{"id":"https://openalex.org/W1539716820","doi":"https://doi.org/10.1109/icra.2015.7139389","title":"Towards learning hierarchical skills for multi-phase manipulation tasks","display_name":"Towards learning hierarchical skills for multi-phase manipulation tasks","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1539716820","doi":"https://doi.org/10.1109/icra.2015.7139389","mag":"1539716820"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139389","doi":"https://doi.org/10.1109/icra.2015.7139389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139389","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Towards_learning_hierarchical_skills_for_multi-phase_manipulation_tasks/25171100","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005091065","display_name":"Oliver Kroemer","orcid":"https://orcid.org/0000-0003-2007-3867","observed_orcids":["https://orcid.org/0000-0003-2007-3867"]},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Kroemer","raw_affiliation_strings":["Intelligent Autonomous Systems group, Technische Universitaet, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems group, Technische Universitaet, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047982234","display_name":"Christian Daniel","orcid":"https://orcid.org/0000-0001-7065-5326","observed_orcids":["https://orcid.org/0000-0001-7065-5326"]},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Daniel","raw_affiliation_strings":["Intelligent Autonomous Systems group, Technische Universitaet, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems group, Technische Universitaet, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110467801","display_name":"Gerhard M. Neumann","orcid":"https://orcid.org/0000-0002-5483-4225","observed_orcids":["https://orcid.org/0000-0002-5483-4225"]},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerhard Neumann","raw_affiliation_strings":["Intelligent Autonomous Systems group, Technische Universitaet, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems group, Technische Universitaet, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057277609","display_name":"Herke van Hoof","orcid":"https://orcid.org/0000-0002-1583-3692","observed_orcids":["https://orcid.org/0000-0002-1583-3692"]},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Herke van Hoof","raw_affiliation_strings":["Intelligent Autonomous Systems group, Technische Universitaet, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems group, Technische Universitaet, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091","observed_orcids":["https://orcid.org/0000-0002-5266-8091"]},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Intelligent Autonomous Systems group, Technische Universitaet, Darmstadt, Germany","Max Planck Institute for Intelligent Systems, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems group, Technische Universitaet, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.6649,"has_fulltext":false,"cited_by_count":113,"citation_normalized_percentile":{"value":0.99532146,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1503","last_page":"1510"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6118000149726868,"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":0.6118000149726868,"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":0.3855000138282776,"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/T10982","display_name":"Motor Control and Adaptation","score":0.0005000000237487257,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/phase-transitions","display_name":"phase transitions","score":0.8309999704360962},{"id":"https://openalex.org/keywords/motor-primitives","display_name":"motor primitives","score":0.7699999809265137},{"id":"https://openalex.org/keywords/model-based-reinforcement-learning","display_name":"model-based reinforcement learning","score":0.9129999876022339},{"id":"https://openalex.org/keywords/human-demonstrations","display_name":"human demonstrations","score":0.5920000076293945},{"id":"https://openalex.org/keywords/bimanual-grasping","display_name":"bimanual grasping","score":0.8209999799728394},{"id":"https://openalex.org/keywords/robotic-manipulation","display_name":"robotic manipulation","score":0.4169999957084656},{"id":"https://openalex.org/keywords/policy-sequencing","display_name":"policy sequencing","score":0.35499998927116394}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8051085472106934},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.732811689376831},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7259851098060608},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5913146734237671},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5896457433700562},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5416020154953003},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4942303001880646},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.46348196268081665},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.44934260845184326},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4330212473869324},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4325343072414398},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38840144872665405},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22462597489356995},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1895899474620819},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12002721428871155},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":9,"locations":[{"id":"doi:10.1109/icra.2015.7139389","doi":"https://doi.org/10.1109/icra.2015.7139389","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139389","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.lincoln.ac.uk:25696","doi":null,"is_oa":false,"landing_page_url":"http://eprints.lincoln.ac.uk/id/eprint/25696/1/25696%2007139389.pdf","pdf_url":"http://eprints.lincoln.ac.uk/id/eprint/25696/1/25696%2007139389.pdf","source":{"id":"https://openalex.org/S4377196275","display_name":"Lincoln Repository (University of