{"id":"https://openalex.org/W7138377383","doi":"https://doi.org/10.1609/aaai.v40i22.38911","title":"FoAM: Foresight-Augmented Multi-Task Imitation Policy for Robotic Manipulation","display_name":"FoAM: Foresight-Augmented Multi-Task Imitation Policy for Robotic Manipulation","publication_year":2026,"publication_date":"2026-03-14","ids":{"openalex":"https://openalex.org/W7138377383","doi":"https://doi.org/10.1609/aaai.v40i22.38911"},"language":null,"primary_location":{"id":"doi:10.1609/aaai.v40i22.38911","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i22.38911","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/38911/42873","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://ojs.aaai.org/index.php/AAAI/article/download/38911/42873","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125113029","display_name":"Litao Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Litao Liu","raw_affiliation_strings":["CoreNetic AI\nRutgers University-New Brunswick"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CoreNetic AI\nRutgers University-New Brunswick","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129714120","display_name":"Wentao Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I2800817003","display_name":"California Southern University","ror":"https://ror.org/058zz0t50","country_code":"US","type":"education","lineage":["https://openalex.org/I2800817003"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wentao Wang","raw_affiliation_strings":["University of Southern California"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California","institution_ids":["https://openalex.org/I1174212","https://openalex.org/I2800817003"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129663325","display_name":"Yifan Han","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Han","raw_affiliation_strings":["Institute of automation, Chinese Academy of Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of automation, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I4210112150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036417472","display_name":"Zhuoli Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I4210101327","display_name":"Twin Cities Orthopedics","ror":"https://ror.org/01en4s460","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I4210101327"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhuoli Xie","raw_affiliation_strings":["CoreNetic AI\nUniversity of Minnesota - Twin Cities"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CoreNetic AI\nUniversity of Minnesota - Twin Cities","institution_ids":["https://openalex.org/I4210101327"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129727461","display_name":"Pengfei Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengfei Yi","raw_affiliation_strings":["Institute of automation, Chinese academy of science, Chinese Academy of Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of automation, Chinese academy of science, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129657438","display_name":"Junyan Li","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyan Li","raw_affiliation_strings":["Institute of automation, Chinese academy of science, Chinese Academy of Sciences"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of automation, Chinese academy of science, Chinese Academy of Sciences","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5129721601","display_name":"Wenzhao Lian","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenzhao Lian","raw_affiliation_strings":["Shanghai Jiaotong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiaotong University","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":"22","first_page":"18460","last_page":"18468"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5400999784469604,"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":0.5400999784469604,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.35659998655319214,"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":0.024700000882148743,"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/task","display_name":"Task (project management)","score":0.7480999827384949},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.7131999731063843},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6445000171661377},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6017000079154968},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5662000179290771},{"id":"https://openalex.org/keywords/futures-studies","display_name":"Futures studies","score":0.5461999773979187},{"id":"https://openalex.org/keywords/policy-learning","display_name":"Policy learning","score":0.46790000796318054},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.41780000925064087}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7480999827384949},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.7131999731063843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7102000117301941},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6445000171661377},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6069999933242798},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6017000079154968},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5662000179290771},{"id":"https://openalex.org/C64848388","wikidata":"https://www.wikidata.org/wiki/Q188867","display_name":"Futures studies","level":2,"score":0.5461999773979187},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4927000105381012},{"id":"https://openalex.org/C2779436431","wikidata":"https://www.wikidata.org/wiki/Q30672407","display_name":"Policy learning","level":2,"score":0.46790000796318054},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.41780000925064087},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.4115999937057495},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.358599990606308},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.35830000042915344},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3529999852180481},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.34700000286102295},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3343000113964081},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.2897999882698059},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2759999930858612},{"id":"https://openalex.org/C74072328","wikidata":"https://www.wikidata.org/wiki/Q1142726","display_name":"Intelligent agent","level":2,"score":0.2549999952316284},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1609/aaai.v40i22.38911","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i22.38911","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/38911/42873","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1609/aaai.v40i22.38911","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i22.38911","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/38911/42873","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5447998046875}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7138377383.pdf","grobid_xml":"https://content.openalex.org/works/W7138377383.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Multi-task":[0],"imitation":[1],"learning":[2],"(MTIL)":[3],"has":[4],"shown":[5],"significant":[6],"potential":[7],"in":[8,95,132,152],"robotic":[9],"manipulation":[10,173],"by":[11,118,148],"enabling":[12],"agents":[13],"to":[14,57,97,106,115,150],"perform":[15],"various":[16],"tasks":[17,59,131,165],"using":[18],"a":[19,61,76,92],"single":[20],"policy.":[21],"It":[22],"simplifies":[23],"the":[24,29,71,82,98,104],"policy":[25,79,143,174],"deployment":[26],"and":[27,55,90,114,134,176],"enhances":[28,141],"agent's":[30],"adaptability":[31],"across":[32,166],"different":[33],"scenarios.":[34],"However,":[35],"key":[36],"challenges":[37],"remain,":[38],"such":[39],"as":[40,88],"maintaining":[41],"action":[42,47,100],"reliability":[43],"(e.g.,":[44],"avoiding":[45],"abnormal":[46],"sequences":[48],"that":[49,80,138,160],"deviate":[50],"from":[51],"nominal":[52],"task":[53,124],"trajectories)":[54],"generalizing":[56],"unseen":[58],"with":[60],"few":[62],"expert":[63],"demonstrations.":[64],"To":[65],"address":[66],"these":[67,119],"challenges,":[68],"we":[69],"introduce":[70],"Foresight-Augmented":[72],"Manipulation":[73],"(FoAM)":[74],"policy,":[75],"novel":[77],"MTIL":[78,142],"pioneers":[81],"use":[83],"of":[84],"multi-modal":[85],"goal":[86],"conditions":[87],"input":[89],"introduces":[91],"foresight":[93],"augmentation":[94],"addition":[96],"general":[99],"reconstruction.":[101],"FoAM":[102,139],"enables":[103],"agent":[105],"reason":[107],"about":[108],"its":[109],"actions'":[110],"visual":[111],"consequences":[112],"(foresight)":[113],"be":[116],"guided":[117],"more":[120,167],"expressive":[121],"representations":[122],"during":[123],"execution.":[125],"Extensive":[126],"experiments":[127],"on":[128],"over":[129,162],"100":[130],"simulation":[133,158],"real-world":[135],"settings":[136],"demonstrate":[137],"significantly":[140],"performance,":[144],"outperforming":[145],"state-of-the-art":[146],"baselines":[147],"up":[149],"41%":[151],"success":[153],"rate.":[154],"We":[155],"released":[156],"our":[157],"suites":[159],"include":[161],"80":[163],"challenging":[164],"than":[168],"10":[169],"scenarios":[170],"designed":[171],"for":[172],"training":[175],"evaluation.":[177]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2026-03-18T00:00:00"}