{"id":"https://openalex.org/W2995107092","doi":null,"title":"Learning to Coordinate Manipulation Skills via Skill Behavior Diversification","display_name":"Learning to Coordinate Manipulation Skills via Skill Behavior Diversification","publication_year":2020,"publication_date":"2020-04-30","ids":{"openalex":"https://openalex.org/W2995107092","mag":"2995107092"},"language":"en","primary_location":{"id":"mag:2995107092","doi":null,"is_oa":false,"landing_page_url":"https://openreview.net/pdf?id=ryxB2lBtvH","pdf_url":null,"source":{"id":"https://openalex.org/S4306419637","display_name":"International Conference on Learning Representations","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Learning Representations","raw_type":null},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048121389","display_name":"Youngwoon Lee","orcid":"https://orcid.org/0000-0001-9011-0921","observed_orcids":["https://orcid.org/0000-0001-9011-0921"]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Youngwoon Lee","raw_affiliation_strings":["University of Southern California, Los Angeles, United States"],"raw_orcid":"https://orcid.org/0000-0001-9011-0921","affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, United States","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101861092","display_name":"Jingyun Yang","orcid":"https://orcid.org/0000-0001-7506-9895","observed_orcids":["https://orcid.org/0000-0001-7506-9895"]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingyun Yang","raw_affiliation_strings":["University of Southern California, Los Angeles, United States"],"raw_orcid":"https://orcid.org/0000-0001-7506-9895","affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, United States","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110492675","display_name":"Joseph J. Lim","orcid":"https://orcid.org/0009-0007-6891-676X","observed_orcids":["https://orcid.org/0009-0007-6891-676X"]},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph J. Lim","raw_affiliation_strings":["University of Southern California, Los Angeles, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, United States","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":8.3853,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.98788394,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"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":0.70169997215271,"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":0.70169997215271,"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":0.29589998722076416,"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/temporal-coordination","display_name":"temporal coordination","score":0.5270000100135803},{"id":"https://openalex.org/keywords/collaborative-control","display_name":"collaborative control","score":0.6029999852180481},{"id":"https://openalex.org/keywords/multi-robot-manipulation","display_name":"multi-robot manipulation","score":0.6650000214576721},{"id":"https://openalex.org/keywords/robotic-manipulation","display_name":"robotic manipulation","score":0.33500000834465027}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6251010894775391},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5786169767379761},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5395770072937012},{"id":"https://openalex.org/C180916674","wikidata":"https://www.wikidata.org/wiki/Q3711935","display_name":"Diversification (marketing strategy)","level":2,"score":0.5363043546676636},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5331712365150452},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43623971939086914},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14085930585861206},{"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/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"mag:2995107092","doi":null,"is_oa":false,"landing_page_url":"https://openreview.net/pdf?id=ryxB2lBtvH","pdf_url":null,"source":{"id":"https://openalex.org/S4306419637","display_name":"International Conference on Learning Representations","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Learning Representations","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1569296262","https://openalex.org/W2109910161","https://openalex.org/W2149276032","https://openalex.org/W2158782408","https://openalex.org/W2335959470","https://openalex.org/W2553882142","https://openalex.org/W2594103415","https://openalex.org/W2620290674","https://openalex.org/W2736601468","https://openalex.org/W2756196406","https://openalex.org/W2765602917","https://openalex.org/W2768629321","https://openalex.org/W2774343553","https://openalex.org/W2781726626","https://openalex.org/W2785342287","https://openalex.org/W2788741142","https://openalex.org/W2788781499","https://openalex.org/W2792404612","https://openalex.org/W2803281228","https://openalex.org/W2807741983","https://openalex.org/W2899771611","https://openalex.org/W2900879308","https://openalex.org/W2909460318","https://openalex.org/W2945794705","https://openalex.org/W2946054758","https://openalex.org/W2962938168","https://openalex.org/W2963184621","https://openalex.org/W2963407617","https://openalex.org/W2964227312","https://openalex.org/W2995040055","https://openalex.org/W2996320348","https://openalex.org/W3030163244"],"related_works":["https://openalex.org/W4391305441","https://openalex.org/W971965315","https://openalex.org/W2771983813","https://openalex.org/W4415623252","https://openalex.org/W4300109906","https://openalex.org/W4405786873","https://openalex.org/W7117121686","https://openalex.org/W7220930718","https://openalex.org/W7128660506","https://openalex.org/W2291575139"],"abstract_inverted_index":{"When":[0],"mastering":[1],"a":[2,28,35,54,108,112,115,127],"complex":[3,36],"manipulation":[4],"task,":[5],"humans":[6],"often":[7],"decompose":[8],"the":[9,18,24,78,119],"task":[10,37],"into":[11],"sub-skills":[12,19,25,40,61,91],"of":[13,41,50,62,77],"their":[14],"body":[15],"parts,":[16],"practice":[17],"independently,":[20],"and":[21,47,69,95,125],"then":[22],"execute":[23],"together.":[26],"Similarly,":[27],"robot":[29,123],"with":[30,65,92,121,129],"multiple":[31],"end-effectors":[32,73],"can":[33],"perform":[34],"by":[38],"coordinating":[39],"each":[42,63],"end-effector.":[43],"To":[44],"realize":[45],"temporal":[46],"behavioral":[48],"coordination":[49],"skills,":[51],"we":[52],"propose":[53],"hierarchical":[55],"framework":[56,85],"that":[57,82],"first":[58],"individually":[59],"trains":[60],"end-effector":[64],"skill":[66],"behavior":[67],"diversification,":[68],"learns":[70],"to":[71,88,98],"coordinate":[72,96],"using":[74],"diverse":[75,93],"behaviors":[76,94],"skills.":[79],"We":[80],"demonstrate":[81],"our":[83],"proposed":[84],"is":[86],"able":[87],"efficiently":[89],"learn":[90],"them":[97],"solve":[99],"challenging":[100],"collaborative":[101],"control":[102],"tasks":[103],"such":[104],"as":[105],"picking":[106],"up":[107],"long":[109],"bar,":[110],"placing":[111],"block":[113],"inside":[114],"container":[116,120],"while":[117],"pushing":[118,126],"two":[122,130],"arms,":[124],"box":[128],"ant":[131],"agents.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2019-12-26T00:00:00"}