{"id":"https://openalex.org/W2885017279","doi":"https://doi.org/10.1109/tro.2018.2878355","title":"Learning Task Priorities from Demonstrations","display_name":"Learning Task Priorities from Demonstrations","publication_year":2018,"publication_date":"2018-11-14","ids":{"openalex":"https://openalex.org/W2885017279","doi":"https://doi.org/10.1109/tro.2018.2878355","mag":"2885017279"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2878355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2878355","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://publications.idiap.ch/downloads/papers/2018/Silverio_T-RO_2018.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012562539","display_name":"Jo\u00e3o Silv\u00e9rio","orcid":"https://orcid.org/0000-0003-1428-8933"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Joao Silverio","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063761733","display_name":"Leonel Rozo","orcid":"https://orcid.org/0000-0001-5970-9135"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Leonel Rozo","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012562539"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":5.1501,"has_fulltext":true,"cited_by_count":53,"citation_normalized_percentile":{"value":0.96005645,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"35","issue":"1","first_page":"78","last_page":"94"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991999864578247,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9922999739646912,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9803000092506409,"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/task","display_name":"Task (project management)","score":0.742741584777832},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7241997122764587},{"id":"https://openalex.org/keywords/prioritization","display_name":"Prioritization","score":0.7130287885665894},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.609703004360199},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5710925459861755},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5050964951515198},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4979109764099121},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.488949179649353},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4766607880592346},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.422462522983551},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1345404088497162},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10773932933807373},{"id":"https://openalex.org/keywords/management-science","display_name":"Management science","score":0.08267688751220703},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07724454998970032},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07433179020881653}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.742741584777832},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7241997122764587},{"id":"https://openalex.org/C2777615720","wikidata":"https://www.wikidata.org/wiki/Q11888847","display_name":"Prioritization","level":2,"score":0.7130287885665894},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.609703004360199},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5710925459861755},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5050964951515198},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4979109764099121},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.488949179649353},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4766607880592346},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.422462522983551},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1345404088497162},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10773932933807373},{"id":"https://openalex.org/C539667460","wikidata":"https://www.wikidata.org/wiki/Q2414942","display_name":"Management science","level":1,"score":0.08267688751220703},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07724454998970032},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07433179020881653},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2018.2878355","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2878355","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:262670","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/262670","pdf_url":"http://publications.idiap.ch/downloads/papers/2018/Silverio_T-RO_2018.pdf","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/262670","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:262670","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/262670","pdf_url":"http://publications.idiap.ch/downloads/papers/2018/Silverio_T-RO_2018.pdf","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/262670","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Quality Education","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2885017279.pdf","grobid_xml":"https://content.openalex.org/works/W2885017279.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W1528875963","https://openalex.org/W1575312501","https://openalex.org/W1655240440","https://openalex.org/W1684361744","https://openalex.org/W1968189907","https://openalex.org/W1977013839","https://openalex.org/W1983706851","https://openalex.org/W1994232616","https://openalex.org/W2002529332","https://openalex.org/W2004430059","https://openalex.org/W2014550481","https://openalex.org/W2028018208","https://openalex.org/W2053324916","https://openalex.org/W2062217995","https://openalex.org/W2063978650","https://openalex.org/W2064347646","https://openalex.org/W2077941066","https://openalex.org/W2078763164","https://openalex.org/W2100993276","https://openalex.org/W2103791020","https://openalex.org/W2104678592","https://openalex.org/W2112474089","https://openalex.org/W2113265921","https://openalex.org/W2122827816","https://openalex.org/W2124538551","https://openalex.org/W2125602005","https://openalex.org/W2136719407","https://openalex.org/W2140204284","https://openalex.org/W2140403608","https://openalex.org/W2147168033","https://openalex.org/W2160049112","https://openalex.org/W2160609165","https://openalex.org/W2202454811","https://openalex.org/W2202649232","https://openalex.org/W2208932597","https://openalex.org/W2213488769","https://openalex.org/W2331138946","https://openalex.org/W2400535959","https://openalex.org/W2414007181","https://openalex.org/W2580438233","https://openalex.org/W2730083658","https://openalex.org/W2735615928","https://openalex.org/W2772044689","https://openalex.org/W2885325819","https://openalex.org/W2908770730","https://openalex.org/W2914423356","https://openalex.org/W4211008118","https://openalex.org/W6675362965","https://openalex.org/W6687913865","https://openalex.org/W6712948466"],"related_works":["https://openalex.org/W1564680838","https://openalex.org/W2060591604","https://openalex.org/W2003125260","https://openalex.org/W2166791242","https://openalex.org/W3012440055","https://openalex.org/W1934413089","https://openalex.org/W2585162246","https://openalex.org/W1992291644","https://openalex.org/W2098419343","https://openalex.org/W2051178964"],"abstract_inverted_index":{"Bimanual":[0],"operations":[1],"in":[2,20,63,111],"humanoids":[3,87],"offer":[4],"the":[5,16,23,40,67,79,89,99,106],"possibility":[6],"to":[7,45,74,104],"carry":[8],"out":[9],"more":[10],"than":[11],"one":[12],"manipulation":[13],"task":[14,26],"at":[15],"same":[17],"time,":[18],"which":[19],"turn":[21],"introduces":[22],"problem":[24,31],"of":[25,91,108],"prioritization.":[27],"We":[28,77],"address":[29],"this":[30],"from":[32,35],"a":[33,94],"learning":[34,90],"demonstration":[36],"perspective,":[37],"by":[38],"extending":[39],"task-parameterized":[41],"Gaussian":[42],"mixture":[43],"model":[44],"Jacobian":[46],"and":[47,93],"null":[48],"space":[49],"structures.":[50],"The":[51],"proposed":[52,80],"approach":[53,100],"is":[54],"tested":[55],"on":[56],"bimanual":[57],"skills":[58],"but":[59],"can":[60,101],"be":[61,75,102],"applied":[62],"any":[64],"scenario":[65],"where":[66],"prioritization":[68,107],"between":[69],"potentially":[70],"conflicting":[71],"tasks":[72,85,110],"needs":[73],"learned.":[76],"evaluate":[78],"framework":[81],"in:":[82],"two":[83],"different":[84],"with":[86],"requiring":[88],"priorities":[92],"loco-manipulation":[95],"scenario,":[96],"showing":[97],"that":[98],"exploited":[103],"learn":[105],"multiple":[109],"parallel.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