Lincoln)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I51532219","host_organization_name":"University of Lincoln","host_organization_lineage":["https://openalex.org/I51532219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop contribution"},{"id":"pmh:oai:eprints.lincoln.ac.uk:25759","doi":null,"is_oa":false,"landing_page_url":"http://eprints.lincoln.ac.uk/id/eprint/25759/1/KroemerICRA15.pdf","pdf_url":"http://eprints.lincoln.ac.uk/id/eprint/25759/1/KroemerICRA15.pdf","source":{"id":"https://openalex.org/S4377196275","display_name":"Lincoln Repository (University of Lincoln)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I51532219","host_organization_name":"University of Lincoln","host_organization_lineage":["https://openalex.org/I51532219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.717.3512","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.717.3512","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ausy.tu-darmstadt.de/uploads/Site/EditPublication/KroemerICRA15.pdf","raw_type":"text"},{"id":"pmh:oai:figshare.com:article/25171100","doi":null,"is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Towards_learning_hierarchical_skills_for_multi-phase_manipulation_tasks/25171100","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":null,"raw_type":"Conference contribution"},{"id":"pmh:oai:figshare.com:article/25171259","doi":null,"is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Towards_learning_hierarchical_skills_for_multi-phase_manipulation_tasks/25171259","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":null,"raw_type":"Conference contribution"},{"id":"pmh:oai:pure.mpg.de:item_2259785","doi":null,"is_oa":false,"landing_page_url":"https://hdl.handle.net/11858/00-001M-0000-002A-1F05-9","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:pure.mpg.de:item_2260935","doi":null,"is_oa":false,"landing_page_url":"https://hdl.handle.net/11858/00-001M-0000-002A-20AB-1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:107806","doi":null,"is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/107806/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/25171100","doi":null,"is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Towards_learning_hierarchical_skills_for_multi-phase_manipulation_tasks/25171100","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":null,"raw_type":"Conference contribution"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W144009021","https://openalex.org/W1499669280","https://openalex.org/W1575431606","https://openalex.org/W1578099820","https://openalex.org/W1883438135","https://openalex.org/W1952489873","https://openalex.org/W1963873191","https://openalex.org/W1964478285","https://openalex.org/W1969420452","https://openalex.org/W1976126972","https://openalex.org/W1998557102","https://openalex.org/W2004707451","https://openalex.org/W2010190464","https://openalex.org/W2012587148","https://openalex.org/W2036637075","https://openalex.org/W2036930518","https://openalex.org/W2041753526","https://openalex.org/W2057299504","https://openalex.org/W2060914855","https://openalex.org/W2069361969","https://openalex.org/W2074936002","https://openalex.org/W2082884224","https://openalex.org/W2088038240","https://openalex.org/W2105546430","https://openalex.org/W2105777811","https://openalex.org/W2110304639","https://openalex.org/W2119972318","https://openalex.org/W2121863487","https://openalex.org/W2123967136","https://openalex.org/W2126909264","https://openalex.org/W2141007261","https://openalex.org/W2148718436","https://openalex.org/W2152118007","https://openalex.org/W2170832633","https://openalex.org/W2172160462","https://openalex.org/W2181005280","https://openalex.org/W2294748366","https://openalex.org/W2295629107","https://openalex.org/W2752899502","https://openalex.org/W3112422759","https://openalex.org/W6682905147"],"related_works":["https://openalex.org/W4402215108","https://openalex.org/W1998557102","https://openalex.org/W7156865111","https://openalex.org/W2126909264","https://openalex.org/W4401413922","https://openalex.org/W4384519313","https://openalex.org/W3204657926","https://openalex.org/W7205010527","https://openalex.org/W2172158418","https://openalex.org/W2009647834"],"abstract_inverted_index":{"Most":[0],"manipulation":[1,78],"tasks":[2,73],"can":[3,23,50],"be":[4],"decomposed":[5],"into":[6],"a":[7,53,89,108,133,139,154,158],"sequence":[8],"of":[9,35,72,92,110],"phases,":[10],"where":[11],"the":[12,33,57,69,86,93,96,130,144],"robot's":[13],"actions":[14,25],"have":[15],"different":[16],"effects":[17,34],"in":[18,42,74],"each":[19],"phase.":[20],"The":[21,48,99,117,147],"robot":[22,49,87,100,131,156],"perform":[24],"to":[26,44,76,106,122,137],"transition":[27],"between":[28,115],"phases":[29,94],"and,":[30],"thus,":[31],"alter":[32],"its":[36],"actions,":[37],"e.g.":[38],"grasp":[39],"an":[40,65],"object":[41],"order":[43,75],"then":[45,101],"lift":[46],"it.":[47],"thus":[51],"reach":[52],"phase":[54,70,97],"that":[55],"affords":[56],"desired":[58],"manipulation.":[59],"In":[60],"this":[61,128],"paper,":[62],"we":[63],"present":[64],"approach":[66,136],"for":[67,113,142],"exploiting":[68],"structure":[71],"learn":[77,138],"skills":[79],"more":[80],"efficiently.":[81],"Starting":[82],"with":[83],"human":[84],"demonstrations,":[85],"learns":[88],"probabilistic":[90],"model":[91],"and":[95,125],"transitions.":[98],"employs":[102],"model-based":[103],"reinforcement":[104],"learning":[105],"create":[107],"library":[109],"motor":[111,119,145],"primitives":[112,120],"transitioning":[114],"phases.":[116],"learned":[118],"generalize":[121],"new":[123],"situations":[124],"tasks.":[126],"Given":[127],"library,":[129],"uses":[132],"value":[134],"function":[135],"high-level":[140],"policy":[141],"sequencing":[143],"primitives.":[146],"proposed":[148],"method":[149],"was":[150],"successfully":[151],"evaluated":[152],"on":[153],"real":[155],"performing":[157],"bimanual":[159],"grasping":[160],"task.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":3}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2016-06-24T00:00:00"}
