{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,7]],"date-time":"2026-01-07T07:51:56Z","timestamp":1767772316671,"version":"3.38.0"},"reference-count":85,"publisher":"SAGE Publications","issue":"10-11","license":[{"start":{"date-parts":[[2019,8,2]],"date-time":"2019-08-02T00:00:00Z","timestamp":1564704000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2019,9]]},"abstract":"<jats:p> Human beings can generalize from one action to similar ones. Robots cannot do this and progress concerning information transfer between robotic actions is slow. We have designed a system that performs action generalization for manipulation actions in different scenarios. It relies on an action representation for which we perform code-snippet replacement, combining information from different actions to form new ones. The system interprets human instructions via a parser using simplified language. It uses action and object names to index action data tables (ADTs), where execution-relevant information is stored. We have created an ADT database from three different sources (KUKA LWR, UR5, and simulation) and show how a new ADT is generated by cutting and recombining data from existing ADTs. To achieve this, a small set of action templates is used. After parsing a new instruction, index-based searching finds similar ADTs in the database. Then the action template of the new action is matched against the information in the similar ADTs. Code snippets are extracted and ranked according to matching quality. The new ADT is created by concatenating code snippets from best matches. For execution, only coordinate transforms are needed to account for the poses of the objects in the new scene. The system was evaluated, without additional error correction, using 45 unknown objects in 81 new action executions, with 80% success. We then extended the method including more detailed shape information, which further reduced errors. This demonstrates that cut &amp; recombine is a viable approach for action generalization in service robotic applications. <\/jats:p>","DOI":"10.1177\/0278364919865594","type":"journal-article","created":{"date-parts":[[2019,8,2]],"date-time":"2019-08-02T12:14:50Z","timestamp":1564748090000},"page":"1179-1207","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Cut &amp; recombine: reuse of robot action components based on simple language instructions"],"prefix":"10.1177","volume":"38","author":[{"given":"Minija","family":"Tamosiunaite","sequence":"first","affiliation":[{"name":"Department for Computational Neuroscience, Inst. Physics-3, Georg-August-Universit\u00e4t G\u00f6ttingen, Germany"},{"name":"Faculty of Informatics, Vytautas Magnus University, Lithuania"}]},{"given":"Mohamad Javad","family":"Aein","sequence":"additional","affiliation":[{"name":"Department for Computational Neuroscience, Inst. Physics-3, Georg-August-Universit\u00e4t G\u00f6ttingen, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2749-9000","authenticated-orcid":false,"given":"Jan Matthias","family":"Braun","sequence":"additional","affiliation":[{"name":"Department for Computational Neuroscience, Inst. Physics-3, Georg-August-Universit\u00e4t G\u00f6ttingen, Germany"}]},{"given":"Tomas","family":"Kulvicius","sequence":"additional","affiliation":[{"name":"Department for Computational Neuroscience, Inst. Physics-3, Georg-August-Universit\u00e4t G\u00f6ttingen, Germany"}]},{"given":"Irena","family":"Markievicz","sequence":"additional","affiliation":[{"name":"Faculty of Informatics, Vytautas Magnus University, Lithuania"}]},{"given":"Jurgita","family":"Kapociute-Dzikiene","sequence":"additional","affiliation":[{"name":"Faculty of Informatics, Vytautas Magnus University, Lithuania"}]},{"given":"Rita","family":"Valteryte","sequence":"additional","affiliation":[{"name":"Faculty of Informatics, Vytautas Magnus University, Lithuania"}]},{"given":"Andrei","family":"Haidu","sequence":"additional","affiliation":[{"name":"Institute for Artificial Intelligence, University of Bremen, Germany"}]},{"given":"Dimitrios","family":"Chrysostomou","sequence":"additional","affiliation":[{"name":"Department of Materials & Production, Robotics