{"id":"https://openalex.org/W7154731688","doi":"https://doi.org/10.48550/arxiv.2604.15215","title":"A Hierarchical Spatiotemporal Action Tokenizer for In-Context Imitation Learning in Robotics","display_name":"A Hierarchical Spatiotemporal Action Tokenizer for In-Context Imitation Learning in Robotics","publication_year":2026,"publication_date":"2026-04-16","ids":{"openalex":"https://openalex.org/W7154731688","doi":"https://doi.org/10.48550/arxiv.2604.15215"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.15215","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.15215","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.15215","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133836183","display_name":"Fawad Javed Fateh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fateh, Fawad Javed","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133860026","display_name":"Ali Shah Ali","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ali, Ali Shah","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080748235","display_name":"Murad Popattia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Popattia, Murad","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133859975","display_name":"Usman Nizamani","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nizamani, Usman","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088070581","display_name":"Andrey Konin","orcid":"https://orcid.org/0000-0003-1886-2402"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Konin, Andrey","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133913027","display_name":"M. Zeeshan Zia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zia, M. Zeeshan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5000328580","display_name":"Quoc-Huy Tran","orcid":"https://orcid.org/0000-0003-1396-6544"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tran, Quoc-Huy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.8752999901771545,"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":0.8752999901771545,"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":0.0608999989926815,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.028300000354647636,"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/action","display_name":"Action (physics)","score":0.7287999987602234},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.7002999782562256},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4945000112056732},{"id":"https://openalex.org/keywords/hierarchical-control-system","display_name":"Hierarchical control system","score":0.4361000061035156},{"id":"https://openalex.org/keywords/action-recognition","display_name":"Action recognition","score":0.4185999929904938},{"id":"https://openalex.org/keywords/hierarchical-database-model","display_name":"Hierarchical database model","score":0.3970000147819519}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7541999816894531},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.7287999987602234},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7281000018119812},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.7002999782562256},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4945000112056732},{"id":"https://openalex.org/C124527596","wikidata":"https://www.wikidata.org/wiki/Q17029359","display_name":"Hierarchical control system","level":3,"score":0.4361000061035156},{"id":"https://openalex.org/C2987834672","wikidata":"https://www.wikidata.org/wiki/Q4677630","display_name":"Action recognition","level":3,"score":0.4185999929904938},{"id":"https://openalex.org/C144986985","wikidata":"https://www.wikidata.org/wiki/Q871236","display_name":"Hierarchical database model","level":2,"score":0.3970000147819519},{"id":"https://openalex.org/C159620131","wikidata":"https://www.wikidata.org/wiki/Q1938983","display_name":"Spatial analysis","level":2,"score":0.3278000056743622},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.321399986743927},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.30169999599456787},{"id":"https://openalex.org/C2781179811","wikidata":"https://www.wikidata.org/wiki/Q28134081","display_name":"Spatial configuration","level":3,"score":0.30090001225471497},{"id":"https://openalex.org/C2780217385","wikidata":"https://www.wikidata.org/wiki/Q2389284","display_name":"Hierarchical organization","level":2,"score":0.28290000557899475},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.25119999051094055}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.15215","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.15215","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.15215","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.15215","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,12],"present":[1],"a":[2,15,77,117],"novel":[3],"hierarchical":[4,16,49,78,86],"spatiotemporal":[5,79,87],"action":[6,80],"tokenizer":[7],"for":[8],"in-context":[9,122],"imitation":[10,123],"learning.":[11,124],"first":[13],"propose":[14],"approach,":[17],"which":[18],"consists":[19],"of":[20,24],"two":[21],"successive":[22],"levels":[23],"vector":[25],"quantization.":[26],"In":[27],"particular,":[28],"the":[29,39,52],"lower":[30],"level":[31,41],"assigns":[32],"input":[33,62,95],"actions":[34,96],"to":[35,46],"fine-grained":[36,44],"subclusters,":[37],"while":[38,55,92],"higher":[40],"further":[42],"maps":[43],"subclusters":[45],"clusters.":[47],"Our":[48],"approach":[50,68,88,115],"outperforms":[51],"non-hierarchical":[53],"counterpart,":[54],"mainly":[56],"exploiting":[57],"spatial":[58,72],"information":[59],"by":[60,69],"reconstructing":[61],"actions.":[63],"Furthermore,":[64],"we":[65],"extend":[66],"our":[67,85,114],"utilizing":[70],"both":[71],"and":[73,97,107],"temporal":[74],"cues,":[75],"forming":[76],"tokenizer,":[81],"namely":[82],"HiST-AT.":[83],"Specifically,":[84],"conducts":[89],"multi-level":[90],"clustering,":[91],"simultaneously":[93],"recovering":[94],"their":[98],"associated":[99],"timestamps.":[100],"Finally,":[101],"extensive":[102],"evaluations":[103],"on":[104],"multiple":[105],"simulation":[106],"real":[108],"robotic":[109],"manipulation":[110],"benchmarks":[111],"show":[112],"that":[113],"establishes":[116],"new":[118],"state-of-the-art":[119],"performance":[120],"in":[121]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-18T00:00:00"}
