{"id":"https://openalex.org/W4412482276","doi":"https://doi.org/10.1109/tase.2025.3588839","title":"Movement Primitive Categorization Balancing the Learnability and Adaptability","display_name":"Movement Primitive Categorization Balancing the Learnability and Adaptability","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4412482276","doi":"https://doi.org/10.1109/tase.2025.3588839"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3588839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3588839","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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/A5005456562","display_name":"Xuanhui Xu","orcid":"https://orcid.org/0000-0003-0394-8713"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xuanhui Xu","raw_affiliation_strings":["Shanghai Aerospace Control Technology Institute, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0394-8713","affiliations":[{"raw_affiliation_string":"Shanghai Aerospace Control Technology Institute, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010299064","display_name":"Mingyu You","orcid":"https://orcid.org/0000-0003-2758-167X"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mingyu You","raw_affiliation_strings":["College of Electronic and Information Engineering, Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai, China","Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-2758-167X","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101789136","display_name":"Hongjun Zhou","orcid":"https://orcid.org/0000-0002-6256-2485"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hongjun Zhou","raw_affiliation_strings":["College of Electronic and Information Engineering, Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai, China","Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-6256-2485","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021183991","display_name":"Zhifeng Qian","orcid":"https://orcid.org/0000-0001-9724-6928"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhifeng Qian","raw_affiliation_strings":["College of Electronic and Information Engineering, Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai, China","Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-9724-6928","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104218555","display_name":"Jinzhe Xue","orcid":null},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jinzhe Xue","raw_affiliation_strings":["College of Electronic and Information Engineering, Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai, China","Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100861946","display_name":"Weisheng Xu","orcid":"https://orcid.org/0009-0005-9959-5626"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]},{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Weisheng Xu","raw_affiliation_strings":["Directory of the Big Data and Cyber Security Research Center, Tongji University, Shanghai, China","Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Directory of the Big Data and Cyber Security Research Center, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049557511","display_name":"Bin He","orcid":"https://orcid.org/0000-0003-3193-6269"},"institutions":[{"id":"https://openalex.org/I4210105785","display_name":"Intelligent Systems Research (United States)","ror":"https://ror.org/01reevc91","country_code":"US","type":"company","lineage":["https://openalex.org/I4210105785"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bin He","raw_affiliation_strings":["College of Electronic and Information Engineering, Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai, China","Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-3193-6269","affiliations":[{"raw_affiliation_string":"College of Electronic and Information Engineering, Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]},{"raw_affiliation_string":"Frontiers Science Center for Intelligent Autonomous Systems, National Key Laboratory of Autonomous Intelligent Unmanned Systems, College of Electronic and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210105785"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.13813678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"22","issue":null,"first_page":"18709","last_page":"18721"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.7666000127792358,"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":0.7666000127792358,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/learnability","display_name":"Learnability","score":0.8633939623832703},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.8477458357810974},{"id":"https://openalex.org/keywords/categorization","display_name":"Categorization","score":0.7276971936225891},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.6626958250999451},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5675429105758667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.454253226518631},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.09792134165763855}],"concepts":[{"id":"https://openalex.org/C2777723229","wikidata":"https://www.wikidata.org/wiki/Q4367921","display_name":"Learnability","level":2,"score":0.8633939623832703},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.8477458357810974},{"id":"https://openalex.org/C94124525","wikidata":"https://www.wikidata.org/wiki/Q912550","display_name":"Categorization","level":2,"score":0.7276971936225891},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.6626958250999451},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5675429105758667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.454253226518631},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.09792134165763855},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3588839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3588839","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2066129195","display_name":null,"funder_award_id":"23xtcx00600","funder_id":"https://openalex.org/F4320330207","funder_display_name":"Shanghai