and Automation Group, Aalborg University, Denmark"}]},{"given":"Barry","family":"Ridge","sequence":"additional","affiliation":[{"name":"Department of Automatics, Biocybernetics, and Robotics, Jo\u017eef Stefan Institute, Slovenia"}]},{"given":"Tomas","family":"Krilavicius","sequence":"additional","affiliation":[{"name":"Faculty of Informatics, Vytautas Magnus University, Lithuania"}]},{"given":"Daiva","family":"Vitkute-Adzgauskiene","sequence":"additional","affiliation":[{"name":"Faculty of Informatics, Vytautas Magnus University, Lithuania"}]},{"given":"Michael","family":"Beetz","sequence":"additional","affiliation":[{"name":"Institute for Artificial Intelligence, University of Bremen, Germany"}]},{"given":"Ole","family":"Madsen","sequence":"additional","affiliation":[{"name":"Department of Materials & Production, Robotics and Automation Group, Aalborg University, Denmark"}]},{"given":"Ales","family":"Ude","sequence":"additional","affiliation":[{"name":"Department of Automatics, Biocybernetics, and Robotics, Jo\u017eef Stefan Institute, Slovenia"}]},{"given":"Norbert","family":"Kr\u00fcger","sequence":"additional","affiliation":[{"name":"Maersk Mc-Kinney Moeller Institut, South Denmark University, Denmark"}]},{"given":"Florentin","family":"W\u00f6rg\u00f6tter","sequence":"additional","affiliation":[{"name":"Department for Computational Neuroscience, Inst. Physics-3, Georg-August-Universit\u00e4t G\u00f6ttingen, Germany"}]}],"member":"179","published-online":{"date-parts":[[2019,8,2]]},"reference":[{"volume-title":"Development and analysis of a library of actions for robot arm-hand systems","year":"2016","author":"Aein MJ","key":"bibr1-0278364919865594"},{"key":"bibr2-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697011"},{"key":"bibr3-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911410459"},{"key":"bibr4-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-016-0956-8"},{"key":"bibr5-0278364919865594","doi-asserted-by":"crossref","first-page":"109","DOI":"10.1109\/HUMANOIDS.2016.7803262","volume-title":"2016 IEEE-RAS 16th international conference on humanoid robots (humanoids)","author":"Aksoy EE","year":"2016"},{"key":"bibr6-0278364919865594","doi-asserted-by":"crossref","first-page":"5537","DOI":"10.1109\/ICRA.2015.7139973","volume-title":"2015 IEEE international conference on robotics and automation (ICRA)","author":"Alexandrova S","year":"2015"},{"key":"bibr7-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1609\/aimag.v37i2.2651"},{"key":"bibr8-0278364919865594","doi-asserted-by":"crossref","first-page":"18","DOI":"10.1109\/ICAL.2009.5262992","volume-title":"2009 IEEE international conference on automation and logistics","author":"Angerer A","year":"2009"},{"issue":"1","key":"bibr9-0278364919865594","doi-asserted-by":"crossref","first-page":"49","DOI":"10.1162\/tacl_a_00209","volume":"1","author":"Artzi Y","year":"2013","journal-title":"Transactions of the Association for Computational Linguistics"},{"key":"bibr10-0278364919865594","doi-asserted-by":"crossref","first-page":"5380","DOI":"10.1109\/ICRA.2016.7487749","volume-title":"2016 IEEE international conference on robotics and automation (ICRA)","author":"Beetz M","year":"2016"},{"key":"bibr11-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_60"},{"issue":"1","key":"bibr12-0278364919865594","doi-asserted-by":"crossref","first-page":"8999","DOI":"10.3182\/20110828-6-IT-1002.01053","volume":"44","author":"Bj\u00f6rkelund A","year":"2011","journal-title":"IFAC Proceedings Volumes"},{"key":"bibr13-0278364919865594","first-page":"6","volume-title":"43rd international symposium on robotics (ISR)","author":"B\u00f8gh S","year":"2012"},{"key":"bibr14-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2289018"},{"key":"bibr15-0278364919865594","doi-asserted-by":"crossref","first-page":"481","DOI":"10.1007\/978-3-319-00065-7_33","volume-title":"Experimental Robotics","author":"Bollini M","year":"2013"},{"key":"bibr16-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2794626"},{"issue":"3","key":"bibr17-0278364919865594","first-page":"33","volume":"2011","author":"Buchin M","year":"2011","journal-title":"Journal