{"id":"https://openalex.org/W4309308064","doi":"https://doi.org/10.3390/robotics11060126","title":"Learning from Demonstrations in Human\u2013Robot Collaborative Scenarios: A Survey","display_name":"Learning from Demonstrations in Human\u2013Robot Collaborative Scenarios: A Survey","publication_year":2022,"publication_date":"2022-11-15","ids":{"openalex":"https://openalex.org/W4309308064","doi":"https://doi.org/10.3390/robotics11060126"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11060126","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11060126","pdf_url":"https://www.mdpi.com/2218-6581/11/6/126/pdf?version=1668504467","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/11/6/126/pdf?version=1668504467","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014814648","display_name":"Arturo Daniel Sosa-Ceron","orcid":"https://orcid.org/0000-0003-2429-6347"},"institutions":[{"id":"https://openalex.org/I98461037","display_name":"Tecnol\u00f3gico de Monterrey","ror":"https://ror.org/03ayjn504","country_code":"MX","type":"education","lineage":["https://openalex.org/I98461037"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Arturo Daniel Sosa-Ceron","raw_affiliation_strings":["School of Engineering and Sciences, Tecnologico de Monterrey, Monterrey 64849, NL, Mexico"],"raw_orcid":"https://orcid.org/0000-0003-2429-6347","affiliations":[{"raw_affiliation_string":"School of Engineering and Sciences, Tecnologico de Monterrey, Monterrey 64849, NL, Mexico","institution_ids":["https://openalex.org/I98461037"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011270393","display_name":"Hugo G. Gonz\u00e1lez-Hern\u00e1ndez","orcid":"https://orcid.org/0000-0001-6495-9980"},"institutions":[{"id":"https://openalex.org/I98461037","display_name":"Tecnol\u00f3gico de Monterrey","ror":"https://ror.org/03ayjn504","country_code":"MX","type":"education","lineage":["https://openalex.org/I98461037"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Hugo Gustavo Gonzalez-Hernandez","raw_affiliation_strings":["School of Engineering and Sciences, Tecnologico de Monterrey, Monterrey 64849, NL, Mexico"],"raw_orcid":"https://orcid.org/0000-0001-6495-9980","affiliations":[{"raw_affiliation_string":"School of Engineering and Sciences, Tecnologico de Monterrey, Monterrey 64849, NL, Mexico","institution_ids":["https://openalex.org/I98461037"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076164967","display_name":"Jorge A. Reyes-Avenda\u00f1o","orcid":"https://orcid.org/0000-0002-2797-9381"},"institutions":[{"id":"https://openalex.org/I98461037","display_name":"Tecnol\u00f3gico de Monterrey","ror":"https://ror.org/03ayjn504","country_code":"MX","type":"education","lineage":["https://openalex.org/I98461037"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Jorge Antonio Reyes-Avenda\u00f1o","raw_affiliation_strings":["School of Engineering and Sciences, Tecnologico de Monterrey, Monterrey 64849, NL, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-2797-9381","affiliations":[{"raw_affiliation_string":"School of Engineering and Sciences, Tecnologico de Monterrey, Monterrey 64849, NL, Mexico","institution_ids":["https://openalex.org/I98461037"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5011270393"],"corresponding_institution_ids":["https://openalex.org/I98461037"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":3.0473,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.9191523,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"11","issue":"6","first_page":"126","last_page":"126"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9866999983787537,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9800000190734863,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6629986763000488},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6470744013786316},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6194890141487122},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.593311071395874},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5686090588569641},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.5575823187828064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5118850469589233},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4891076683998108},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4805757999420166},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4605400264263153},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4231823682785034},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19570666551589966},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14770445227622986},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.13055333495140076}