{"id":"https://openalex.org/W4400290489","doi":"https://doi.org/10.3390/robotics13070098","title":"Imitation Learning from a Single Demonstration Leveraging Vector Quantization for Robotic Harvesting","display_name":"Imitation Learning from a Single Demonstration Leveraging Vector Quantization for Robotic Harvesting","publication_year":2024,"publication_date":"2024-06-30","ids":{"openalex":"https://openalex.org/W4400290489","doi":"https://doi.org/10.3390/robotics13070098"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13070098","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13070098","pdf_url":"https://www.mdpi.com/2218-6581/13/7/98/pdf?version=1720681588","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/2218-6581/13/7/98/pdf?version=1720681588","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087576195","display_name":"Antonios Porichis","orcid":null},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]},{"id":"https://openalex.org/I4210147828","display_name":"Plant Integrity (United Kingdom)","ror":"https://ror.org/04ahqd251","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210147828"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Antonios Porichis","raw_affiliation_strings":["AI Innovation Centre, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK","National Structural Integrity Research Centre, Granta Park, Great Abington, Cambridge CB21 6AL, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AI Innovation Centre, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK","institution_ids":["https://openalex.org/I110002522"]},{"raw_affiliation_string":"National Structural Integrity Research Centre, Granta Park, Great Abington, Cambridge CB21 6AL, UK","institution_ids":["https://openalex.org/I4210147828"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5099985553","display_name":"Myrto Inglezou","orcid":null},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Myrto Inglezou","raw_affiliation_strings":["AI Innovation Centre, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK"],"raw_orcid":"https://orcid.org/0009-0004-1030-5526","affiliations":[{"raw_affiliation_string":"AI Innovation Centre, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051423017","display_name":"Nikolaos Kegkeroglou","orcid":"https://orcid.org/0009-0001-5444-1915"},"institutions":[{"id":"https://openalex.org/I4210108479","display_name":"Space Hellas (Greece)","ror":"https://ror.org/01nx9mw61","country_code":"GR","type":"company","lineage":["https://openalex.org/I4210108479"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Nikolaos Kegkeroglou","raw_affiliation_strings":["TWI-Hellas, 280 Kifisias Ave., 152 32 Halandri, Greece"],"raw_orcid":"https://orcid.org/0009-0001-5444-1915","affiliations":[{"raw_affiliation_string":"TWI-Hellas, 280 Kifisias Ave., 152 32 Halandri, Greece","institution_ids":["https://openalex.org/I4210108479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072968269","display_name":"Vishwanathan Mohan","orcid":"https://orcid.org/0000-0001-5537-9503"},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vishwanathan Mohan","raw_affiliation_strings":["AI Innovation Centre, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AI Innovation Centre, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK","institution_ids":["https://openalex.org/I110002522"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038098829","display_name":"Panagiotis Chatzakos","orcid":null},"institutions":[{"id":"https://openalex.org/I110002522","display_name":"University of Essex","ror":"https://ror.org/02nkf1q06","country_code":"GB","type":"education","lineage":["https://openalex.org/I110002522"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Panagiotis Chatzakos","raw_affiliation_strings":["AI Innovation Centre, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AI Innovation Centre, University of Essex, Wivenhoe Park, Colchester CO4 3SQ, UK","institution_ids":["https://openalex.org/I110002522"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5087576195"],"corresponding_institution_ids":["https://openalex.org/I110002522","https://openalex.org/I4210147828"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":2.7947,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.90111953,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"13","issue":"7","first_page":"98","last_page":"98"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12813","display_name":"Plant and Biological Electrophysiology Studies","score":0.951200008392334,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12789","display_name":"Planarian Biology and Electrostimulation","score":0.9451000094413757,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7291828393936157},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5692433714866638},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5617534518241882},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.5059072375297546},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.45077821612358093},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34730035066604614},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3354824483394623},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1469750702381134}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7291828393936157},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5692433714866638},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5617534518241882},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.5059072375297546},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.45077821612358093},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34730035066604614},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3354824483394623},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1469750702381134},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics13070098","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13070098","pdf_url":"https://www.mdpi.com/2218-6581/13/7/98/pdf?version=1720681588","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:fa8a556cbea540449357578d9ad5a6fa","is_oa":false,"landing_page_url":"https://doaj.org/article/fa8a556cbea540449357578d9ad5a6fa","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 