{"id":"https://openalex.org/W4386736782","doi":"https://doi.org/10.1109/tcds.2023.3315513","title":"Continual Robot Learning Using Self-Supervised Task Inference","display_name":"Continual Robot Learning Using Self-Supervised Task Inference","publication_year":2023,"publication_date":"2023-09-14","ids":{"openalex":"https://openalex.org/W4386736782","doi":"https://doi.org/10.1109/tcds.2023.3315513"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2023.3315513","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcds.2023.3315513","pdf_url":"https://ieeexplore.ieee.org/ielx7/7274989/7422051/10251441.pdf","source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7274989/7422051/10251441.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042086036","display_name":"Muhammad Burhan Hafez","orcid":"https://orcid.org/0000-0003-1670-8962"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Muhammad Burhan Hafez","raw_affiliation_strings":["Department of Informatics, Knowledge Technology Group, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Knowledge Technology Group, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033486668","display_name":"Stefan Wermter","orcid":"https://orcid.org/0000-0003-1343-4775"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Wermter","raw_affiliation_strings":["Department of Informatics, Knowledge Technology Group, University of Hamburg, Hamburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Informatics, Knowledge Technology Group, University of Hamburg, Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5042086036"],"corresponding_institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"],"apc_list":null,"apc_paid":null,"fwci":2.5924,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.91708165,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"16","issue":"3","first_page":"947","last_page":"960"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9991000294685364,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9842000007629395,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9836999773979187,"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/computer-science","display_name":"Computer science","score":0.8137410879135132},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7060259580612183},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6634997129440308},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6525297164916992},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6305667161941528},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.6060287952423096},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.570221483707428},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.567986249923706},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.5379688143730164},{"id":"https://openalex.org/keywords/multi-task-learning","display_name":"Multi-task learning","score":0.5268192291259766},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5230106711387634},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4888579249382019}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8137410879135132},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7060259580612183},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6634997129440308},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6525297164916992},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6305667161941528},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.6060287952423096},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.570221483707428},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.567986249923706},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.5379688143730164},{"id":"https://openalex.org/C28006648","wikidata":"https://www.wikidata.org/wiki/Q6934509","display_name":"Multi-task learning","level":3,"score":0.5268192291259766},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5230106711387634},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4888579249382019},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcds.2023.3315513","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcds.2023.3315513","pdf_url":"https://ieeexplore.ieee.org/ielx7/7274989/7422051/10251441.pdf","source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"},{"id":"pmh:oai:eprints.soton.ac.uk:496187","is_oa":true,"landing_page_url":"http://doi.org/10.1109/TCDS.2023.3315513>).","pdf_url":"https://eprints.soton.ac.uk/496187/1/Continual_Robot_Learning_Using_Self-Supervised_Task_Inference.pdf","source":{"id":"https://openalex.org/S4306401019","display_name":"ePrints Soton (University of Southampton)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I43439940","host_organization_name":"University of Southampton","host_organization_lineage":["https://openalex.org/I43439940"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":{"id":"doi:10.1109/tcds.2023.3315513","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcds.2023.3315513","pdf_url":"https://ieeexplore.ieee.org/ielx7/7274989/7422051/10251441.pdf","source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G368901807","display_name":null,"funder_award_id":"CML (TRR 169)","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G6276684567","display_name":null,"funder_award_id":"TRR 169","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386736782.pdf","grobid_xml":"https://content.openalex.org/works/W4386736782.