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6629986763000488},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6470744013786316},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6194890141487122},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.593311071395874},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5686090588569641},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.5575823187828064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5118850469589233},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4891076683998108},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4805757999420166},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4605400264263153},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4231823682785034},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19570666551589966},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14770445227622986},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.13055333495140076},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics11060126","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11060126","pdf_url":"https://www.mdpi.com/2218-6581/11/6/126/pdf?version=1668504467","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:77a72d26f8d644d39e60db82ecc68bb2","is_oa":true,"landing_page_url":"https://doaj.org/article/77a72d26f8d644d39e60db82ecc68bb2","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"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-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 11, Iss 6, p 126 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/6/126/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11060126","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 11; Issue 6; Pages: 126","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics11060126","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11060126","pdf_url":"https://www.mdpi.com/2218-6581/11/6/126/pdf?version=1668504467","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.49000000953674316,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4309308064.pdf"},"referenced_works_count":107,"referenced_works":["https://openalex.org/W145587688","https://openalex.org/W1952489873","https://openalex.org/W1977655452","https://openalex.org/W1986014385","https://openalex.org/W2012058822","https://openalex.org/W2070935310","https://openalex.org/W2086113803","https://openalex.org/W2095601341","https://openalex.org/W2106956101","https://openalex.org/W2113698995","https://openalex.org/W2115817551","https://openalex.org/W2125838338","https://openalex.org/W2128221272","https://openalex.org/W2128677288","https://openalex.org/W2130066821","https://openalex.org/W2154543878","https://openalex.org/W2156163138","https://openalex.org/W2296332048","https://openalex.org/W2331138946","https://openalex.org/W2399750036","https://openalex.org/W2471216432","https://openalex.org/W2500624988","https://openalex.org/W2518003110","https://openalex.org/W2526166478","https://openalex.org/W2562693283","https://openalex.org/W2570503960","https://openalex.org/W2604382266","https://openalex.org/W2613364463","https://openalex.org/W2735021678","https://openalex.org/W2750168540","https://openalex.org/W2753279079","https://openalex.org/W2756415504","https://openalex.org/W2766196346","https://openalex.org/W2766203889","https://openalex.org/W2767537741","https://openalex.org/W2768152608","https://openalex.org/W2777207079","https://openalex.org/W2789905221","https://openalex.org/W2795577874","https://openalex.org/W2796864868","https://openalex.org/W2798353573","https://openalex.org/W2804124418","https://openalex.org/W2888670505","https://openalex.org/W2895599712","https://openalex.org/W2899157478","https://openalex.org/W2899727503","https://openalex.org/W2903034930","https://openalex.org/W2908012943","https://openalex.org/W2912536046","https://openalex.org/W2913314997","https://openalex.org/W2922464707","https://openalex.org/W2933577697","https://openalex.org/W2936357455","https://openalex.org/W2955189310","https://openalex.org/W2957829502","https://openalex.org/W2963186506","https://openalex.org/W2965691566","https://openalex.org/W2968535698","https://openalex.org/W2978088897","https://openalex.org/W2991304480","https://openalex.org/W2993961051","https://openalex.org/W2994446013","https://openalex.org/W2995473109","https://openalex.org/W3000049879","https://openalex.org/W3000367213","https://openalex.org/W3001711609","https://openalex.org/W3007935348","https://openalex.org/W3010140246","https://openalex.org/W3016969588","https://openalex.org/W3025621949","https://openalex.org/W3029326580","https://openalex.org/W3031534555","https://openalex.org/W3034913946","https://openalex