{"id":"https://openalex.org/W4386499064","doi":"https://doi.org/10.1038/s42256-023-00709-2","title":"Hybrid hierarchical learning for solving complex sequential tasks using the robotic manipulation network ROMAN","display_name":"Hybrid hierarchical learning for solving complex sequential tasks using the robotic manipulation network ROMAN","publication_year":2023,"publication_date":"2023-09-07","ids":{"openalex":"https://openalex.org/W4386499064","doi":"https://doi.org/10.1038/s42256-023-00709-2"},"language":"en","primary_location":{"id":"doi:10.1038/s42256-023-00709-2","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s42256-023-00709-2","pdf_url":"https://www.nature.com/articles/s42256-023-00709-2.pdf","source":{"id":"https://openalex.org/S2912241403","display_name":"Nature Machine Intelligence","issn_l":"2522-5839","issn":["2522-5839"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","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":"Nature Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://www.nature.com/articles/s42256-023-00709-2.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068734838","display_name":"Eleftherios Triantafyllidis","orcid":"https://orcid.org/0000-0001-7578-4290"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Eleftherios Triantafyllidis","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, UK"],"raw_orcid":"https://orcid.org/0000-0001-7578-4290","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088594797","display_name":"Fernando Acero","orcid":"https://orcid.org/0000-0002-5470-8122"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fernando Acero","raw_affiliation_strings":["Department of Computer Science, University College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070698492","display_name":"Zhaocheng Liu","orcid":"https://orcid.org/0000-0001-6623-9231"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhaocheng Liu","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["Department of Computer Science, University College London, London, UK","School of Informatics, University of Edinburgh, Edinburgh, UK"],"raw_orcid":"https://orcid.org/0000-0002-6357-7419","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, UK","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100351560"],"corresponding_institution_ids":["https://openalex.org/I45129253","https://openalex.org/I98677209"],"apc_list":{"value":9750,"currency":"EUR","value_usd":11690},"apc_paid":{"value":9750,"currency":"EUR","value_usd":11690},"fwci":6.3513,"has_fulltext":true,"cited_by_count":37,"citation_normalized_percentile":{"value":0.97210072,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"5","issue":"9","first_page":"991","last_page":"1005"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9995999932289124,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9842000007629395,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7225019931793213},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6420983076095581},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5947850346565247},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5119038820266724},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.48341667652130127},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4826939105987549},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.45360952615737915},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.42730826139450073},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.41408878564834595},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39261654019355774},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11748212575912476}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7225019931793213},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6420983076095581},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5947850346565247},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5119038820266724},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.48341667652130127},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4826939105987549},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.45360952615737915},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.42730826139450073},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.41408878564834595},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39261654019355774},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11748212575912476},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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":3,"locations":[{"id":"doi:10.1038/s42256-023-00709-2","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s42256-023-00709-2","pdf_url":"https://www.nature.com/articles/s42256-023-00709-2.pdf","source":{"id":"https://openalex.org/S2912241403","display_name":"Nature Machine Intelligence","issn_l":"2522-5839","issn":["2522-5839"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","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":"Nature Machine Intelligence","raw_type":"journal-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/d38de1bb-3949-4449-b170-62db5f83ea28","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/d38de1bb-3949-4449-b170-62db5f83ea28","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Triantafyllidis, E, Acero , F, Liu, Z & Li, A 2023, 'Hybrid hierarchical learning for solving complex sequential tasks using the robotic manipulation network ROMAN', Nature Machine Intelligence, vol. 5, no. 9, pp. 991-1005. https://doi.org/10.1038/s42256-023-00709-2","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10177098","is_oa":true,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10177098/","pdf_url":"https://discovery.ucl.ac.uk/10177098/1/s42256-023-00709-2.pdf","source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"   Nature Machine Intelligence , 5    pp. 991-1005.   (2023)      ","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1038/s42256-023-00709-2","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s42256-023-00709-2","pdf_url":"https://www.nature.com/articles/s42256-023-00709-2.pdf","source":{"id":"https://openalex.org/S2912241403","display_name":"Nature Machine Intelligence","issn_l":"2522-5839","issn":["2522-5839"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","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":"Nature Machine Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4583412171","display_name":"UKRI AI Centre for Doctoral Training in Foundational Artificial Intelligence","funder_award_id":"EP/S021566/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8675054711","display_name":"EPSRC Centre for Doctoral Training in Robotics and Autonomous Systems (RAS) in Edinburgh","funder_award_id":"EP/L016834/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8738206268","display_name":null,"funder_award_id":"EP/S021566/1","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"},{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4386499064.pdf"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W1569719443","https://openalex.org/W1967189857","https://openalex.org/W1970890515","https://openalex.org/W1999874108","https://openalex.org/W2012204020","https://openalex.org/W2105777811","https://openalex.org/W2145339207","https://openalex.org/W2161395589","https://openalex.org/W2260756217","https://openalex.org/W2544683879","https://openalex.org/W2605102758","https://openalex.org/W2620671107","https://openalex.org/W2786760026","https://openalex.org/W2798357025","https://openalex.org/W2801567109","https://openalex.org/W2905374824","https://openalex.org/W2941849583","https://openalex.org/W2950069298","https://openalex.org/W2962787969","https://openalex.org/W2963411833","https://openalex.org/W2963669336","https://openalex.org/W2963802910","https://openalex.org/W2967503332","https://openalex.org/W2968095426","https://openalex.org/W2968116426","https://openalex.org/W2968849627","https://openalex.org/W2969343193","https://openalex.org/W2973266032","https://openalex.org/W2990747716","https://openalex.org/W2991562719","https://openalex.org/W3009593063","https://openalex.org/W3019814707","https://openalex.org/W3100035092","https://openalex.org/W3111294788","https://openalex.org/W3121080034","https://openalex.org/W3126384422","https://openalex.org/W3130717831","https://openalex.org/W3163571522","https://openalex.org/W3184808923","https://openalex.org/W3185691815","https://openalex.org/W3214930510","https://openalex.org/W4221155158","https://openalex.org/W4234634156","https://openalex.org/W4283260218","https://openalex.org/W4283266503","https://openalex.org/W6748972340","https://openalex.org/W6753526802","https://openalex.org/W6756168450","https://openalex.org/W6913065670"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2357124094"],"abstract_inverted_index":{"Abstract":[0],"Solving":[1],"long":[2,71,145],"sequential":[3,23,142],"tasks":[4,24,69,150,188],"remains":[5],"a":[6,17,26,33,51,97],"non-trivial":[7],"challenge":[8,64],"in":[9,74,111],"the":[10,56,63,167],"field":[11],"of":[12,29,44,65,96,105,147,171],"embodied":[13],"artificial":[14],"intelligence.":[15],"Enabling":[16],"robotic":[18,57,75],"system":[19],"to":[20,39,61,115,121,160],"perform":[21],"diverse":[22],"with":[25],"broad":[27],"range":[28],"manipulation":[30,58,99,125,137,149,187],"skills":[31],"is":[32],"notable":[34],"open":[35],"problem":[36],"and":[37,83,90,133,151,169,180],"continues":[38],"be":[40],"an":[41,103],"active":[42],"area":[43],"research.":[45],"In":[46],"this":[47],"work,":[48],"we":[49],"present":[50],"hybrid":[52],"hierarchical":[53],"learning":[54,82],"framework,":[55],"network":[59,100],"ROMAN,":[60],"address":[62],"solving":[66],"multiple":[67],"complex":[68,123],"over":[70],"time":[72],"horizons":[73],"manipulation.":[76],"By":[77],"integrating":[78],"behavioural":[79],"cloning,":[80],"imitation":[81],"reinforcement":[84],"learning,":[85],"ROMAN":[86,139],"achieves":[87],"task":[88],"versatility":[89,170],"robust":[91],"failure":[92,177],"recovery.":[93],"It":[94],"consists":[95],"central":[98],"that":[101,189],"coordinates":[102],"ensemble":[104],"various":[106,161,185],"neural":[107],"networks,":[108],"each":[109],"specializing":[110],"different":[112],"recombinable":[113],"subtasks":[114],"generate":[116],"their":[117],"correct":[118,141],"in-sequence":[119],"actions,":[120],"solve":[122],"long-horizon":[124],"tasks.":[126],"Our":[127],"experiments":[128],"show":[129],"that,":[130],"by":[131],"orchestrating":[132],"activating":[134],"these":[135],"specialized":[136],"experts,":[138],"generates":[140],"activations":[143],"accomplishing":[144],"sequences":[146],"sophisticated":[148],"achieving":[152],"adaptive":[153,191],"behaviours":[154],"beyond":[155],"demonstrations,":[156],"while":[157],"exhibiting":[158],"robustness":[159],"sensory":[162],"noises.":[163],"These":[164],"results":[165],"highlight":[166],"significance":[168],"ROMAN\u2019s":[172],"dynamic":[173],"adaptability":[174],"featuring":[175],"autonomous":[176,186],"recovery":[178],"capabilities,":[179],"underline":[181],"its":[182],"potential":[183],"for":[184],"require":[190],"motor":[192],"skills.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":23},{"year":2024,"cited_by_count":11}],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-10-10T00:00:00"}