{"id":"https://openalex.org/W3031262893","doi":"https://doi.org/10.1109/tnnls.2020.2996386","title":"Using Eye Gaze to Enhance Generalization of Imitation Networks to Unseen Environments","display_name":"Using Eye Gaze to Enhance Generalization of Imitation Networks to Unseen Environments","publication_year":2020,"publication_date":"2020-06-01","ids":{"openalex":"https://openalex.org/W3031262893","doi":"https://doi.org/10.1109/tnnls.2020.2996386","mag":"3031262893","pmid":"https://pubmed.ncbi.nlm.nih.gov/32479406"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2020.2996386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2020.2996386","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5100663033","display_name":"Congcong Liu","orcid":"https://orcid.org/0000-0002-1749-1075"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Congcong Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-1749-1075","affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707062","display_name":"Yuying Chen","orcid":"https://orcid.org/0000-0003-4954-8192"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuying Chen","raw_affiliation_strings":["The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-4954-8192","affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-4500-238X","affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068036711","display_name":"Bertram E. Shi","orcid":"https://orcid.org/0000-0001-9167-7495"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Bertram E. Shi","raw_affiliation_strings":["The Hong Kong University of Science and Technology, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0001-9167-7495","affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I200769079"],"apc_list":null,"apc_paid":null,"fwci":1.15,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.80682536,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"32","issue":"5","first_page":"2066","last_page":"2074"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9994000196456909,"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/T11605","display_name":"Visual Attention and Saliency Detection","score":0.9994000196456909,"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.998199999332428,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9973999857902527,"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/gaze","display_name":"Gaze","score":0.9176292419433594},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6993139982223511},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.6935524344444275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6548517942428589},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6533202528953552},{"id":"https://openalex.org/keywords/dropout","display_name":"Dropout (neural networks)","score":0.6042566299438477},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5147488117218018},{"id":"https://openalex.org/keywords/eye-tracking","display_name":"Eye tracking","score":0.47769835591316223},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.29521286487579346},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.2057306468486786},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12440180778503418}],"concepts":[{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.9176292419433594},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6993139982223511},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6935524344444275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6548517942428589},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6533202528953552},{"id":"https://openalex.org/C2776145597","wikidata":"https://www.wikidata.org/wiki/Q25339462","display_name":"Dropout (neural networks)","level":2,"score":0.6042566299438477},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5147488117218018},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.47769835591316223},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.29521286487579346},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2057306468486786},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12440180778503418},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000069550","descriptor_name":"Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000069550","descriptor_name":"Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000069550","descriptor_name":"Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001185","descriptor_name":"Artificial Intelligence","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001288","descriptor_name":"Attention","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001288","descriptor_name":"Attention","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001288","descriptor_name":"Attention","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001334","descriptor_name":"Automobile Driving","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005403","descriptor_name":"Fixation, Ocular","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005403","descriptor_name":"Fixation, Ocular","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D005403","descriptor_name":"Fixation, Ocular","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007091","descriptor_name":"Image Processing, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007091","descriptor_name":"Image Processing, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007091","descriptor_name":"Image Processing, Computer-Assisted","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D015203","descriptor_name":"Reproducibility of Results","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D016571","descriptor_name":"Neural