{"id":"https://openalex.org/W4407403770","doi":"https://doi.org/10.1109/sii59315.2025.10871068","title":"Adaptive Absolute-Relative Rating for Noise Rejection in Behavioral Cloning based on Tsallis Statistics","display_name":"Adaptive Absolute-Relative Rating for Noise Rejection in Behavioral Cloning based on Tsallis Statistics","publication_year":2025,"publication_date":"2025-01-21","ids":{"openalex":"https://openalex.org/W4407403770","doi":"https://doi.org/10.1109/sii59315.2025.10871068"},"language":"en","primary_location":{"id":"doi:10.1109/sii59315.2025.10871068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10871068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","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/A5051304187","display_name":"Taisuke Kobayashi","orcid":"https://orcid.org/0000-0002-3760-249X"},"institutions":[{"id":"https://openalex.org/I184597095","display_name":"National Institute of Informatics","ror":"https://ror.org/04ksd4g47","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1319490839","https://openalex.org/I184597095","https://openalex.org/I4210158934"]},{"id":"https://openalex.org/I200475212","display_name":"The Graduate University for Advanced Studies, SOKENDAI","ror":"https://ror.org/0516ah480","country_code":"JP","type":"education","lineage":["https://openalex.org/I200475212"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taisuke Kobayashi","raw_affiliation_strings":["Graduate University for Advanced Studies (SOKENDAI),National Institute of Informatics (NII),Tokyo,Japan,101-8430"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate University for Advanced Studies (SOKENDAI),National Institute of Informatics (NII),Tokyo,Japan,101-8430","institution_ids":["https://openalex.org/I184597095","https://openalex.org/I200475212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089806952","display_name":"Tadayoshi Aoyama","orcid":"https://orcid.org/0000-0001-7860-0725"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadayoshi Aoyama","raw_affiliation_strings":["Nagoya University,Graduate School of Engineering,Department of Micro-Nano Mechanical Science and Engineering,Nagoya,Japan,464-8603"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nagoya University,Graduate School of Engineering,Department of Micro-Nano Mechanical Science and Engineering,Nagoya,Japan,464-8603","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0123,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.83912363,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"362","last_page":"367"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12261","display_name":"Statistical Mechanics and Entropy","score":0.9883999824523926,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12261","display_name":"Statistical Mechanics and Entropy","score":0.9883999824523926,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11901","display_name":"Bayesian Methods and Mixture Models","score":0.9516000151634216,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9506000280380249,"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/statistics","display_name":"Statistics","score":0.6245505213737488},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6136764287948608},{"id":"https://openalex.org/keywords/tsallis-statistics","display_name":"Tsallis statistics","score":0.5657697319984436},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4564504623413086},{"id":"https://openalex.org/keywords/absolute","display_name":"Absolute (philosophy)","score":0.4194328784942627},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3751288652420044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3365626931190491},{"id":"https://openalex.org/keywords/statistical-physics","display_name":"Statistical physics","score":0.3254736661911011},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1569405496120453}],"concepts":[{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.6245505213737488},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6136764287948608},{"id":"https://openalex.org/C2780056601","wikidata":"https://www.wikidata.org/wiki/Q7849339","display_name":"Tsallis statistics","level":2,"score":0.5657697319984436},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4564504623413086},{"id":"https://openalex.org/C2777487392","wikidata":"https://www.wikidata.org/wiki/Q481201","display_name":"Absolute (philosophy)","level":2,"score":0.4194328784942627},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3751288652420044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3365626931190491},{"id":"https://openalex.org/C121864883","wikidata":"https://www.wikidata.org/wiki/Q677916","display_name":"Statistical physics","level":1,"score":0.3254736661911011},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1569405496120453},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii59315.2025.10871068","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii59315.2025.10871068","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1979985652","https://openalex.org/W1983874169","https://openalex.org/W2095669515","https://openalex.org/W2174803659","https://openalex.org/W2794908222","https://openalex.org/W2798405286","https://openalex.org/W2950878834","https://openalex.org/W3090835024","https://openalex.org/W4200004984","https://openalex.org/W4376505453","https://openalex.org/W4386056879","https://openalex.org/W4391695389","https://openalex.org/W4402351108","https://openalex.org/W6764926043","https://openalex.org/W6767440493","https://openalex.org/W6769977606","https://openalex.org/W6771312369","https://openalex.org/W6776295297","https://openalex.org/W6780587392","https://openalex.org/W6783268431","https://openalex.org/W6785660122","https://openalex.org/W6789793951","https://openalex.org/W6790291147"],"related_works":["https://openalex.org/W2498348907","https://openalex.org/W2985905814","https://openalex.org/W2262959435","https://openalex.org/W4229515626","https://openalex.org/W582915368","https://openalex.org/W2015097710","https://openalex.org/W2036025552","https://openalex.org/W3104772838","https://openalex.org/W2023485082","https://openalex.org/W2031333876"],"abstract_inverted_index":{"In":[0,55,176],"robot":[1],"control":[2],"from":[3,115,123],"demonstrations,":[4],"a":[5,53,59,79,124],"sufficient":[6],"dataset":[7,27],"cannot":[8],"be":[9,49,121],"collected":[10],"for":[11,103,155,162],"many":[12],"of":[13,32,100,128,169,186],"the":[14,56,93,98,129,139,143,149,163,167,184,187],"tasks":[15],"that":[16],"require":[17],"experts":[18],"with":[19,75,78,132,138,171],"qualifications":[20],"to":[21,48,51,85,110,165],"special":[22],"skills.":[23],"Unfortunately,":[24],"insufficient":[25],"expert":[26],"would":[28,83],"manifest":[29],"various":[30],"types":[31],"noise":[33],"hidden":[34],"in":[35],"it.":[36],"Since":[37],"adding":[38,97],"data":[39,74,113],"is":[40],"difficult":[41],"as":[42],"well,":[43],"offline":[44],"imitation":[45],"learning":[46],"needs":[47],"robust":[50],"such":[52],"noise.":[54],"conventional":[57,94,140],"work,":[58],"behavioral":[60],"cloning":[61],"method":[62,95,145],"based":[63],"on":[64],"Tsallis":[65,133],"statistics":[66],"has":[67],"been":[68],"developed.":[69],"However,":[70],"it":[71,137],"weights":[72,170],"each":[73,104],"absolute":[76,150],"rating":[77,102],"fixed":[80],"threshold,":[81],"which":[82,106],"fail":[84],"imitate":[86,111],"coarse/diverse":[87,116],"motions.":[88,117],"Therefore,":[89],"this":[90],"paper":[91],"improves":[92],"by":[96],"function":[99,119],"relative":[101,152],"data,":[105],"should":[107],"enable":[108],"robots":[109],"non-noisy":[112],"even":[114],"This":[118],"can":[120,146],"obtained":[122],"different":[125],"derivation":[126,141],"way":[127],"optimization":[130,160],"problem":[131],"statistics.":[134],"By":[135],"integrating":[136],"way,":[142],"proposed":[144,188],"adjust":[147],"between":[148],"and":[151,179],"ratings.":[153],"Finally,":[154],"more":[156],"convenience,":[157],"we":[158,182],"design":[159],"tricks":[161],"hyperparameters":[164],"maximize":[166],"variance":[168],"avoiding":[172],"extremely":[173],"large":[174],"weights.":[175],"numerical":[177],"simulations":[178],"real-robot":[180],"experiments,":[181],"demonstrate":[183],"robustness":[185],"method.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}