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W1967120380","https://openalex.org/W1990319944","https://openalex.org/W1994585255","https://openalex.org/W2038052729","https://openalex.org/W2046372172","https://openalex.org/W2060993602","https://openalex.org/W2064675550","https://openalex.org/W2075930295","https://openalex.org/W2106980598","https://openalex.org/W2125049880","https://openalex.org/W2155007355","https://openalex.org/W2402144811","https://openalex.org/W2767078139","https://openalex.org/W2771461682","https://openalex.org/W2891076394","https://openalex.org/W2907537824","https://openalex.org/W2962887844","https://openalex.org/W2963802910","https://openalex.org/W2964157221","https://openalex.org/W2981030070","https://openalex.org/W3040408533","https://openalex.org/W3111396778","https://openalex.org/W3176484337","https://openalex.org/W3181648466","https://openalex.org/W4206026943","https://openalex.org/W4251528548","https://openalex.org/W4287209565","https://openalex.org/W6631190155","https://openalex.org/W6640963894","https://openalex.org/W6682849425","https://openalex.org/W6684921986","https://openalex.org/W6732837357","https://openalex.org/W6738165965","https://openalex.org/W6740879895","https://openalex.org/W6750253780","https://openalex.org/W6751591294","https://openalex.org/W6756256016","https://openalex.org/W6760439459","https://openalex.org/W6760698134","https://openalex.org/W6761008914","https://openalex.org/W6763103943","https://openalex.org/W6778000925","https://openalex.org/W6790190981","https://openalex.org/W6790269317","https://openalex.org/W6793853427","https://openalex.org/W6798895900","https://openalex.org/W6802366246","https://openalex.org/W6804014589"],"related_works":["https://openalex.org/W2081900870","https://openalex.org/W4306904969","https://openalex.org/W3162204513","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474"],"abstract_inverted_index":{"Endowing":[0],"robots":[1],"with":[2,157,177,199],"the":[3,14,57,63,92,109,142,153,170,196,200,206],"human":[4],"ability":[5],"to":[6,21,39,47,52,61,120,128,133,160,184,223,225],"learn":[7,54],"a":[8,17,77,102,115,122,178,230],"growing":[9],"set":[10],"of":[11,16,91,98,108,152],"skills":[12],"over":[13,163],"course":[15],"lifetime":[18],"as":[19,141],"opposed":[20],"mastering":[22],"single":[23,231],"tasks":[24,214,227],"is":[25,148,220],"an":[26,130],"open":[27],"problem":[28],"in":[29,169,205,233],"robot":[30,58,180],"learning.":[31],"While":[32],"multi-task":[33,146,174,186],"learning":[34,118,159,175,187,209],"approaches":[35],"have":[36],"been":[37],"proposed":[38],"address":[40],"this":[41,73],"problem,":[42],"they":[43],"pay":[44],"little":[45],"attention":[46],"task":[48,64,70,79,143,235],"inference.":[49],"In":[50,72],"order":[51],"continually":[53],"new":[55],"tasks,":[56],"first":[59],"needs":[60],"infer":[62,213],"at":[65],"hand":[66],"without":[67],"requiring":[68],"predefined":[69],"representations.":[71],"paper,":[74],"we":[75,139],"propose":[76],"self-supervised":[78,117],"inference":[80],"approach.":[81],"Our":[82,218],"approach":[83,168,194,219],"learns":[84],"action":[85],"and":[86,95,101,155,172,181,211],"intention":[87],"embeddings":[88],"from":[89,106,215],"self-organization":[90,107],"observed":[93],"movement":[94],"effect":[96],"parts":[97],"unlabeled":[99,131],"demonstrations":[100],"higher-level":[103],"behavior":[104,136],"embedding":[105],"joint":[110],"action-intention":[111],"embeddings.":[112],"We":[113,165],"construct":[114],"behavior-matching":[116],"objective":[119],"train":[121],"novel":[123],"Task":[124],"Inference":[125],"Network":[126],"(TINet)":[127],"map":[129],"demonstration":[132,232],"its":[134],"nearest":[135],"embedding,":[137],"which":[138],"use":[140],"representation.":[144],"A":[145],"policy":[147],"built":[149],"on":[150,229],"top":[151],"TINet":[154],"trained":[156],"reinforcement":[158],"optimize":[161],"performance":[162],"tasks.":[164],"evaluate":[166],"our":[167,193],"fixed-set":[171],"continual":[173,208],"settings":[176],"humanoid":[179],"compare":[182],"it":[183],"different":[185],"baselines.":[188],"The":[189],"results":[190],"show":[191],"that":[192],"outperforms":[195],"other":[197],"baselines,":[198],"difference":[201],"being":[202],"more":[203],"pronounced":[204],"challenging":[207],"setting,":[210],"can":[212],"incomplete":[216],"demonstrations.":[217],"also":[221],"shown":[222],"generalize":[224],"unseen":[226],"based":[228],"one-shot":[234],"generalization":[236],"experiments.":[237]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":5}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}