{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T05:57:51Z","timestamp":1777615071783,"version":"3.51.4"},"publisher-location":"Cham","reference-count":52,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783319609157","type":"print"},{"value":"9783319609164","type":"electronic"}],"license":[{"start":{"date-parts":[[2017,7,25]],"date-time":"2017-07-25T00:00:00Z","timestamp":1500940800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2018]]},"DOI":"10.1007\/978-3-319-60916-4_7","type":"book-chapter","created":{"date-parts":[[2017,7,24]],"date-time":"2017-07-24T07:53:33Z","timestamp":1500882813000},"page":"111-126","source":"Crossref","is-referenced-by-count":20,"title":["Robot Learning with Task-Parameterized Generative Models"],"prefix":"10.1007","author":[{"given":"Sylvain","family":"Calinon","sequence":"first","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2017,7,25]]},"reference":[{"key":"7_CR1","doi-asserted-by":"crossref","unstructured":"Abbeel, P., Ng, A.Y.: Apprenticeship learning via inverse reinforcement learning. In: Proceedings of the International Conference on Machine Learning (ICML), Banff, Alberta, Canada (2004)","DOI":"10.1145\/1015330.1015430"},{"key":"7_CR2","doi-asserted-by":"crossref","unstructured":"Alizadeh, T., Calinon, S., Caldwell, D.G.: Learning from demonstrations with partially observable task parameters. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 3309\u20133314, Hong Kong, China (2014)","DOI":"10.1109\/ICRA.2014.6907335"},{"key":"7_CR3","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-319-02877-4","volume-title":"Underwater Robots","author":"G Antonelli","year":"2014","unstructured":"Antonelli, G.: Underwater Robots, 3rd edn. Springer International Publishing, Heidelberg (2014)","edition":"3"},{"key":"7_CR4","doi-asserted-by":"crossref","DOI":"10.1515\/9781400828739","volume-title":"Feedback Systems: An Introduction for Scientists and Engineers","author":"KJ Astrom","year":"2008","unstructured":"Astrom, K.J., Murray, R.M.: Feedback Systems: An Introduction for Scientists and Engineers. Princeton University Press, Princeton (2008)"},{"issue":"7","key":"7_CR5","doi-asserted-by":"crossref","first-page":"785","DOI":"10.1109\/TMI.2003.815059","volume":"22","author":"PJ Basser","year":"2003","unstructured":"Basser, P.J., Pajevic, S.: A normal distribution for tensor-valued random variables: applications to diffusion tensor MRI. IEEE Trans. Med. Imag. 22(7), 785\u2013794 (2003)","journal-title":"IEEE Trans. Med. Imag."},{"key":"7_CR6","doi-asserted-by":"crossref","first-page":"52","DOI":"10.1016\/j.csda.2012.12.008","volume":"71","author":"C Bouveyron","year":"2014","unstructured":"Bouveyron, C., Brunet, C.: Model-based clustering of high-dimensional data: a review. Comput. Stat. Data Anal. 71, 52\u201378 (2014)","journal-title":"Comput. Stat. Data Anal."},{"key":"7_CR7","doi-asserted-by":"crossref","unstructured":"Brand, M., Hertzmann, A.: Style machines. In: Proceedings of the ACM International Conference on Computer Graphics and Interactive Techniques (SIGGRAPH), pp. 183\u2013192, New Orleans, Louisiana, USA (2000)","DOI":"10.1145\/344779.344865"},{"key":"7_CR8","doi-asserted-by":"crossref","unstructured":"Calinon, S., Alizadeh, T., Caldwell, D.G.: On improving the extrapolation capability of task-parameterized movement models. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 610\u2013616, Tokyo, Japan (2013)","DOI":"10.1109\/IROS.2013.6696414"},{"issue":"15","key":"7_CR9","doi-asserted-by":"crossref","first-page":"2059","DOI":"10.1163\/016918609X12529294461843","volume":"23","author":"S Calinon","year":"2009","unstructured":"Calinon, S., Billard, A.G.: Statistical learning by imitation of competing constraints in joint space and task space. Adv. Robot. 23(15), 2059\u20132076 (2009)","journal-title":"Adv. Robot."