.org/W3041164983","https://openalex.org/W3041382148","https://openalex.org/W3042929212","https://openalex.org/W3045503639","https://openalex.org/W3045522824","https://openalex.org/W3075228063","https://openalex.org/W3093937653","https://openalex.org/W3111023388","https://openalex.org/W3112738263","https://openalex.org/W3118504914","https://openalex.org/W3128462963","https://openalex.org/W3140468666","https://openalex.org/W3141822859","https://openalex.org/W3168711092","https://openalex.org/W3169264697","https://openalex.org/W3187189531","https://openalex.org/W3193978895","https://openalex.org/W3202718049","https://openalex.org/W3209248511","https://openalex.org/W3215492280","https://openalex.org/W4206457320","https://openalex.org/W4210645477","https://openalex.org/W4211133235","https://openalex.org/W4220834224","https://openalex.org/W4224285178","https://openalex.org/W4225842679","https://openalex.org/W4234821663","https://openalex.org/W4235010168","https://openalex.org/W4281397046","https://openalex.org/W4298454635","https://openalex.org/W4312533385","https://openalex.org/W6663958887","https://openalex.org/W6680971464","https://openalex.org/W7074243303"],"related_works":["https://openalex.org/W2913184176","https://openalex.org/W2967461658","https://openalex.org/W4205867949","https://openalex.org/W2114138219","https://openalex.org/W2145409477","https://openalex.org/W2901891836","https://openalex.org/W2155037410","https://openalex.org/W2097364276","https://openalex.org/W2111108653","https://openalex.org/W2117552637"],"abstract_inverted_index":{"Human\u2013Robot":[0],"Collaboration":[1],"(HRC)":[2],"is":[3,58,85,94,135,209],"an":[4,52,152,247],"interdisciplinary":[5],"research":[6,259],"area":[7],"that":[8,62,184],"has":[9,187],"gained":[10],"attention":[11],"within":[12,20],"the":[13,27,34,49,59,68,72,81,86,117,126,163,171,177,200,206,225],"smart":[14],"manufacturing":[15,21],"context.":[16],"To":[17],"address":[18],"changes":[19],"processes,":[22],"HRC":[23,53],"seeks":[24],"to":[25,39,108,136,238,249],"combine":[26],"impressive":[28],"physical":[29,210],"capabilities":[30],"of":[31,37,51,80,99,132,140,174,203],"robots":[32],"with":[33,42,144],"cognitive":[35],"abilities":[36],"humans":[38,105],"design":[40],"tasks":[41],"high":[43],"efficiency,":[44],"repeatability,":[45],"and":[46,71,110,123,159,170,191,221,230,241,257],"adaptability.":[47],"During":[48],"implementation":[50],"cell,":[54],"a":[55,97,138],"key":[56],"activity":[57],"robot":[60,69],"programming":[61,118,142,251],"takes":[63],"into":[64],"account":[65],"not":[66,195],"only":[67],"restrictions":[70],"working":[73],"space,":[74],"but":[75],"also":[76],"human":[77,172,185],"interactions.":[78],"One":[79],"most":[82],"promising":[83],"techniques":[84,215],"so-called":[87],"Learning":[88,223],"from":[89],"Demonstration":[90],"(LfD),":[91],"this":[92,115,133,141],"approach":[93],"based":[95,161],"on":[96,146],"collection":[98],"learning":[100],"algorithms,":[101],"inspired":[102],"by":[103,125],"how":[104],"imitate":[106],"behaviors":[107],"learn":[109],"acquire":[111],"new":[112],"skills.":[113],"In":[114],"way,":[116],"task":[119,232],"could":[120],"be":[121],"simplified":[122],"provided":[124],"shop":[127],"floor":[128],"operator.":[129],"The":[130,155],"aim":[131],"work":[134],"present":[137],"survey":[139],"technique,":[143],"emphasis":[145],"collaborative":[147,254],"scenarios":[148],"rather":[149],"than":[150],"just":[151],"isolated":[153],"task.":[154],"literature":[156],"was":[157],"classified":[158],"analyzed":[160],"on:":[162],"main":[164],"algorithms":[165],"employed":[166],"for":[167,228,243,246],"Skill/Task":[168],"learning,":[169],"level":[173],"participation":[175],"during":[176],"whole":[178],"LfD":[179,250],"process.":[180],"Our":[181],"analysis":[182],"shows":[183],"intervention":[186],"been":[188,196],"poorly":[189],"explored,":[190],"its":[192],"implications":[193],"have":[194],"carefully":[197],"considered.":[198],"Among":[199],"different":[201],"methods":[202,227,252],"data":[204,213],"acquisition,":[205],"prevalent":[207],"method":[208],"guidance.":[211],"Regarding":[212],"modeling,":[214],"such":[216],"as":[217],"Dynamic":[218],"Movement":[219],"Primitives":[220],"Semantic":[222],"were":[224],"preferred":[226],"low-level":[229],"high-level":[231],"solving,":[233],"respectively.":[234],"This":[235],"paper":[236],"aims":[237],"provide":[239],"guidance":[240],"insights":[242],"researchers":[244],"looking":[245],"introduction":[248],"in":[253],"robotics":[255],"context":[256],"identify":[258],"opportunities.":[260]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":6}],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2025-10-10T00:00:00"}