{"id":"https://openalex.org/W2461838149","doi":"https://doi.org/10.1007/s10514-016-9571-3","title":"Learning modular and transferable forward models of the motions of push manipulated objects","display_name":"Learning modular and transferable forward models of the motions of push manipulated objects","publication_year":2016,"publication_date":"2016-06-22","ids":{"openalex":"https://openalex.org/W2461838149","doi":"https://doi.org/10.1007/s10514-016-9571-3","mag":"2461838149"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-016-9571-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-016-9571-3","pdf_url":"https://link.springer.com/content/pdf/10.1007%2Fs10514-016-9571-3.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007%2Fs10514-016-9571-3.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060085036","display_name":"Marek Kopicki","orcid":"https://orcid.org/0000-0002-0769-0556"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Marek Kopicki","raw_affiliation_strings":["School of Computer Science, University of Birmingham, Birmingham, UK","School of Computer Science, University of Birmingham, Birmingham, B15 2TT, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, B15 2TT, UK","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065922876","display_name":"Sebastian \u017burek","orcid":"https://orcid.org/0000-0003-0187-2815"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sebastian Zurek","raw_affiliation_strings":["School of Computer Science, University of Birmingham, Birmingham, UK","School of Computer Science, University of Birmingham, Birmingham, B15 2TT, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, B15 2TT, UK","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005183926","display_name":"Rustam Stolkin","orcid":"https://orcid.org/0000-0002-0890-8836"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rustam Stolkin","raw_affiliation_strings":["School of Computer Science, University of Birmingham, Birmingham, UK","School of Computer Science, University of Birmingham, Birmingham, B15 2TT, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, B15 2TT, UK","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015335367","display_name":"Thomas Moerwald","orcid":null},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Thomas Moerwald","raw_affiliation_strings":["ACIN, TU Wien, Vienna, Austria","ACIN, TU Wien, Gusshausstrasse 27-29 / E376, 1040, Vienna, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ACIN, TU Wien, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]},{"raw_affiliation_string":"ACIN, TU Wien, Gusshausstrasse 27-29 / E376, 1040, Vienna, Austria","institution_ids":["https://openalex.org/I145847075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069031865","display_name":"Jeremy Wyatt","orcid":"https://orcid.org/0000-0001-6991-356X"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Jeremy L. Wyatt","raw_affiliation_strings":["School of Computer Science, University of Birmingham, Birmingham, UK","School of Computer Science, University of Birmingham, Birmingham, B15 2TT, UK"],"raw_orcid":"https://orcid.org/0000-0001-6991-356X","affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, UK","institution_ids":["https://openalex.org/I79619799"]},{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Birmingham, B15 2TT, UK","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5015335367","https://openalex.org/A5060085036","https://openalex.org/A5069031865"],"corresponding_institution_ids":["https://openalex.org/I145847075","https://openalex.org/I79619799"],"apc_list":{"value":3390,"currency":"USD","value_usd":3390},"apc_paid":{"value":3390,"currency":"USD","value_usd":3390},"fwci":3.5745,"has_fulltext":true,"cited_by_count":42,"citation_normalized_percentile":{"value":0.92449004,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"41","issue":"5","first_page":"1061","last_page":"1082"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980000257492065,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9868000149726868,"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/computer-science","display_name":"Computer science","score":0.9155500531196594},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8053345680236816},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4172496795654297},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41582798957824707},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.31577348709106445}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.9155500531196594},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8053345680236816},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4172496795654297},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41582798957824707},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.31577348709106445}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/s10514-016-9571-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-016-9571-3","pdf_url":"https://link.springer.com/content/pdf/10.1007%2Fs10514-016-9571-3.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:Publications/d67fc404-9d2d-40e0-8672-8259d94b703c","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/d67fc404-9d2d-40e0-8672-8259d94b703c","is_oa":true,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/d67fc404-9d2d-40e0-8672-8259d94b703c","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"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":"Kopicki, M, Zurek, S, Stolkin, R, Moerwald, T & Wyatt, J L 2017, 'Learning modular and transferable forward models of the motions of push manipulated objects', Autonomous Robots, vol. 41, no. 5, pp. 1061\u20131082. https://doi.org/10.1007/s10514-016-9571-3","raw_type":"article"},{"id":"pmh:oai:pure.atira.dk:publications/d67fc404-9d2d-40e0-8672-8259d94b703c","is_oa":true,"landing_page_url":"https://birmingham.elsevierpure.com/en/publications/d67fc404-9d2d-40e0-8672-8259d94b703c","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"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":"","raw_type":""}],"best_oa_location":{"id":"doi:10.1007/s10514-016-9571-3","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-016-9571-3","pdf_url":"https://link.springer.com/content/pdf/10.1007%2Fs10514-016-9571-3.