},{"key":"7_CR10","doi-asserted-by":"crossref","unstructured":"Calinon, S., Bruno, D., Caldwell, D.G.: A task-parameterized probabilistic model with minimal intervention control. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 3339\u20133344, Hong Kong, China (2014)","DOI":"10.1109\/ICRA.2014.6907339"},{"key":"7_CR11","doi-asserted-by":"crossref","unstructured":"Calinon, S., Li, Z., Alizadeh, T., Tsagarakis, N.G., Caldwell, D.G.: Statistical dynamical systems for skills acquisition in humanoids. In: Proceedings of the IEEE International Conference on Humanoid Robots (Humanoids), pp. 323\u2013329, Osaka, Japan (2012)","DOI":"10.1109\/HUMANOIDS.2012.6651539"},{"issue":"1","key":"7_CR12","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1109\/TRO.2005.861485","volume":"22","author":"CL Campbell","year":"2006","unstructured":"Campbell, C.L., Peters, R.A., Bodenheimer, R.E., Bluethmann, W.J., Huber, E., Ambrose, R.O.: Superpositioning of behaviors learned through teleoperation. IEEE Trans. Robot. 22(1), 79\u201391 (2006)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"7_CR13","doi-asserted-by":"crossref","first-page":"357","DOI":"10.1007\/s12369-012-0155-x","volume":"4","author":"S Dong","year":"2012","unstructured":"Dong, S., Williams, B.: Learning and recognition of hybrid manipulation motions in variable environments using probabilistic flow tubes. Int. J. Soc. Robot. 4(4), 357\u2013368 (2012)","journal-title":"Int. J. Soc. Robot."},{"key":"7_CR14","doi-asserted-by":"crossref","unstructured":"Field, M., Stirling, D., Pan, Z., Naghdy, F.: Learning trajectories for robot programing by demonstration using a coordinated mixture of factor analyzers. IEEE Trans. Cybern. 46(3), 706\u2013717 (2016)","DOI":"10.1109\/TCYB.2015.2414277"},{"issue":"6","key":"7_CR15","doi-asserted-by":"crossref","first-page":"660","DOI":"10.1016\/j.conb.2005.10.011","volume":"15","author":"T Flash","year":"2005","unstructured":"Flash, T., Hochner, B.: Motor primitives in vertebrates and invertebrates. Cur. Opin. Neurobiol. 15(6), 660\u2013666 (2005)","journal-title":"Cur. Opin. Neurobiol."},{"issue":"10","key":"7_CR16","doi-asserted-by":"crossref","first-page":"1327","DOI":"10.1016\/j.robot.2012.05.004","volume":"60","author":"D Forte","year":"2012","unstructured":"Forte, D., Gams, A., Morimoto, J., Ude, A.: On-line motion synthesis and adaptation using a trajectory database. Robot. Auton. Syst. 60(10), 1327\u20131339 (2012)","journal-title":"Robot. Auton. Syst."},{"issue":"3","key":"7_CR17","doi-asserted-by":"crossref","first-page":"272","DOI":"10.1109\/89.759034","volume":"7","author":"MJF Gales","year":"1999","unstructured":"Gales, M.J.F.: Semi-tied covariance matrices for hidden markov models. IEEE Trans. Speech Audio Process. 7(3), 272\u2013281 (1999)","journal-title":"IEEE Trans. Speech Audio Process."},{"key":"7_CR18","first-page":"120","volume-title":"Advances in Neural Information Processing Systems (NIPS)","author":"Z Ghahramani","year":"1994","unstructured":"Ghahramani, Z., Jordan, M.I.: Supervised learning from incomplete data via an EM approach. In: Cowan, J.D., Tesauro, G., Alspector, J. (eds.) Advances in Neural Information Processing Systems (NIPS), vol. 6, pp. 120\u2013127. Morgan Kaufmann Publishers Inc, San Francisco (1994)"},{"issue":"6","key":"7_CR19","doi-asserted-by":"crossref","first-page":"1524","DOI":"10.1109\/TSMCB.2012.2193614","volume":"42","author":"S Hak","year":"2012","unstructured":"Hak, S., Mansard, N., Stasse, O., Laumond, J.P.: Reverse control for humanoid robot task recognition. IEEE Trans. Syst. Man Cybern. Part B Cybern. 42(6), 1524\u20131537 (2012)","journal-title":"IEEE Trans. Syst. Man Cybern. Part B Cybern."},{"issue":"2","key":"7_CR20","doi-asserted-by":"crossref","first-page":"328","DOI":"10.1162\/NECO_a_00393","volume":"25","author":"A Ijspeert","year":"2013","unstructured":"Ijspeert, A., Nakanishi, J., Pastor, P., Hoffmann, H., Schaal, S.: Dynamical movement primitives: learning attractor models for motor behaviors. Neural Comput. 