{"id":"https://openalex.org/W3132810840","doi":"https://doi.org/10.1007/978-3-030-89177-0_3","title":"CPG-Actor: Reinforcement Learning for\u00a0Central Pattern Generators","display_name":"CPG-Actor: Reinforcement Learning for\u00a0Central Pattern Generators","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3132810840","doi":"https://doi.org/10.1007/978-3-030-89177-0_3","mag":"3132810840"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-89177-0_3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-89177-0_3","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2102.12891","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021612486","display_name":"Luigi Campanaro","orcid":null},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Luigi Campanaro","raw_affiliation_strings":["Oxford Robotics Institute, Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Oxford, UK","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072631552","display_name":"Siddhant Gangapurwala","orcid":"https://orcid.org/0000-0002-1308-3744"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Siddhant Gangapurwala","raw_affiliation_strings":["Oxford Robotics Institute, Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Oxford, UK","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074335131","display_name":"Daniele De Martini","orcid":"https://orcid.org/0000-0001-6121-5839"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Daniele De Martini","raw_affiliation_strings":["Oxford Robotics Institute, Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Oxford, UK","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036958906","display_name":"Wolfgang Merkt","orcid":"https://orcid.org/0000-0003-3235-4906"},"institutions":[{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wolfgang Merkt","raw_affiliation_strings":["Oxford Robotics Institute, Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Oxford, UK","institution_ids":["https://openalex.org/I4210146410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068877998","display_name":"Ioannis Havoutis","orcid":"https://orcid.org/0000-0002-4371-4623"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ioannis Havoutis","raw_affiliation_strings":["Oxford Robotics Institute, Oxford, UK","University of Oxford"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, Oxford, UK","institution_ids":["https://openalex.org/I4210146410"]},{"raw_affiliation_string":"University of Oxford","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"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":"25","last_page":"35"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9965000152587891,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.8647604584693909},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7746170163154602},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7071308493614197},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6017624735832214},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5510903596878052},{"id":"https://openalex.org/keywords/sensory-system","display_name":"Sensory system","score":0.5074297785758972},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.46587252616882324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4462578594684601},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.18362149596214294},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.11549818515777588},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10779649019241333},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08251965045928955},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06975403428077698}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8647604584693909},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7746170163154602},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7071308493614197},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6017624735832214},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5510903596878052},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.5074297785758972},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.46587252616882324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4462578594684601},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.18362149596214294},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.11549818515777588},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10779649019241333},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08251965045928955},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06975403428077698},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1007/978-3-030-89177-0_3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-89177-0_3","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},{"id":"pmh:oai:arXiv.org:2102.12891","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.12891","pdf_url":"https://arxiv.org/pdf/2102.12891","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:6bd9ba19-4648-414f-b77c-624b89a58655","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:6bd9ba19-4648-414f-b77c-624b89a58655","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements","raw_type":"Conference item"},{"id":"doi:10.48550/arxiv.2102.12891","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2102.12891","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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"},{"id":"mag:3132810840","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2102.12891","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2102.12891","pdf_url":"https://arxiv.org/pdf/2102.12891","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7054259338","display_name":null,"funder_award_id":"EP/S002383/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1963515231","https://openalex.org/W1984986877","https://openalex.org/W2048963734","https://openalex.org/W2089016645","https://openalex.org/W2094496385","https://openalex.org/W2097407805","https://openalex.org/W2111712314","https://openalex.org/W2121863487","https://openalex.org/W2131349989","https://openalex.org/W2141791321","https://openalex.org/W2148430392","https://openalex.org/W2149380484","https://openalex.org/W2154139861","https://openalex.org/W2156174987","https://openalex.org/W2250150559","https://openalex.org/W2549216668","https://openalex.org/W2577008596","https://openalex.org/W2736557071","https://openalex.org/W2736601468","https://openalex.org/W2793991136","https://openalex.org/W2911087563","https://openalex.org/W2953158079","https://openalex.org/W2962943672","https://openalex.org/W2964121744","https://openalex.org/W3037207827","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3112664346","https://openalex.org/W4250058668","https://openalex.org/W6814003322"],"related_works":["https://openalex.org/W3212276269","https://openalex.org/W2964263543","https://openalex.org/W2787966607","https://openalex.org/W3002128304","https://openalex.org/W3197885948","https://openalex.org/W3037684568","https://openalex.org/W2913341402","https://openalex.org/W2946299167","https://openalex.org/W3212945014","https://openalex.org/W3037383028","https://openalex.org/W3102071216","https://openalex.org/W2769559856","https://openalex.org/W3004091789","https://openalex.org/W2186601217","https://openalex.org/W3105320065","https://openalex.org/W2108689239","https://openalex.org/W2943686261","https://openalex.org/W2127259160","https://openalex.org/W2036381324","https://openalex.org/W3192864504"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}