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G140294735","display_name":null,"funder_award_id":"600918","funder_id":"https://openalex.org/F4320332197","funder_display_name":"Directorate-General for Research and Innovation"}],"funders":[{"id":"https://openalex.org/F4320332197","display_name":"Directorate-General for Research and Innovation","ror":"https://ror.org/01ef4as46"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2461838149.pdf","grobid_xml":"https://content.openalex.org/works/W2461838149.grobid-xml"},"referenced_works_count":79,"referenced_works":["https://openalex.org/W13121074","https://openalex.org/W26772505","https://openalex.org/W1483356636","https://openalex.org/W1489844845","https://openalex.org/W1540375479","https://openalex.org/W1564897360","https://openalex.org/W1569654252","https://openalex.org/W1595159159","https://openalex.org/W1672285122","https://openalex.org/W1762028192","https://openalex.org/W1946415313","https://openalex.org/W1972586294","https://openalex.org/W1974652642","https://openalex.org/W1976606095","https://openalex.org/W1977687214","https://openalex.org/W1991387241","https://openalex.org/W1992415357","https://openalex.org/W1994530392","https://openalex.org/W1996630649","https://openalex.org/W2012350342","https://openalex.org/W2022686119","https://openalex.org/W2028798328","https://openalex.org/W2043968544","https://openalex.org/W2045183566","https://openalex.org/W2049024270","https://openalex.org/W2051385649","https://openalex.org/W2060554619","https://openalex.org/W2065216241","https://openalex.org/W2081817157","https://openalex.org/W2082884224","https://openalex.org/W2083561185","https://openalex.org/W2085702524","https://openalex.org/W2095497339","https://openalex.org/W2097815751","https://openalex.org/W2098030884","https://openalex.org/W2099442061","https://openalex.org/W2101008389","https://openalex.org/W2102783898","https://openalex.org/W2104273718","https://openalex.org/W2104991009","https://openalex.org/W2105353029","https://openalex.org/W2105777811","https://openalex.org/W2109447584","https://openalex.org/W2110862341","https://openalex.org/W2111281667","https://openalex.org/W2112088580","https://openalex.org/W2115519999","https://openalex.org/W2116039916","https://openalex.org/W2118262294","https://openalex.org/W2118426468","https://openalex.org/W2119972318","https://openalex.org/W2120062331","https://openalex.org/W2128082316","https://openalex.org/W2128447112","https://openalex.org/W2134072104","https://openalex.org/W2148112459","https://openalex.org/W2151412994","https://openalex.org/W2152230131","https://openalex.org/W2155217025","https://openalex.org/W2159893335","https://openalex.org/W2163000058","https://openalex.org/W2245438387","https://openalex.org/W2300618187","https://openalex.org/W2325425860","https://openalex.org/W2529041744","https://openalex.org/W2801179766","https://openalex.org/W2908931433","https://openalex.org/W2912848477","https://openalex.org/W2941580320","https://openalex.org/W3217246742","https://openalex.org/W4212774754","https://openalex.org/W6600510881","https://openalex.org/W6629435415","https://openalex.org/W6640755838","https://openalex.org/W6643517502","https://openalex.org/W6649455214","https://openalex.org/W6671837902","https://openalex.org/W6761759828","https://openalex.org/W6775794996"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0,47],"ability":[1],"to":[2,22,27,37,39,63,125,131],"predict":[3,64],"how":[4],"objects":[5,126,157],"behave":[6],"during":[7],"manipulation":[8],"is":[9,26,77],"an":[10],"important":[11],"problem.":[12,55],"Models":[13],"informed":[14],"by":[15,50],"mechanics":[16],"are":[17,20,87],"powerful,":[18],"but":[19],"hard":[21],"tune.":[23],"An":[24],"alternative":[25],"learn":[28,38],"a":[29,52,96,114,150],"model":[30],"of":[31,61,116,121,127,149],"the":[32,59,103,109,135,146],"object\u2019s":[33],"motion":[34,123],"from":[35],"data,":[36],"predict.":[40],"We":[41,56,89,106],"study":[42],"this":[43],"for":[44,155],"push":[45],"manipulation.":[46],"paper":[48],"starts":[49],"formulating":[51],"quasi-static":[53],"prediction":[54,147],"then":[57,107],"pose":[58],"problem":[60],"learning":[62,139],"in":[65],"two":[66],"different":[67],"frameworks:":[68],"(i)":[69],"regression":[70],"and":[71,83,130,138],"(ii)":[72],"density":[73,110],"estimation.":[74],"Our":[75],"architecture":[76],"modular:":[78],"many":[79],"simple,":[80],"object":[81],"specific,":[82],"context":[84],"specific":[85],"predictors":[86,94],"learned.":[88],"show":[90],"empirically":[91],"that":[92],"such":[93],"outperform":[95],"rigid":[97,151],"body":[98,152],"dynamics":[99,153],"engine":[100,154],"tuned":[101],"on":[102],"same":[104],"data.":[105],"extend":[108],"estimation":[111],"approach":[112],"using":[113],"product":[115],"experts.":[117],"This":[118],"allows":[119],"transfer":[120],"learned":[122],"models":[124,143],"novel":[128,132,156],"shape,":[129],"actions.":[133,159],"With":[134],"right":[136],"representation":[137],"method,":[140],"these":[141],"transferred":[142],"can":[144],"match":[145],"performance":[148],"or":[158]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":6}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}