of Spatial Information Science"},{"key":"bibr18-0278364919865594","doi-asserted-by":"crossref","first-page":"165","DOI":"10.3115\/1654536.1654570","volume-title":"ACL-PASCAL workshop on textual entailment and paraphrasing, RTE \u201907","author":"Chambers N","year":"2007"},{"volume-title":"Coling 2008: Proceedings of the workshop on cross-framework and cross-domain parser evaluation, CrossParser \u201908","year":"2008","author":"de Marneffe MC","key":"bibr19-0278364919865594"},{"key":"bibr20-0278364919865594","first-page":"4585","volume-title":"Ninth international conference on language resources and evaluation (LREC)","author":"de Marneffe MC","year":"2014"},{"key":"bibr21-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.03.005"},{"key":"bibr22-0278364919865594","first-page":"616","volume-title":"International conference on emerging technologies and factory automation (ETFA)","author":"Drath R","year":"2008"},{"key":"bibr23-0278364919865594","doi-asserted-by":"crossref","first-page":"2007","DOI":"10.1109\/ICRA.2015.7139461","volume-title":"2015 IEEE international conference on robotics and automation (ICRA)","author":"Erdem E","year":"2015"},{"key":"bibr24-0278364919865594","first-page":"2786","volume-title":"IEEE international conference on robotics and automation (ICRA)","author":"Finn C","year":"2017"},{"key":"bibr25-0278364919865594","first-page":"213","volume-title":"2016 11th ACM\/IEEE international conference on human\u2013robot interaction (HRI)","author":"Fischer K","year":"2016"},{"key":"bibr26-0278364919865594","doi-asserted-by":"crossref","first-page":"229","DOI":"10.1109\/ICAR.2017.8023523","volume-title":"18th international conference on advanced robotics (ICAR)","author":"Gaspar T","year":"2017"},{"key":"bibr27-0278364919865594","first-page":"851","volume-title":"2015 International conference on autonomous agents and multiagent systems, AAMAS \u201915","author":"Gemignani G","year":"2015"},{"key":"bibr28-0278364919865594","doi-asserted-by":"crossref","first-page":"1640","DOI":"10.1109\/IROS.2013.6696569","volume-title":"2013 IEEE\/RSJ international conference on intelligent robots and systems","author":"Guadarrama S","year":"2013"},{"key":"bibr29-0278364919865594","first-page":"2833","volume-title":"International conference on intelligent robots and systems (IROS)","author":"Haidu A","year":"2016"},{"key":"bibr30-0278364919865594","doi-asserted-by":"crossref","first-page":"6227","DOI":"10.1109\/ICRA.2015.7140073","volume-title":"2015 IEEE international conference on robotics and automation (ICRA)","author":"Hart S","year":"2015"},{"key":"bibr31-0278364919865594","doi-asserted-by":"crossref","first-page":"745","DOI":"10.1007\/978-3-319-20816-9_71","volume-title":"Foundations of Augmented Cognition","author":"Huang DW","year":"2015"},{"key":"bibr32-0278364919865594","first-page":"295","volume-title":"Eleventh ACM\/IEEE international conference on human robot interaction, HRI \u201916","author":"Huang J","year":"2016"},{"volume-title":"Fifth international conference on language resources and evaluation (LREC-2006)","year":"2006","author":"Kipper K","key":"bibr33-0278364919865594"},{"key":"bibr34-0278364919865594","doi-asserted-by":"crossref","first-page":"478","DOI":"10.3115\/1218955.1219016","volume-title":"42nd annual meeting of Association for Computational Linguistics, ACL \u201904","author":"Klein D","year":"2004"},{"key":"bibr35-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913495721"},{"key":"bibr36-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-28572-1_3"},{"volume-title":"8th IEEE international conference on automatic face & gesture recognition, FG\u201908","year":"2008","author":"Kong W","key":"bibr37-0278364919865594"},{"key":"bibr38-0278364919865594","doi-asserted-by":"crossref","first-page":"668","DOI":"10.1109\/HUMANOIDS.2016.7803346","volume-title":"2016 IEEE-RAS 16th international conference on humanoid robots (humanoids)","author":"Kramberger A","year":"2016"},{"key":"bibr39-0278364919865594","first-page":"794","volume-title":"2017 IEEE international conference on robotics and automation (ICRA)","author":"Ku