{"id":"https://openalex.org/W4321787715","doi":"https://doi.org/10.3390/s23052514","title":"Robot Programming from a Single Demonstration for High Precision Industrial Insertion","display_name":"Robot Programming from a Single Demonstration for High Precision Industrial Insertion","publication_year":2023,"publication_date":"2023-02-24","ids":{"openalex":"https://openalex.org/W4321787715","doi":"https://doi.org/10.3390/s23052514","pmid":"https://pubmed.ncbi.nlm.nih.gov/36904718"},"language":"en","primary_location":{"id":"doi:10.3390/s23052514","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23052514","pdf_url":"https://www.mdpi.com/1424-8220/23/5/2514/pdf?version=1677222288","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/5/2514/pdf?version=1677222288","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045711807","display_name":"Kaimeng Wang","orcid":"https://orcid.org/0000-0001-5955-9755"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kaimeng Wang","raw_affiliation_strings":["FANUC Advanced Research Laboratory, FANUC America Corporation, Union City, CA 94587, USA"],"raw_orcid":"https://orcid.org/0000-0001-5955-9755","affiliations":[{"raw_affiliation_string":"FANUC Advanced Research Laboratory, FANUC America Corporation, Union City, CA 94587, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100430782","display_name":"Yongxiang Fan","orcid":"https://orcid.org/0000-0002-1312-5561"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yongxiang Fan","raw_affiliation_strings":["FANUC Advanced Research Laboratory, FANUC America Corporation, Union City, CA 94587, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FANUC Advanced Research Laboratory, FANUC America Corporation, Union City, CA 94587, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081094990","display_name":"Ichiro Sakuma","orcid":"https://orcid.org/0000-0002-4919-9466"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ichiro Sakuma","raw_affiliation_strings":["Department of Precision Engineering, The University of Tokyo, Tokyo 113-8654, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Engineering, The University of Tokyo, Tokyo 113-8654, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5045711807"],"corresponding_institution_ids":[],"apc_list":{"value":2400,"currency":"CHF","value_usd":2673},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2673},"fwci":0.4637,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.55044471,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"23","issue":"5","first_page":"2514","last_page":"2514"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.9958999752998352,"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/robot","display_name":"Robot","score":0.5275677442550659},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46879443526268005},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39740821719169617},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37886273860931396},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.36450889706611633},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3209424614906311}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5275677442550659},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46879443526268005},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39740821719169617},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37886273860931396},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.36450889706611633},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3209424614906311}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23052514","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23052514","pdf_url":"https://www.mdpi.com/1424-8220/23/5/2514/pdf?version=1677222288","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:36904718","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/36904718","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10006960","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10006960","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10006960/pdf/sensors-23-02514.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:576d5ebda0f44281995c7304f931454c","is_oa":true,"landing_page_url":"https://doaj.org/article/576d5ebda0f44281995c7304f931454c","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":"Sensors, Vol 23, Iss 5, p 2514 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/5/2514/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23052514","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":"Sensors","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23052514","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23052514","pdf_url":"https://www.mdpi.com/1424-8220/23/5/2514/pdf?version=1677222288","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.4300000071525574,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4321787715.pdf"},"referenced_works_count":27,"referenced_works":["https://openalex.org/W1516801383","https://openalex.org/W1903836554","https://openalex.org/W2008849352","https://openalex.org/W2023041322","https://openalex.org/W2096608079","https://openalex.org/W2124386111","https://openalex.org/W2160072137","https://openalex.org/W2771008497","https://openalex.org/W2903857705","https://openalex.org/W2962787969","https://openalex.org/W2967355195","https://openalex.org/W2994446013","https://openalex.org/W2996084504","https://openalex.org/W3037308396","https://openalex.org/W3039772337","https://openalex.org/W3044296014","https://openalex.org/W3114633325","https://openalex.org/W3122943274","https://openalex.org/W3128707967","https://openalex.org/W3129721466","https://openalex.org/W3138984732","https://openalex.org/W3162709768","https://openalex.org/W3167898434","https://openalex.org/W3174364619","https://openalex.org/W3183526037","https://openalex.org/W4294761851","https://openalex.org/W6674813922"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W2064245428","https://openalex.org/W2674584172","https://openalex.org/W1990892711","https://openalex.org/W2184085865","https://openalex.org/W2124621291","https://openalex.org/W2967743314","https://openalex.org/W2122871747"],"abstract_inverted_index":{"We":[0,38],"propose":[1],"a":[2,22,61,106,137],"novel":[3],"approach":[4,42,46],"for":[5],"robotic":[6],"industrial":[7,133],"insertion":[8,134],"tasks":[9,135],"using":[10],"the":[11,36,50,57,69,80,91,96,102,115,119,125],"Programming":[12],"by":[13,25,48],"Demonstration":[14],"technique.":[15],"Our":[16],"method":[17,127],"allows":[18],"robots":[19,130],"to":[20,113],"learn":[21,131],"high-precision":[23],"task":[24],"observing":[26],"human":[27,51,139],"demonstration":[28,87],"once,":[29],"without":[30],"requiring":[31],"any":[32],"prior":[33],"knowledge":[34],"of":[35],"object.":[37],"introduce":[39],"an":[40],"Imitated-to-Finetuned":[41],"that":[43,94,124],"generates":[44],"imitated":[45],"trajectories":[47],"cloning":[49],"hand's":[52],"movements":[53],"and":[54,98,101],"then":[55],"fine-tunes":[56],"goal":[58],"position":[59],"with":[60],"visual":[62,73],"servoing":[63],"approach.":[64],"To":[65],"identify":[66],"features":[67,117],"on":[68,118],"object":[70,77,82,97],"used":[71,112],"in":[72],"servoing,":[74],"we":[75],"model":[76],"tracking":[78],"as":[79],"moving":[81,92],"detection":[83],"problem,":[84],"separating":[85],"each":[86],"video":[88],"frame":[89],"into":[90],"foreground":[93],"includes":[95],"demonstrator's":[99],"hand":[100,107],"static":[103],"background.":[104],"Then":[105],"keypoints":[108],"estimation":[109],"function":[110],"is":[111],"remove":[114],"redundant":[116],"hand.":[120],"The":[121],"experiment":[122],"shows":[123],"proposed":[126],"can":[128],"make":[129],"precision":[132],"from":[136],"single":[138],"demonstration.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
