{"id":"https://openalex.org/W4399426013","doi":"https://doi.org/10.1109/tnnls.2024.3401170","title":"Diverse Imitation Learning via Self-Organizing Generative Models","display_name":"Diverse Imitation Learning via Self-Organizing Generative Models","publication_year":2024,"publication_date":"2024-06-07","ids":{"openalex":"https://openalex.org/W4399426013","doi":"https://doi.org/10.1109/tnnls.2024.3401170","pmid":"https://pubmed.ncbi.nlm.nih.gov/38848228"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2024.3401170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2024.3401170","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/A5032048505","display_name":"Arash Vahabpour","orcid":"https://orcid.org/0000-0002-9256-5775"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arash Vahabpour","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Los Angeles, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9256-5775","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032343991","display_name":"Tianyi Wang","orcid":"https://orcid.org/0000-0002-7263-5852"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tianyi Wang","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Los Angeles, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-7263-5852","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029708613","display_name":"Qiujing Lu","orcid":"https://orcid.org/0000-0002-3038-256X"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Qiujing Lu","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Los Angeles, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3038-256X","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016941537","display_name":"Omead Pooladzandi","orcid":"https://orcid.org/0009-0009-7891-0219"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Omead Pooladzandi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Los Angeles, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0009-0009-7891-0219","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043479061","display_name":"Vwani Roychowdhury","orcid":"https://orcid.org/0000-0003-0832-6489"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vwani Roychowdhury","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of California, Los Angeles, Los Angeles, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0832-6489","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Los Angeles, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I161318765"],"apc_list":null,"apc_paid":null,"fwci":0.7303,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.75046782,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"36","issue":"4","first_page":"7145","last_page":"7157"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.9646000266075134,"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/T10320","display_name":"Neural Networks and Applications","score":0.9646000266075134,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9492999911308289,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9380000233650208,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.8104606866836548},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.6955791711807251},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.4386654496192932},{"id":"https://openalex.org/keywords/cognitive-science","display_name":"Cognitive science","score":0.43434929847717285},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42114073038101196},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.3533889949321747},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.340992271900177},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.08366557955741882}],"concepts":[{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.8104606866836548},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6955791711807251},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.4386654496192932},{"id":"https://openalex.org/C188147891","wikidata":"https://www.wikidata.org/wiki/Q147638","display_name":"Cognitive