25(2), 328\u2013373 (2013)","journal-title":"Neural Comput."},{"issue":"4\u20135","key":"7_CR21","doi-asserted-by":"crossref","first-page":"363","DOI":"10.1177\/0278364904042199","volume":"23","author":"T Inamura","year":"2004","unstructured":"Inamura, T., Toshima, I., Tanie, H., Nakamura, Y.: Embodied symbol emergence based on mimesis theory. Intl. J. Robot. Res. 23(4\u20135), 363\u2013377 (2004)","journal-title":"Intl. J. Robot. Res."},{"issue":"5","key":"7_CR22","doi-asserted-by":"crossref","first-page":"943","DOI":"10.1109\/TRO.2011.2159412","volume":"27","author":"SM Khansari-Zadeh","year":"2011","unstructured":"Khansari-Zadeh, S.M., Billard, A.: Learning stable non-linear dynamical systems with Gaussian mixture models. IEEE Trans. Robot. 27(5), 943\u2013957 (2011)","journal-title":"IEEE Trans. Robot."},{"issue":"4","key":"7_CR23","doi-asserted-by":"crossref","first-page":"361","DOI":"10.1007\/s10514-012-9290-3","volume":"33","author":"J Kober","year":"2012","unstructured":"Kober, J., Wilhelm, A., Oztop, E., Peters, J.: Reinforcement learning to adjust parametrized motor primitives to new situations. Auton. Robot. 33(4), 361\u2013379 (2012)","journal-title":"Auton. Robot."},{"issue":"3","key":"7_CR24","doi-asserted-by":"crossref","first-page":"455","DOI":"10.1137\/07070111X","volume":"51","author":"T Kolda","year":"2009","unstructured":"Kolda, T., Bader, B.: Tensor decompositions and applications. SIAM Rev. 51(3), 455\u2013500 (2009)","journal-title":"SIAM Rev."},{"key":"7_CR25","doi-asserted-by":"crossref","unstructured":"Kronander, K., Khansari-Zadeh, M.S.M., Billard, A.: Learning to control planar hitting motions in a minigolf-like task. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 710\u2013717 (2011)","DOI":"10.1109\/IROS.2011.6094402"},{"issue":"2","key":"7_CR26","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1109\/MRA.2010.936961","volume":"17","author":"V Krueger","year":"2010","unstructured":"Krueger, V., Herzog, D.L., Baby, S., Ude, A., Kragic, D.: Learning actions from observations: primitive-based modeling and grammar. IEEE Robot. Autom. Mag. 17(2), 30\u201343 (2010)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"7_CR27","unstructured":"Kulis, B., Jordan, M.I.: Revisiting k-means: new algorithms via Bayesian nonparametrics. In: Proceedings of the International Conference on Machine Learning (ICML), pp. 1\u20138, Edinburgh, Scotland, UK (2012)"},{"key":"7_CR28","doi-asserted-by":"crossref","unstructured":"Lober, R., Padois, V., Sigaud, O.: Multiple task optimization using dynamical movement primitives for whole-body reactive control. In: Proceedings of the IEEE International Conference on Humanoid Robots (Humanoids), Madrid, Spain (2014)","DOI":"10.1109\/HUMANOIDS.2014.7041359"},{"issue":"5","key":"7_CR29","doi-asserted-by":"crossref","first-page":"493","DOI":"10.1016\/j.neunet.2011.02.004","volume":"24","author":"T Matsubara","year":"2011","unstructured":"Matsubara, T., Hyon, S.H., Morimoto, J.: Learning parametric dynamic movement primitives from multiple demonstrations. Neural Netw. 24(5), 493\u2013500 (2011)","journal-title":"Neural Netw."},{"issue":"3\u20134","key":"7_CR30","doi-asserted-by":"crossref","first-page":"379","DOI":"10.1016\/S0167-9473(02)00183-4","volume":"41","author":"GJ McLachlan","year":"2003","unstructured":"McLachlan, G.J., Peel, D., Bean, R.W.: Modelling high-dimensional data by mixtures of factor analyzers. Comput. Stat. Data Anal. 41(3\u20134), 379\u2013388 (2003)","journal-title":"Comput. Stat. Data Anal."},{"key":"7_CR31","unstructured":"Medina, J.R., Lee, D., Hirche, S.: Risk-sensitive optimal feedback control for haptic assistance. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 1025\u20131031 (2012)"},{"issue":"2","key":"7_CR32","doi-asserted-by":"crossref","first-page":"97","DOI":"10.1007\/s10514-011-9261-0","volume":"32","author":"M M\u00fchlig","year":"2012","unstructured":"M\u00fchlig, M., Gienger, M., Steil, J.: Interactive imitation learning of object movement skills. Auton. Robots 32(2), 97\u2013114 (2012)","journal-title":"Auton. Robots"},{"issue":"2","key":"7_CR33","doi-asserted-by":"crossref","first-page":"131","DOI":"10.1177\/0278364914554471","volume":"34","author":"S Niekum","year":"2015","unstructured":"Niekum, S., Osentoski, S., Konidaris, G., Chitta, S., Marthi, B., Barto, A.G.: Learning grounded finite-state representations from unstructured demonstrations. Int. J. Robot. Res. 34(2), 131\u2013157 (2015)","journal-title":"Int. J. Robot. Res."},{"key":"7_CR34","first-page":"554","volume-title":"Advances in Neural Information Processing Systems (NIPS)","author":"CE Rasmussen","year":"2000","unstructured":"Rasmussen, C.E.: The infinite Gaussian mixture model. In: Solla, S.A., Leen, T.K., Mueller, K.R. (eds.) Advances in Neural Information Processing Systems (NIPS), pp. 554\u2013560. MIT Press, Cambridge (2000)"},{"issue":"2","key":"7_CR35","doi-asserted-by":"crossref","first-page":"138","DOI":"10.1109\/LGRS.2008.915736","volume":"5","author":"N Renard","year":"2008","unstructured":"Renard, N., Bourennane, S., Blanc-Talon, J.: Denoising and dimensionality reduction using multilinear tools for hyperspectral images. IEEE Geosci. Remote Sens. Lett. 5(2), 138\u2013142 (2008)","journal-title":"IEEE Geosci. Remote Sens. Lett."},{"key":"7_CR36","doi-asserted-by":"crossref","unstructured":"Saveriano, M., An, S., Lee, D.: Incremental kinesthetic teaching of end-effector and null-space motion primitives. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 3570\u20133575 (2015)","DOI":"10.1109\/ICRA.2015.7139694"},{"issue":"2","key":"7_CR37","doi-asserted-by":"crossref","first-page":"461","DOI":"10.1214\/aos\/1176344136","volume":"6","author":"G Schwarz","year":"1978","unstructured":"Schwarz, G.: Estimating the dimension of a model. Ann. Stat. 6(2), 461\u2013464 (1978)","journal-title":"Ann. Stat."},{"issue":"7","key":"7_CR38","doi-asserted-by":"crossref","first-page":"403","DOI":"10.1109\/LSP.2011.2151856","volume":"18","author":"M Signoretto","year":"2011","unstructured":"Signoretto, M., Van de Plas, R., De Moor, B., Suykens, J.A.K.: Tensor versus matrix completion: a comparison with application to spectral data. IEEE Signal Process. Lett. 18(7), 403\u2013406 (2011)","journal-title":"IEEE Signal Process. Lett."},{"issue":"6\u20137","key":"7_CR39","doi-asserted-by":"crossref","first-page":"825","DOI":"10.1163\/016918611X563328","volume":"25","author":"K Sugiura","year":"2011","unstructured":"Sugiura, K., Iwahashi, N., Kashioka, H., Nakamura, S.: Learning, generation, and recognition of motions by reference-point-dependent probabilistic models. Adv. Robot. 25(6\u20137), 825\u2013848 (2011)","journal-title":"Adv. Robot."},{"key":"7_CR40","doi-asserted-by":"crossref","unstructured":"Tang, J., Singh, A., Goehausen, N., Abbeel, P.: Parameterized maneuver learning for autonomous helicopter flight. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 1142\u20131148 (2010)","DOI":"10.1109\/ROBOT.2010.5509832"},{"key":"7_CR41","unstructured":"Tang, Y., Salakhutdinov, R., Hinton, G.: Deep mixtures of factor analysers. In: Proceedings of the International Conference on Machine Learning (ICML), Edinburgh, Scotland (2012)"},{"issue":"2","key":"7_CR42","doi-asserted-by":"crossref","first-page":"443","DOI":"10.1162\/089976699300016728","volume":"11","author":"ME Tipping","year":"1999","unstructured":"Tipping, M.E., Bishop, C.M.: Mixtures of probabilistic principal component analyzers. Neural Comput. 11(2), 443\u2013482 (1999)","journal-title":"Neural Comput."},{"key":"7_CR43","doi-asserted-by":"crossref","first-page":"1226","DOI":"10.1038\/nn963","volume":"5","author":"E Todorov","year":"2002","unstructured":"Todorov, E., Jordan, M.I.: Optimal feedback control as a theory of motor coordination. Nat. Neurosci. 