Networks, Computer","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D035501","descriptor_name":"Uncertainty","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/tnnls.2020.2996386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2020.2996386","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:32479406","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32479406","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null},{"id":"pmh:oai:repository.ust.hk:1783.1-110852","is_oa":false,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-110852","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G1038811729","display_name":null,"funder_award_id":"JCYJ20160428154842603","funder_id":"https://openalex.org/F4320326705","funder_display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality"},{"id":"https://openalex.org/G2023148988","display_name":"\u4eff\u4eba\u673a\u5668\u4eba\u9002\u5e94\u6027\u884c\u8d70\u7684\u751f\u6210\u673a\u7406\u53ca\u81ea\u4e3b\u5b66\u4e60\u8fdb\u5316\u673a\u5236","funder_award_id":"U1713211","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2459427428","display_name":"Neuromorphic developmental models for image stabilization","funder_award_id":"16211015","funder_id":"https://openalex.org/F4320321592","funder_display_name":"Research Grants Council, University Grants Committee"},{"id":"https://openalex.org/G348752878","display_name":"Online life-long learning for visual navigation of autonomous mobile robots using hierarchical structures","funder_award_id":"21202816","funder_id":"https://openalex.org/F4320321592","funder_display_name":"Research Grants Council, University Grants Committee"},{"id":"https://openalex.org/G6632506806","display_name":"Recurrent Deep Learning-aided Robust High-precision Long-term Localization in Dynamic Outdoor Environment with Heterogeneous Sensors","funder_award_id":"11210017","funder_id":"https://openalex.org/F4320321592","funder_display_name":"Research Grants Council, University Grants Committee"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321592","display_name":"Research Grants Council, University Grants Committee","ror":"https://ror.org/00djwmt25"},{"id":"https://openalex.org/F4320326705","display_name":"Science, Technology and Innovation Commission of Shenzhen Municipality","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2095705004","https://openalex.org/W2103328396","https://openalex.org/W2133233905","https://openalex.org/W2134738818","https://openalex.org/W2161778038","https://openalex.org/W2212216676","https://openalex.org/W2342840547","https://openalex.org/W2474210745","https://openalex.org/W2600383743","https://openalex.org/W2606508169","https://openalex.org/W2727840223","https://openalex.org/W2740067745","https://openalex.org/W2740379828","https://openalex.org/W2770161965","https://openalex.org/W2837605352","https://openalex.org/W2887976372","https://openalex.org/W2894735027","https://openalex.org/W2909392985","https://openalex.org/W2947813496","https://openalex.org/W2962858109","https://openalex.org/W2962894046","https://openalex.org/W2962977206","https://openalex.org/W2963024893","https://openalex.org/W2963073614","https://openalex.org/W2963167203","https://openalex.org/W2963184124","https://openalex.org/W2963513865","https://openalex.org/W2963828885","https://openalex.org/W4241644338","https://openalex.org/W4300126339","https://openalex.org/W6674330103","https://openalex.org/W6675415620","https://openalex.org/W6679847170","https://openalex.org/W6704559304","https://openalex.org/W6735443497","https://openalex.org/W6758015486"],"related_works":["https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2047027848","https://openalex.org/W2161294397","https://openalex.org/W2012644758"],"abstract_inverted_index":{"Vision-based":[0],"autonomous":[1],"driving":[2,18],"through":[3],"imitation":[4,85],"learning":[5],"mimics":[6],"the":[7,29,136,140,147,168,176],"behavior":[8],"of":[9,31,175],"human":[10,49,69],"drivers":[11],"by":[12],"mapping":[13],"driver":[14],"view":[15],"images":[16,125],"to":[17,67,80,101,170],"actions.":[19],"This":[20],"article":[21],"shows":[22],"that":[23,38,54,131,163],"performance":[24,120],"can":[25,44,57],"be":[26,45],"enhanced":[27],"via":[28],"use":[30],"eye":[32,87],"gaze.":[33],"Previous":[34],"research":[35],"has":[36],"shown":[37],"observing":[39],"an":[40,90],"expert's":[41],"gaze":[42,70,82,88,94,132,164],"patterns":[43],"beneficial":[46],"for":[47],"novice":[48],"learners.":[50],"We":[51,60,76,118],"show":[52,162],"here":[53],"neural":[55],"networks":[56],"also":[58],"benefit.":[59],"trained":[61],"a":[62,107],"conditional":[63],"generative":[64],"adversarial":[65],"network":[66,110,169],"estimate":[68],"maps":[71],"accurately":[72],"from":[73],"driver-view":[74],"images.":[75],"describe":[77],"two":[78],"approaches":[79],"integrating":[81],"information":[83],"into":[84],"networks:":[86],"as":[89],"additional":[91],"input":[92],"and":[93,126,155],"modulated":[95,133,165],"dropout.":[96],"Both":[97],"significantly":[98],"enhance":[99],"generalization":[100],"unseen":[102],"environments":[103],"in":[104,127,144],"comparison":[105],"with":[106],"baseline":[108],"vanilla":[109],"without":[111],"gaze,":[112],"but":[113],"gaze-modulated":[114],"dropout":[115,134,166],"performs":[116],"better.":[117],"evaluated":[119],"quantitatively":[121],"on":[122,172],"both":[123],"single":[124],"closed-loop":[128],"tests,":[129],"showing":[130],"yields":[135],"lowest":[137,152],"prediction":[138],"error,":[139],"highest":[141],"success":[142],"rate":[143],"overtaking":[145],"cars,":[146],"longest":[148],"distance":[149],"between":[150],"infractions,":[151],"epistemic":[153],"uncertainty,":[154],"improved":[156],"data":[157],"efficiency.":[158],"Using":[159],"Grad-CAM,":[160],"we":[161],"enables":[167],"concentrate":[171],"task-relevant":[173],"areas":[174],"image.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":7}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
