{"id":"https://openalex.org/W4412587639","doi":"https://doi.org/10.1145/3721238.3730640","title":"SkillMimic-V2: Learning Robust and Generalizable Interaction Skills from Sparse and Noisy Demonstrations","display_name":"SkillMimic-V2: Learning Robust and Generalizable Interaction Skills from Sparse and Noisy Demonstrations","publication_year":2025,"publication_date":"2025-07-23","ids":{"openalex":"https://openalex.org/W4412587639","doi":"https://doi.org/10.1145/3721238.3730640"},"language":"en","primary_location":{"id":"doi:10.1145/3721238.3730640","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3721238.3730640","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Special Interest Group on Computer Graphics and Interactive Techniques Conference Conference Papers","raw_type":"proceedings-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/A5100830556","display_name":"Runyi Yu","orcid":null},"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"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Runyi Yu","raw_affiliation_strings":["Hong Kong University of Science and Technology, Hong Kong, Hong Kong and Shanghai Aritificial Intelligence Laboratory, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0008-5527-7193","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology, Hong Kong, Hong Kong and Shanghai Aritificial Intelligence Laboratory, Shanghai, China","institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102773827","display_name":"Yinhuai Wang","orcid":"https://orcid.org/0000-0003-4601-4881"},"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":"Yinhuai Wang","raw_affiliation_strings":["Hong Kong University of Science and Technology, Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-4601-4881","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105522740","display_name":"Q. W. Zhao","orcid":"https://orcid.org/0009-0000-0377-2784"},"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":"Qihan Zhao","raw_affiliation_strings":["Hong Kong University of Science and Technology, Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0009-0000-0377-2784","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119049754","display_name":"Hok Wai Tsui","orcid":null},"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":"Hok Wai Tsui","raw_affiliation_strings":["Hong Kong University of Science and Technology, Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0009-0002-9152-7694","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025052672","display_name":"Jingbo Wang","orcid":"https://orcid.org/0009-0005-0740-8548"},"institutions":[{"id":"https://openalex.org/I4210135459","display_name":"United Imaging Healthcare (China)","ror":"https://ror.org/03qqw3m37","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210135459"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingbo Wang","raw_affiliation_strings":["Shanghai Aritificial Intelligence Laboratory, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0005-0740-8548","affiliations":[{"raw_affiliation_string":"Shanghai Aritificial Intelligence Laboratory, Shanghai, China","institution_ids":["https://openalex.org/I4210135459"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084953118","display_name":"Ping Tan","orcid":"https://orcid.org/0000-0002-4506-6973"},"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":"Ping Tan","raw_affiliation_strings":["Hong Kong University of Science and Technology, Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0002-4506-6973","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100719529","display_name":"Qifeng Chen","orcid":"https://orcid.org/0000-0003-2199-3948"},"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":"Qifeng Chen","raw_affiliation_strings":["Hong Kong University of Science and Technology, Hong Kong, Hong Kong"],"raw_orcid":"https://orcid.org/0000-0003-2199-3948","affiliations":[{"raw_affiliation_string":"Hong Kong University of Science and Technology, Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100830556"],"corresponding_institution_ids":["https://openalex.org/I200769079","https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19863447,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9995999932289124,"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/T12290","display_name":"Human Motion and Animation","score":0.9995999932289124,"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":0.9993000030517578,"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/T11439","display_name":"Video Analysis and Summarization","score":0.989300012588501,"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":0.7242128252983093},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5587728023529053},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4863291382789612}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7242128252983093},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5587728023529053},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4863291382789612}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3721238.3730640","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3721238.3730640","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Special