7, p 98 (2024)","raw_type":"article"},{"id":"pmh:oai:zenodo.org:13639701","is_oa":true,"landing_page_url":"https://zenodo.org/communities/softgrip21","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3390/robotics13070098","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13070098","pdf_url":"https://www.mdpi.com/2218-6581/13/7/98/pdf?version=1720681588","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":[{"id":"https://metadata.un.org/sdg/2","score":0.6000000238418579,"display_name":"Zero hunger"}],"awards":[{"id":"https://openalex.org/G6634016532","display_name":null,"funder_award_id":"101017054","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4400290489.pdf","grobid_xml":"https://content.openalex.org/works/W4400290489.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W2064675550","https://openalex.org/W2167224731","https://openalex.org/W2187089797","https://openalex.org/W2760103357","https://openalex.org/W2769112066","https://openalex.org/W2890582634","https://openalex.org/W2963277051","https://openalex.org/W2964157221","https://openalex.org/W2994446013","https://openalex.org/W3096831136","https://openalex.org/W3153396097","https://openalex.org/W3207359859","https://openalex.org/W3212259443","https://openalex.org/W4225427529","https://openalex.org/W4283395244","https://openalex.org/W4285819744","https://openalex.org/W4287126489","https://openalex.org/W4289547487","https://openalex.org/W4297812239","https://openalex.org/W4312297897","https://openalex.org/W4318719298","https://openalex.org/W4385246194","https://openalex.org/W4385403811","https://openalex.org/W4385430674","https://openalex.org/W4385488470","https://openalex.org/W4391761360","https://openalex.org/W4394841842","https://openalex.org/W6684338915","https://openalex.org/W6718092244","https://openalex.org/W6779381009","https://openalex.org/W6795604123","https://openalex.org/W6800425027","https://openalex.org/W6803003410","https://openalex.org/W6803470638","https://openalex.org/W6803791336","https://openalex.org/W6804244202","https://openalex.org/W6854545439"],"related_works":["https://openalex.org/W2258669850","https://openalex.org/W1513401665","https://openalex.org/W4283263216","https://openalex.org/W3160851599","https://openalex.org/W2078285315","https://openalex.org/W2964156592","https://openalex.org/W2527333706","https://openalex.org/W2808090143","https://openalex.org/W2259778155","https://openalex.org/W1640559846"],"abstract_inverted_index":{"The":[0,202],"ability":[1],"of":[2,17,45,77,150,190,211],"robots":[3],"to":[4,31,67,90,98,116,130,169],"tackle":[5],"complex":[6],"non-repetitive":[7],"tasks":[8],"will":[9],"be":[10,50],"key":[11,95],"in":[12,19,142,180],"bringing":[13],"a":[14,43,54,58,143,160,164,194,214,225],"new":[15],"level":[16],"automation":[18],"agricultural":[20],"applications":[21],"still":[22,83],"involving":[23],"labor-intensive,":[24],"menial,":[25],"and":[26,57,104,198,218],"physically":[27],"demanding":[28],"activities":[29],"due":[30,89],"high":[32,92],"cognitive":[33],"requirements.":[34],"Harvesting":[35],"is":[36,82,97],"one":[37],"such":[38,107],"example":[39],"as":[40,108],"it":[41],"requires":[42,206],"combination":[44],"motions":[46],"which":[47,81,111],"can":[48,158],"generally":[49],"broken":[51],"down":[52],"into":[53],"visual":[55,136],"servoing":[56],"manipulation":[59],"phase,":[60],"with":[61,101,163,185],"the":[62,75,172],"latter":[63],"often":[64],"being":[65],"straightforward":[66],"pre-program.":[68],"In":[69],"this":[70,140],"work,":[71],"we":[72],"focus":[73],"on":[74,148,213,224],"task":[76],"fresh":[78],"mushroom":[79,173],"harvesting":[80,100,153],"conducted":[84],"manually":[85],"by":[86],"human":[87,151],"pickers":[88],"its":[91],"complexity.":[93],"A":[94],"challenge":[96],"enable":[99],"low-cost":[102],"hardware":[103],"mechanical":[105],"systems,":[106],"soft":[109],"grippers":[110],"present":[112],"additional":[113],"challenges":[114],"compared":[115],"their":[117],"rigid":[118],"counterparts.":[119],"We":[120,138,176],"devise":[121],"an":[122],"Imitation":[123],"Learning":[124],"model":[125,204],"pipeline":[126,205],"utilizing":[127],"Vector":[128],"Quantization":[129],"learn":[131],"quantized":[132],"embeddings":[133],"directly":[134],"from":[135],"inputs.":[137],"test":[139],"approach":[141],"realistic":[144],"environment":[145],"designed":[146],"based":[147],"recordings":[149],"experts":[152],"real":[154],"mushrooms.":[155],"Our":[156],"models":[157],"control":[159],"cartesian":[161],"robot":[162],"soft,":[165],"pneumatically":[166],"actuated":[167],"gripper":[168],"successfully":[170],"replicate":[171],"outrooting":[174],"sequence.":[175],"achieve":[177],"100%":[178],"success":[179],"picking":[181],"mushrooms":[182],"among":[183],"distractors":[184],"less":[186,207],"than":[187,208],"20":[188,220],"min":[189,210],"data":[191],"collection":[192],"comprising":[193],"single":[195,215],"expert":[196],"demonstration":[197],"auxiliary,":[199],"non-expert,":[200],"trajectories.":[201],"entire":[203],"40":[209],"training":[212],"A4000":[216],"GPU":[217],"approx.":[219],"ms":[221],"for":[222],"inference":[223],"standard":[226],"laptop":[227],"GPU.":[228]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