LY","year":"2017"},{"key":"bibr40-0278364919865594","first-page":"2434","volume-title":"IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Ku LY","year":"2017"},{"volume-title":"Robot Motion Planning","year":"2012","author":"Latombe JC","key":"bibr41-0278364919865594"},{"key":"bibr42-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917710318"},{"key":"bibr43-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2195500"},{"key":"bibr44-0278364919865594","doi-asserted-by":"crossref","first-page":"5202","DOI":"10.1109\/IROS.2015.7354110","volume-title":"2015 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Lisca G","year":"2015"},{"key":"bibr45-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.807548"},{"key":"bibr46-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943187"},{"key":"bibr47-0278364919865594","doi-asserted-by":"crossref","first-page":"173","DOI":"10.1007\/978-3-642-41947-8_16","volume-title":"Information and Software Technologies","author":"Markievicz I","year":"2013"},{"key":"bibr48-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-00065-7_28"},{"issue":"1","key":"bibr49-0278364919865594","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1002\/bult.105","volume":"25","author":"Miller E","year":"1998","journal-title":"Bulletin of the American Society for Information Science and Technology"},{"key":"bibr50-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1093\/ijl\/3.4.235"},{"key":"bibr51-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915602060"},{"key":"bibr52-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1108\/IR-09-2013-400"},{"key":"bibr53-0278364919865594","doi-asserted-by":"crossref","first-page":"3535","DOI":"10.1109\/IROS.2013.6696860","volume-title":"2013 IEEE\/RSJ international conference on intelligent robots and systems","author":"Nakamura A","year":"2013"},{"key":"bibr54-0278364919865594","doi-asserted-by":"crossref","first-page":"364","DOI":"10.1109\/IROS.2012.6385940","volume-title":"2012 IEEE\/RSJ international conference on intelligent robots and systems","author":"Niemueller T","year":"2012"},{"key":"bibr55-0278364919865594","first-page":"99","volume-title":"43rd annual meeting of the Association for Computational Linguistics, ACL \u201905","author":"Nivre J","year":"2005"},{"key":"bibr56-0278364919865594","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1109\/IROS.2012.6385923","volume-title":"2012 IEEE\/RSJ international conference on intelligent robots and systems","author":"Nyga D","year":"2012"},{"key":"bibr57-0278364919865594","doi-asserted-by":"crossref","first-page":"365","DOI":"10.1109\/HUMANOIDS.2015.7363576","volume-title":"2015 IEEE-RAS 15th international conference on humanoid robots (humanoids)","author":"Ovchinnikova E","year":"2015"},{"volume-title":"ISR 2010 (41st international symposium on robotics) and ROBOTIK 2010 (6th German conference on robotics)","year":"2010","author":"Persson J","key":"bibr58-0278364919865594"},{"key":"bibr59-0278364919865594","doi-asserted-by":"crossref","first-page":"2008","DOI":"10.1109\/ROBIO.2015.7419068","volume-title":"2015 IEEE international conference on robotics and biomimetics (ROBIO)","author":"Perzylo A","year":"2015"},{"key":"bibr60-0278364919865594","doi-asserted-by":"crossref","first-page":"2293","DOI":"10.1109\/IROS.2016.7759358","volume-title":"2016 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Perzylo A","year":"2016"},{"key":"bibr61-0278364919865594","doi-asserted-by":"crossref","first-page":"1812","DOI":"10.1109\/IROS.2015.7353613","volume-title":"2015 IEEE\/RSJ international conference on intelligent robots and systems (IROS)","author":"Profanter S","year":"2015"},{"key":"bibr62-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2014.2377791"},{"key":"bibr63-0278364919865594","first-page":"862","volume-title":"IJCAI\u201916, the 26th international joint conference on artificial intelligence","author":"Rosenthal S","year":"2016"},{"volume-title":"ISR\/Robotik 2014; 41st international symposium on robotics","year":"2014","author":"Schlette C","key":"bibr64-0278364919865594"},{"volume-title":"IEEE ISR 2013","year":"2013","author":"Schou