Interest Group on Computer Graphics and Interactive Techniques Conference Conference Papers","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-165821","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-165821","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":null,"raw_type":"Conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1990932462","https://openalex.org/W2017470497","https://openalex.org/W2029903115","https://openalex.org/W2064713205","https://openalex.org/W2107726111","https://openalex.org/W2796290181","https://openalex.org/W2811441028","https://openalex.org/W2911087563","https://openalex.org/W2984106353","https://openalex.org/W2984579799","https://openalex.org/W2990747716","https://openalex.org/W3048539707","https://openalex.org/W3081268564","https://openalex.org/W3091816019","https://openalex.org/W3099926824","https://openalex.org/W3104515094","https://openalex.org/W3147968035","https://openalex.org/W3181074849","https://openalex.org/W3184783479","https://openalex.org/W4229044820","https://openalex.org/W4231947169","https://openalex.org/W4248876013","https://openalex.org/W4313031313","https://openalex.org/W4368755539","https://openalex.org/W4385027469","https://openalex.org/W4385271020","https://openalex.org/W4385526363","https://openalex.org/W4385527465","https://openalex.org/W4386076611","https://openalex.org/W4386942321","https://openalex.org/W4389339329","https://openalex.org/W4390872031","https://openalex.org/W4390874171","https://openalex.org/W4390874786","https://openalex.org/W4399574160","https://openalex.org/W4400580477","https://openalex.org/W4402354111","https://openalex.org/W4402354121","https://openalex.org/W4402354138","https://openalex.org/W4402354166","https://openalex.org/W4402660103","https://openalex.org/W4402753661","https://openalex.org/W4402772461","https://openalex.org/W4403784059","https://openalex.org/W4404439868","https://openalex.org/W4404526366","https://openalex.org/W4404893030"],"related_works":["https://openalex.org/W2961085424","https://openalex.org/W4306674287","https://openalex.org/W4387369504","https://openalex.org/W4394896187","https://openalex.org/W3170094116","https://openalex.org/W4386462264","https://openalex.org/W3107602296","https://openalex.org/W4364306694","https://openalex.org/W4312192474","https://openalex.org/W4283697347"],"abstract_inverted_index":{"We":[0],"address":[1],"a":[2,76,95,108,144],"fundamental":[3],"challenge":[4],"in":[5,177],"Reinforcement":[6],"Learning":[7],"from":[8,71],"Interaction":[9],"Demonstration":[10],"(RLID):":[11],"demonstration":[12,105,122],"noise":[13],"and":[14,31,45,54,83,107,143,184],"coverage":[15],"limitations.":[16],"While":[17],"existing":[18],"data":[19,92],"collection":[20],"approaches":[21],"provide":[22],"valuable":[23],"interaction":[24,169],"demonstrations,":[25,56],"they":[26],"often":[27],"yield":[28],"sparse,":[29],"disconnected,":[30],"noisy":[32,53],"trajectories":[33,62],"that":[34,51,63,100,113,158],"fail":[35],"to":[36],"capture":[37],"the":[38,121,162],"full":[39],"spectrum":[40],"of":[41,79,179],"possible":[42,80],"skill":[43,81,150,156],"variations":[44,82],"transitions.":[46,84],"Our":[47,152],"key":[48],"insight":[49],"is":[50],"despite":[52],"sparse":[55],"there":[57],"exist":[58],"infinite":[59],"physically":[60],"feasible":[61],"naturally":[64],"bridge":[65],"between":[66,104],"demonstrated":[67],"skills":[68],"or":[69],"emerge":[70],"their":[72],"neighboring":[73],"states,":[74],"forming":[75],"continuous":[77],"space":[78],"Building":[85],"upon":[86],"this":[87],"insight,":[88],"we":[89,131],"present":[90],"two":[91],"augmentation":[93],"techniques:":[94],"Stitched":[96],"Trajectory":[97,135],"Graph":[98],"(STG)":[99],"discovers":[101],"potential":[102],"transitions":[103],"skills,":[106],"State":[109],"Transition":[110],"Field":[111],"(STF)":[112],"establishes":[114],"unique":[115],"connections":[116],"for":[117,139,148],"arbitrary":[118],"states":[119],"within":[120],"neighborhood.":[123],"To":[124],"enable":[125],"effective":[126],"RLID":[127],"with":[128],"augmented":[129],"data,":[130],"develop":[132],"an":[133],"Adaptive":[134],"Sampling":[136],"(ATS)":[137],"strategy":[138],"dynamic":[140],"curriculum":[141],"generation":[142],"historical":[145],"encoding":[146],"mechanism":[147],"memory-dependent":[149],"learning.":[151],"approach":[153],"enables":[154],"robust":[155],"acquisition":[157],"significantly":[159],"generalizes":[160],"beyond":[161],"reference":[163],"demonstrations.":[164],"Extensive":[165],"experiments":[166],"across":[167],"diverse":[168],"tasks":[170],"demonstrate":[171],"substantial":[172],"improvements":[173],"over":[174],"state-of-the-art":[175],"methods":[176],"terms":[178],"convergence":[180],"stability,":[181],"generalization":[182],"capability,":[183],"recovery":[185],"robustness.":[186]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}