Aerospace Science and Technology Innovation Foundation"},{"id":"https://openalex.org/G2575069074","display_name":null,"funder_award_id":"62088101","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2851762336","display_name":null,"funder_award_id":"62473290","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3250714101","display_name":null,"funder_award_id":"U22B200651","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320330207","display_name":"Shanghai Aerospace Science and Technology Innovation Foundation","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W2031967471","https://openalex.org/W2075119929","https://openalex.org/W2129202194","https://openalex.org/W2136719407","https://openalex.org/W2737944367","https://openalex.org/W2766585573","https://openalex.org/W2964319110","https://openalex.org/W3009632987","https://openalex.org/W3035725276","https://openalex.org/W3046336220","https://openalex.org/W3087124270","https://openalex.org/W3096831136","https://openalex.org/W3148595793","https://openalex.org/W3162229654","https://openalex.org/W3169676024","https://openalex.org/W3201739204","https://openalex.org/W3207033324","https://openalex.org/W3215403832","https://openalex.org/W4205397875","https://openalex.org/W4225873172","https://openalex.org/W4285124635","https://openalex.org/W4312459443","https://openalex.org/W4319302663","https://openalex.org/W4323338316","https://openalex.org/W4380434624","https://openalex.org/W4385245566","https://openalex.org/W4385732018","https://openalex.org/W4385757466","https://openalex.org/W4386090379","https://openalex.org/W4388740180","https://openalex.org/W4390423662","https://openalex.org/W4392406275","https://openalex.org/W4393241407","https://openalex.org/W4399206724","https://openalex.org/W6680971464","https://openalex.org/W6758673162","https://openalex.org/W6762234667","https://openalex.org/W6850343319"],"related_works":["https://openalex.org/W4302791369","https://openalex.org/W2951285859","https://openalex.org/W2766040214","https://openalex.org/W72092541","https://openalex.org/W2357124094","https://openalex.org/W37360785","https://openalex.org/W1973394166","https://openalex.org/W180475243","https://openalex.org/W2098466205","https://openalex.org/W1966604104"],"abstract_inverted_index":{"Given":[0],"the":[1,57,61,73,105,108,114,134,144,151,176,186,193,226],"rapid":[2],"advancement":[3],"of":[4,28,96,179,188,196,220],"robotic":[5],"technologies,":[6],"robots":[7],"will":[8],"eventually":[9],"enter":[10],"our":[11],"daily":[12],"lives,":[13],"performing":[14],"complex":[15,199],"long-horizon":[16,19,200],"tasks.":[17,230],"Complex":[18],"tasks,":[20],"such":[21],"as":[22],"furniture":[23],"assembly,":[24],"typically":[25],"contain":[26],"dozens":[27],"subtasks":[29],"with":[30,123],"various":[31,124],"scenes.":[32,63],"Although":[33],"complex,":[34],"assembly":[35],"is":[36,45,71,98],"based":[37],"on":[38,84],"several":[39],"reusable":[40,51],"movements.":[41],"Movement":[42],"Primitive":[43],"(MP)":[44],"a":[46,127,167,205],"promising":[47],"framework":[48,165,209],"for":[49,147],"learning":[50,87,208],"movements":[52,59],"from":[53],"demonstrations":[54,75,97,106,131],"and":[55,153,166,222,228],"adapting":[56],"learned":[58,115],"to":[60,100,120,133],"test":[62],"The":[64],"critical":[65],"step":[66],"in":[67,137,225],"employing":[68],"MP":[69,81,86,116,148,189],"methods":[70,82],"categorizing":[72],"unlabeled":[74],"into":[76,102],"different":[77],"MPs.":[78],"However,":[79],"current":[80],"focus":[83],"individual":[85],"using":[88],"manually":[89],"selected":[90],"demonstrations,":[91],"neglecting":[92],"categorization.":[93],"Manual":[94],"categorization":[95],"easy":[99],"fall":[101],"suboptimal.":[103],"If":[104],"within":[107],"same":[109],"category":[110],"are":[111],"too":[112],"similar,":[113],"cannot":[117],"be":[118],"adapted":[119],"task":[121,201],"scenes":[122],"obstacles.":[125],"Conversely,":[126],"significant":[128],"distance":[129],"between":[130],"leads":[132],"MP\u2019s":[135],"failure":[136],"learning.":[138],"To":[139],"this":[140,156],"end,":[141],"we":[142,158,184,203],"propose":[143,204],"following":[145],"principle":[146],"categorization:":[149],"balance":[150],"Learnability":[152],"Adaptability.":[154],"Following":[155],"principle,":[157],"introduce":[159],"an":[160,171],"optimal":[161],"transportation":[162],"(OT)-based":[163],"theoretical":[164],"practical":[168],"solution":[169],"utilizing":[170],"auto-encoder":[172],"network.":[173],"We":[174],"obtain":[175],"lower":[177,194],"threshold":[178,195],"learnability":[180],"by":[181],"OT.":[182],"Then":[183],"increase":[185],"adaptability":[187],"until":[190],"it":[191],"reaches":[192],"learnability.":[197],"For":[198],"learning,":[202],"balanced":[206],"MPs-based":[207],"that":[210],"contains":[211],"four":[212],"modules,":[213],"termed":[214],"BaMPs.":[215],"BaMPs":[216],"achieved":[217],"success":[218],"rates":[219],"100%":[221],"80%,":[223],"respectively,":[224],"12-step":[227],"20-step":[229]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}