],"approach":[6,150,165],"that":[7,148],"allows":[8],"a":[9,28,32,57,72,102,137,152,156,161,167,175,178],"robot":[10,153],"to":[11,80,112,127,154],"observe,":[12],"generalize,":[13],"and":[14,48,65,94,177],"reproduce":[15,101,155],"tasks":[16],"observed":[17],"from":[18],"multiple":[19],"demonstrations.":[20],"Motion":[21],"capture":[22],"data":[23],"is":[24,69],"recorded":[25],"in":[26,50,56,91,145],"which":[27],"human":[29,67,162],"instructor":[30],"manipulates":[31],"set":[33],"of":[34,45,63,83,97,170],"objects.":[35],"our":[37,149],"approach,":[38],"learn":[40],"relations":[41,54],"between":[42],"body":[43,95],"parts":[44,96],"the":[46,51,81,84,92,98,107,113],"demonstrator":[47],"objects":[49,90],"scene.":[52],"These":[53],"result":[55],"generalized":[58],"task":[59,157],"description.":[60],"The":[61,77],"problem":[62],"learning":[64],"reproducing":[66],"actions":[68],"formulated":[70],"using":[71],"dynamic":[73],"Bayesian":[74],"network":[75],"(DBN).":[76],"posteriors":[78],"corresponding":[79],"nodes":[82],"DBN":[85],"are":[86],"estimated":[87],"by":[88,160,173],"observing":[89],"scene":[93],"demonstrator.":[99,163],"To":[100],"task,":[103],"seek":[105],"for":[106,125],"maximum-likelihood":[108],"action":[109],"sequence":[110],"according":[111],"DBN.":[114],"We":[115],"additionally":[116],"show":[117,147],"how":[118],"further":[119],"constraints":[120],"can":[121],"be":[122],"incorporated":[123],"online,":[124],"example,":[126],"robustly":[128],"deal":[129],"with":[130,136],"unforeseen":[131],"obstacles.":[132],"Experiments":[133],"carried":[134,158],"out":[135,159],"real":[138],"6-DoF":[139],"robotic":[140],"manipulator":[141],"as":[142,144],"well":[143],"simulation":[146],"enables":[151],"Our":[164],"yields":[166],"high":[168],"degree":[169],"generalization":[171],"illustrated":[172],"performing":[174],"pick-and-place":[176],"whiteboard":[179],"cleaning":[180],"task.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}