C","key":"bibr65-0278364919865594"},{"key":"bibr66-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2006.62"},{"key":"bibr67-0278364919865594","doi-asserted-by":"crossref","first-page":"89","DOI":"10.3115\/v1\/W14-4313","volume-title":"15th annual meeting of the special interest group on discourse and dialogue (SIGDIAL)","author":"She L","year":"2014"},{"issue":"2","key":"bibr68-0278364919865594","doi-asserted-by":"crossref","first-page":"53","DOI":"10.1007\/s11370-014-0145-y","volume":"7","author":"Stampfer D","year":"2014","journal-title":"Intelligent Service Robotics"},{"key":"bibr69-0278364919865594","doi-asserted-by":"crossref","first-page":"280","DOI":"10.1109\/COASE.2016.7743419","volume-title":"2016 IEEE international conference on automation science and engineering (CASE)","author":"Steinmetz F","year":"2016"},{"volume-title":"44th international symposium on robotics (ISR)","year":"2013","author":"Stenmark M","key":"bibr70-0278364919865594"},{"key":"bibr71-0278364919865594","first-page":"189","volume-title":"Intelligent Systems \u20192014: Advances in Intelligent Systems and Computing","author":"Stenmark M","year":"2015"},{"key":"bibr72-0278364919865594","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1613\/jair.3451","volume":"43","author":"Stulp F","year":"2012","journal-title":"Journal of Artificial Intelligence Research"},{"key":"bibr73-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2205651"},{"key":"bibr74-0278364919865594","first-page":"1507","volume-title":"Twenty-fifth AAAI conference on artificial intelligence (AAAI)","author":"Tellex S","year":"2011"},{"key":"bibr75-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913481635"},{"issue":"3","key":"bibr76-0278364919865594","doi-asserted-by":"crossref","first-page":"643","DOI":"10.1109\/TASE.2013.2244883","volume":"10","author":"Tenorth M","year":"2013","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"key":"bibr77-0278364919865594","first-page":"1923","volume-title":"2015 international joint conference on artificial intelligence (IJCAI)","author":"Thomason J","year":"2015"},{"key":"bibr78-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2192171"},{"key":"bibr79-0278364919865594","first-page":"1579","volume-title":"IEEE international conference on robotics and automation (ICRA)","author":"Vezzani G","year":"2017"},{"key":"bibr80-0278364919865594","doi-asserted-by":"crossref","first-page":"33","DOI":"10.3389\/frobt.2016.00033","volume":"3","author":"W\u00e4chter M","year":"2016","journal-title":"Frontiers in Robotics and AI"},{"key":"bibr81-0278364919865594","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2011.941632"},{"issue":"9","key":"bibr82-0278364919865594","doi-asserted-by":"crossref","first-page":"1167","DOI":"10.1177\/0278364914537359","volume":"31","author":"Walter MR","year":"2014","journal-title":"The International Journal of Robotics Research"},{"key":"bibr83-0278364919865594","first-page":"1360","volume-title":"16th conference on autonomous agents and multi-agent systems","author":"Williams T","year":"2017"},{"key":"bibr84-0278364919865594","first-page":"47","volume":"3","author":"Winkler J","year":"2014","journal-title":"Advances in Cognitive Systems"},{"issue":"2","key":"bibr85-0278364919865594","doi-asserted-by":"crossref","first-page":"117","DOI":"10.1109\/TAMD.2012.2232291","volume":"05","author":"W\u00f6rg\u00f6tter F","year":"2013","journal-title":"IEEE Transactions on Autonomous Mental Development"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364919865594","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364919865594","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364919865594","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T04:50:52Z","timestamp":1740804652000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364919865594"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,8,2]]},"references-count":85,"journal-issue":{"issue":"10-11","published-print":{"date-parts":[[2019,9]]}},"alternative-id":["10.1177\/0278364919865594"],"URL":"https:\/\/doi.org\/10.1177\/0278364919865594","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2019,8,2]]}}}