{"id":"https://openalex.org/W2775067858","doi":"https://doi.org/10.1109/roman.2017.8172424","title":"Learning generalizable surface cleaning actions from demonstration","display_name":"Learning generalizable surface cleaning actions from demonstration","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2775067858","doi":"https://doi.org/10.1109/roman.2017.8172424","mag":"2775067858"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2017.8172424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2017.8172424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","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/A5024372443","display_name":"Sarah Elliott","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Sarah Elliott","raw_affiliation_strings":["Paul G. Allen School of Computer Science and Engineering, University of Washington, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Paul G. Allen School of Computer Science and Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027480256","display_name":"Zhe Xu","orcid":"https://orcid.org/0000-0002-3902-2595"},"institutions":[{"id":"https://openalex.org/I40253897","display_name":"University of New Haven","ror":"https://ror.org/00zm4rq24","country_code":"US","type":"education","lineage":["https://openalex.org/I40253897"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhe Xu","raw_affiliation_strings":["Department of Mechanical Engineering and Materials Science, New Haven, CT, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Materials Science, New Haven, CT, USA","institution_ids":["https://openalex.org/I40253897"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063086622","display_name":"Maya \u00c7akmak","orcid":"https://orcid.org/0000-0001-8457-6610"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maya Cakmak","raw_affiliation_strings":["Paul G. Allen School of Computer Science and Engineering, University of Washington, Seattle, WA, USA"],"affiliations":[{"raw_affiliation_string":"Paul G. Allen School of Computer Science and Engineering, University of Washington, Seattle, WA, USA","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024372443"],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":1.207,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.81241494,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"993","last_page":"999"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/robot","display_name":"Robot","score":0.7160654664039612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7099834680557251},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6218441724777222},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.606083869934082},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5874931812286377},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5664740800857544},{"id":"https://openalex.org/keywords/data-scrubbing","display_name":"Data scrubbing","score":0.47043654322624207},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45215556025505066},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4430452287197113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3965676426887512}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7160654664039612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7099834680557251},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6218441724777222},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.606083869934082},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5874931812286377},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5664740800857544},{"id":"https://openalex.org/C89529581","wikidata":"https://www.wikidata.org/wiki/Q5227348","display_name":"Data scrubbing","level":2,"score":0.47043654322624207},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45215556025505066},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4430452287197113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3965676426887512},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/roman.2017.8172424","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2017.8172424","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332195","display_name":"Samsung","ror":"https://ror.org/04w3jy968"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W187005120","https://openalex.org/W1595025511","https://openalex.org/W1684361744","https://openalex.org/W1805396838","https://openalex.org/W1952489873","https://openalex.org/W1986014385","https://openalex.org/W2019738489","https://openalex.org/W2050363886","https://openalex.org/W2063978650","https://openalex.org/W2106338164","https://openalex.org/W2111597213","https://openalex.org/W2116111609","https://openalex.org/W2121110499","https://openalex.org/W2122330475","https://openalex.org/W2134831918","https://openalex.org/W2153273506","https://openalex.org/W2158582431","https://openalex.org/W2162008260","https://openalex.org/W2296594443","https://openalex.org/W2472053385","https://openalex.org/W2511106560","https://openalex.org/W2543474865","https://openalex.org/W4211008118","https://openalex.org/W6640954454","https://openalex.org/W6720215821","https://openalex.org/W6725264757","https://openalex.org/W6808409006"],"related_works":["https://openalex.org/W2997512100","https://openalex.org/W2331043530","https://openalex.org/W2393933887","https://openalex.org/W2903025760","https://openalex.org/W2374725260","https://openalex.org/W4289147272","https://openalex.org/W1607315280","https://openalex.org/W2171541671","https://openalex.org/W2383403914","https://openalex.org/W2329452785"],"abstract_inverted_index":{"When":[0],"surveyed,":[1],"potential":[2],"users":[3,81],"often":[4],"report":[5],"cleaning":[6,33,41,103,144,169],"as":[7,15],"a":[8,22,25,48,94,98,102,106],"desired":[9],"robot":[10,68],"capability.":[11],"Cleaning":[12],"tasks,":[13],"such":[14,109],"dusting,":[16],"wiping,":[17],"or":[18],"scrubbing,":[19],"involve":[20],"applying":[21],"tool":[23,112,125],"on":[24,116,130,154,177],"surface.":[26,164],"A":[27],"general-purpose":[28],"robotic":[29],"solution":[30,50],"to":[31,35,51,65,69,78,82,96,141],"household":[32],"needs":[34],"address":[36],"manipulation":[37,53],"of":[38,101,171],"the":[39,67,111,131,162,168,172,178],"numerous":[40],"tools":[42,149],"made":[43],"for":[44,63,146],"different":[45,117,148,155,184],"purposes.":[46],"Finding":[47],"universal":[49],"this":[52],"problem":[54],"is":[55,60,139],"extremely":[56],"challenging":[57],"and":[58,127,150,181],"it":[59,182],"not":[61],"feasible":[62],"developers":[64],"pre-program":[66],"use":[70],"every":[71],"possible":[72],"tool.":[73],"Instead,":[74],"our":[75,137],"work":[76],"seeks":[77],"allow":[79],"end":[80],"program":[83],"robots":[84],"by":[85],"demonstration":[86],"using":[87],"their":[88],"own":[89],"specific":[90],"tools.":[91],"We":[92,134],"propose":[93],"method":[95,120,138,166],"extract":[97],"compact":[99],"representation":[100],"action":[104],"from":[105],"single":[107],"demonstration,":[108],"that":[110,136],"can":[113],"be":[114],"applied":[115,176],"surfaces.":[118],"The":[119],"exploits":[121],"key":[122],"insights":[123],"about":[124],"directionality":[126],"constraints":[128],"placed":[129],"provided":[132],"demonstration.":[133],"demonstrate":[135],"able":[140],"reliably":[142],"learn":[143],"actions":[145,153],"six":[147],"apply":[151],"those":[152],"testing":[156],"surfaces,":[157],"even":[158],"ones":[159],"smaller":[160],"than":[161],"training":[163,179],"Our":[165],"reproduces":[167],"performance":[170],"demonstrated":[173],"trajectory":[174],"when":[175],"surface":[180],"captures":[183],"user":[185],"preferences.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}