science","level":1,"score":0.43434929847717285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42114073038101196},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.3533889949321747},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.340992271900177},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.08366557955741882}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2024.3401170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2024.3401170","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:38848228","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38848228","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}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1975893458","https://openalex.org/W1990517717","https://openalex.org/W2051228319","https://openalex.org/W2092939357","https://openalex.org/W2110802877","https://openalex.org/W2125730912","https://openalex.org/W2144004768","https://openalex.org/W2156771765","https://openalex.org/W2158782408","https://openalex.org/W2171209182","https://openalex.org/W2347074400","https://openalex.org/W2422305492","https://openalex.org/W2791797404","https://openalex.org/W2964268141","https://openalex.org/W2976205474","https://openalex.org/W3015082424","https://openalex.org/W3035069850","https://openalex.org/W3100789280","https://openalex.org/W3127907219","https://openalex.org/W3134939669","https://openalex.org/W3155189654","https://openalex.org/W3174733757","https://openalex.org/W3200276130","https://openalex.org/W4226257065","https://openalex.org/W4226453553","https://openalex.org/W4232512588","https://openalex.org/W4307234290","https://openalex.org/W4311415873","https://openalex.org/W6627932998","https://openalex.org/W6637568146","https://openalex.org/W6638018090","https://openalex.org/W6640174482","https://openalex.org/W6674884181","https://openalex.org/W6680724558","https://openalex.org/W6681478256","https://openalex.org/W6684921986","https://openalex.org/W6718092244","https://openalex.org/W6738261575","https://openalex.org/W6740801417","https://openalex.org/W6741002519","https://openalex.org/W6741010574","https://openalex.org/W6741115023","https://openalex.org/W6741813933","https://openalex.org/W6746462176","https://openalex.org/W6748599296","https://openalex.org/W6760698134","https://openalex.org/W6778961322"],"related_works":["https://openalex.org/W4365211920","https://openalex.org/W3014948380","https://openalex.org/W4380551139","https://openalex.org/W4317695495","https://openalex.org/W4287117424","https://openalex.org/W4387506531","https://openalex.org/W4238433571","https://openalex.org/W3174044702","https://openalex.org/W2967848559","https://openalex.org/W4299831724"],"abstract_inverted_index":{"Imitation":[0],"learning":[1,141,189],"(IL)":[2],"is":[3,17,28,39,51],"a":[4,77],"well-known":[5,121],"problem":[6],"in":[7,59],"the":[8,26,31,37,47,54,74,92,100,120,136,162,185,188,204,207,213],"field":[9],"of":[10,53,79,91,108,124,206],"Markov":[11],"decision":[12],"process":[13],"(MDP),":[14],"where":[15],"one":[16,52],"given":[18],"multiple":[19,210],"demonstration":[20],"trajectories":[21,44],"generated":[22],"by":[23],"expert(s),":[24],"and":[25,128,166,218],"goal":[27],"to":[29,46,88,134],"replicate":[30],"hidden":[32],"expert-policies":[33],"so":[34],"that":[35,63,99,156,180,199],"when":[36,73],"MDP":[38],"run":[40],"independently,":[41],"it":[42,173],"generates":[43],"close":[45],"demonstrated":[48],"ones.":[49],"IL":[50,177],"most":[55],"useful":[56],"tools":[57],"used":[58],"building":[60],"versatile":[61],"robots":[62],"can":[64],"learn":[65],"from":[66,119,145],"examples.":[67],"This":[68],"task":[69],"becomes":[70],"particularly":[71],"challenging":[72],"expert":[75,93],"exhibits":[76],"mixture":[78],"behavior":[80,152],"modes.":[81,110,169],"Prior":[82],"work":[83],"has":[84],"introduced":[85],"latent":[86],"variables":[87],"model":[89],"variations":[90],"policy.":[94],"However,":[95],"our":[96,200],"experiments":[97,211],"show":[98,198],"existing":[101],"works":[102],"do":[103],"not":[104],"exhibit":[105],"appropriate":[106],"imitation":[107],"individual":[109],"To":[111],"tackle":[112],"this":[113],"problem,":[114],"we":[115,171],"first":[116],"draw":[117],"inspiration":[118],"classical":[122],"technique":[123],"self-organizing":[125,137],"maps":[126],"(SOMs)":[127],"introduce":[129],"an":[130],"encoder-free":[131],"generative":[132,138,175],"model-referred":[133],"as":[135],"(SOG)":[139],"model-for":[140],"multimodal":[142],"data":[143],"distributions":[144],"samples.":[146],"We":[147,197],"then":[148],"apply":[149],"SOG":[150],"for":[151],"cloning":[153],"(BC)-a":[154],"framework":[155,179],"learns":[157,181],"deterministic":[158],"policies":[159,182],"without":[160],"considering":[161,184],"environment-to":[163,186],"accurately":[164],"distinguish":[165],"imitate":[167],"different":[168],"Then,":[170],"integrate":[172],"with":[174],"adversarial":[176],"(GAIL)-a":[178],"while":[183],"make":[187],"robust":[190],"toward":[191],"compounding":[192],"errors":[193],"at":[194],"unseen":[195],"states.":[196],"method":[201],"significantly":[202],"outperforms":[203],"state":[205],"art":[208],"across":[209],"within":[212],"MuJoCo":[214],"simulator,":[215],"including":[216],"locomotion":[217],"robotic":[219],"manipulation":[220],"tasks.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