5, 1226\u20131235 (2002)","journal-title":"Nat. Neurosci."},{"key":"7_CR44","doi-asserted-by":"crossref","unstructured":"Towell, C., Howard, M., Vijayakumar, S.: Learning nullspace policies. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 241\u2013248 (2010)","DOI":"10.1109\/IROS.2010.5650663"},{"issue":"5","key":"7_CR45","doi-asserted-by":"crossref","first-page":"800","DOI":"10.1109\/TRO.2010.2065430","volume":"26","author":"A Ude","year":"2010","unstructured":"Ude, A., Gams, A., Asfour, T., Morimoto, J.: Task-specific generalization of discrete and periodic dynamic movement primitives. IEEE Trans. Robot. 26(5), 800\u2013815 (2010)","journal-title":"IEEE Trans. Robot."},{"key":"7_CR46","doi-asserted-by":"crossref","unstructured":"Vasilescu, M.A.O., Terzopoulos, D.: Multilinear analysis of image ensembles: tensorFaces. Computer Vision (ECCV). Lecture Notes in Computer Science, vol. 2350, pp. 447\u2013460. Springer, Heidelberg (2002)","DOI":"10.1007\/3-540-47969-4_30"},{"issue":"12","key":"7_CR47","doi-asserted-by":"crossref","first-page":"2602","DOI":"10.1162\/089976605774320557","volume":"17","author":"S Vijayakumar","year":"2005","unstructured":"Vijayakumar, S., D\u2019souza, A., Schaal, S.: Incremental online learning in high dimensions. Neural Comput. 17(12), 2602\u20132634 (2005)","journal-title":"Neural Comput."},{"key":"7_CR48","unstructured":"Wang, Y., Zhu, J.: DP-space: Bayesian nonparametric subspace clustering with small-variance asymptotics. In: Proceedings of the International Conference on Machine Learning (ICML), pp. 1\u20139, Lille, France (2015)"},{"issue":"9","key":"7_CR49","doi-asserted-by":"crossref","first-page":"884","DOI":"10.1109\/34.790429","volume":"21","author":"AD Wilson","year":"1999","unstructured":"Wilson, A.D., Bobick, A.F.: Parametric hidden Markov models for gesture recognition. IEEE Trans. Pattern Analysis Mach. Intell. 21(9), 884\u2013900 (1999)","journal-title":"IEEE Trans. Pattern Analysis Mach. Intell."},{"key":"7_CR50","doi-asserted-by":"crossref","first-page":"56","DOI":"10.5898\/JHRI.2.1.Wrede","volume":"2","author":"S Wrede","year":"2013","unstructured":"Wrede, S., Emmerich, C., Ricarda, R., Nordmann, A., Swadzba, A., Steil, J.J.: A user study on kinesthetic teaching of redundant robots in task and configuration space. J. Hum.-Robot Interact. 2, 56\u201381 (2013)","journal-title":"J. Hum.-Robot Interact."},{"issue":"1","key":"7_CR51","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1016\/j.csl.2006.01.002","volume":"21","author":"H Zen","year":"2007","unstructured":"Zen, H., Tokuda, K., Kitamura, T.: Reformulating the HMM as a trajectory model by imposing explicit relationships between static and dynamic feature vector sequences. Comput. Speech Lang. 21(1), 153\u2013173 (2007)","journal-title":"Comput. Speech Lang."},{"issue":"4","key":"7_CR52","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1109\/MSP.2013.2255334","volume":"30","author":"Q Zhao","year":"2013","unstructured":"Zhao, Q., Zhou, G., Adali, T., Zhang, L., Cichocki, A.: Kernelization of tensor-based models for multiway data analysis: processing of multidimensional structured data. IEEE Signal Process. Mag. 30(4), 137\u2013148 (2013)","journal-title":"IEEE Signal Process. Mag."}],"container-title":["Springer Proceedings in Advanced Robotics","Robotics Research"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-60916-4_7","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,24]],"date-time":"2025-06-24T17:32:16Z","timestamp":1750786336000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-319-60916-4_7"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,7,25]]},"ISBN":["9783319609157","9783319609164"],"references-count":52,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-60916-4_7","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"value":"2511-1256","type":"print"},{"value":"2511-1264","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,7,25]]}}}