{"id":"https://openalex.org/W2923126346","doi":"https://doi.org/10.1109/access.2019.2904910","title":"Hierarchical Intermittent Motor Control With Deterministic Policy Gradient","display_name":"Hierarchical Intermittent Motor Control With Deterministic Policy Gradient","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2923126346","doi":"https://doi.org/10.1109/access.2019.2904910","mag":"2923126346"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2904910","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2904910","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08671473.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08671473.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101667506","display_name":"Haibo Shi","orcid":"https://orcid.org/0000-0001-9976-6927"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Shi","raw_affiliation_strings":["Laboratory of Cognition and Intelligent Computation, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-9976-6927","affiliations":[{"raw_affiliation_string":"Laboratory of Cognition and Intelligent Computation, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102966948","display_name":"Yaoru Sun","orcid":"https://orcid.org/0000-0002-2179-0713"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaoru Sun","raw_affiliation_strings":["Laboratory of Cognition and Intelligent Computation, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-2179-0713","affiliations":[{"raw_affiliation_string":"Laboratory of Cognition and Intelligent Computation, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101603720","display_name":"Guangyuan Li","orcid":"https://orcid.org/0000-0002-2938-527X"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangyuan Li","raw_affiliation_strings":["Laboratory of Cognition and Intelligent Computation, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Cognition and Intelligent Computation, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100321464","display_name":"Fang Wang","orcid":"https://orcid.org/0000-0003-1987-9150"},"institutions":[{"id":"https://openalex.org/I59433898","display_name":"Brunel University of London","ror":"https://ror.org/00dn4t376","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I59433898"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Fang Wang","raw_affiliation_strings":["Department of Computer Science, Brunel University, Uxbridge, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Brunel University, Uxbridge, U.K","institution_ids":["https://openalex.org/I59433898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100691327","display_name":"Daming Wang","orcid":"https://orcid.org/0000-0002-1897-2874"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daming Wang","raw_affiliation_strings":["Laboratory of Cognition and Intelligent Computation, Tongji University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1897-2874","affiliations":[{"raw_affiliation_string":"Laboratory of Cognition and Intelligent Computation, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100762681","display_name":"Jie Li","orcid":"https://orcid.org/0000-0002-2533-5849"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Li","raw_affiliation_strings":["Laboratory of Cognition and Intelligent Computation, Tongji University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory of Cognition and Intelligent Computation, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.5531,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.87024852,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"41799","last_page":"41810"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9983000159263611,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9979000091552734,"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/hierarchy","display_name":"Hierarchy","score":0.7586044073104858},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.747119665145874},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7299312949180603},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6748278141021729},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5828428268432617},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5646933317184448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4682135581970215},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.45007258653640747},{"id":"https://openalex.org/keywords/hierarchical-control-system","display_name":"Hierarchical control system","score":0.4324760138988495},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3310866057872772}],"concepts":[{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.7586044073104858},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.747119665145874},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7299312949180603},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6748278141021729},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5828428268432617},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5646933317184448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4682135581970215},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.45007258653640747},{"id":"https://openalex.org/C124527596","wikidata":"https://www.wikidata.org/wiki/Q17029359","display_name":"Hierarchical control system","level":3,"score":0.4324760138988495},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3310866057872772},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2019.2904910","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2904910","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08671473.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:bura.brunel.ac.uk:2438/18020","is_oa":true,"landing_page_url":"https://bura.brunel.ac.uk/handle/2438/18020","pdf_url":null,"source":{"id":"https://openalex.org/S4306401473","display_name":"Brunel University Research Archive (BURA) (Brunel University London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59433898","host_organization_name":"Brunel University of London","host_organization_lineage":["https://openalex.org/I59433898"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:doaj.org/article:eca8fe174be7423793add5cbada81088","is_oa":true,"landing_page_url":"https://doaj.org/article/eca8fe174be7423793add5cbada81088","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 41799-41810 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2904910","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2904910","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08671473.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.6600000262260437,"display_name":"Quality Education"}],"awards":[{"id":"https://openalex.org/G202645409","display_name":null,"funder_award_id":"17JC1400603","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"},{"id":"https://openalex.org/G2718252163","display_name":"\u57fa\u4e8e\u8eab\u4f53\u5f52\u5c5e\u8111\u673a\u5236\u7684\u4eba\u673a\u5171\u878d\u8f6e\u6905\u673a\u5668\u4eba\u884c\u4e3a\u610f\u56fe\u5b9e\u65f6\u51c6\u786e\u8ba4\u77e5\u4e0e\u4eba\u673a\u534f\u540c\u7814\u7a76","funder_award_id":"91748122","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3262948284","display_name":null,"funder_award_id":"18ZR1442700","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"},{"id":"https://openalex.org/G7353223177","display_name":null,"funder_award_id":"18ZR1442700","funder_id":"https://openalex.org/F4320309612","funder_display_name":"Natural Science Foundation of Shanghai"}],"funders":[{"id":"https://openalex.org/F4320309612","display_name":"Natural Science Foundation of Shanghai","ror":null},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2923126346.pdf","grobid_xml":"https://content.openalex.org/works/W2923126346.grobid-xml"},"referenced_works_count":91,"referenced_works":["https://openalex.org/W44668667","https://openalex.org/W195033972","https://openalex.org/W1509991338","https://openalex.org/W1592847719","https://openalex.org/W1654752245","https://openalex.org/W1757796397","https://openalex.org/W1771410628","https://openalex.org/W1974803102","https://openalex.org/W1980440818","https://openalex.org/W2017611213","https://openalex.org/W2059909808","https://openalex.org/W2065571674","https://openalex.org/W2069238870","https://openalex.org/W2076546217","https://openalex.org/W2080278053","https://openalex.org/W2109910161","https://openalex.org/W2111625828","https://openalex.org/W2113122939","https://openalex.org/W2121517924","https://openalex.org/W2125612430","https://openalex.org/W2126543121","https://openalex.org/W2127107099","https://openalex.org/W2127133108","https://openalex.org/W2130726249","https://openalex.org/W2135993484","https://openalex.org/W2145339207","https://openalex.org/W2146775719","https://openalex.org/W2155968351","https://openalex.org/W2160371091","https://openalex.org/W2163176541","https://openalex.org/W2164424353","https://openalex.org/W2165150801","https://openalex.org/W2173248099","https://openalex.org/W2201581102","https://openalex.org/W2257979135","https://openalex.org/W2335959470","https://openalex.org/W2342662072","https://openalex.org/W2442341664","https://openalex.org/W2523124567","https://openalex.org/W2534060593","https://openalex.org/W2554984891","https://openalex.org/W2580175322","https://openalex.org/W2606433045","https://openalex.org/W2739330054","https://openalex.org/W2739678353","https://openalex.org/W2746553466","https://openalex.org/W2747592475","https://openalex.org/W2766447205","https://openalex.org/W2780057514","https://openalex.org/W2791797404","https://openalex.org/W2799126587","https://openalex.org/W2804179728","https://openalex.org/W2883869105","https://openalex.org/W2949267040","https://openalex.org/W2950471160","https://openalex.org/W2951799221","https://openalex.org/W2962749646","https://openalex.org/W2963262099","https://openalex.org/W2963477884","https://openalex.org/W2963864421","https://openalex.org/W2964006217","https://openalex.org/W2964043796","https://openalex.org/W2964118262","https://openalex.org/W2964227312","https://openalex.org/W3103559770","https://openalex.org/W4294578467","https://openalex.org/W4295549420","https://openalex.org/W4298857966","https://openalex.org/W4302570325","https://openalex.org/W6607786297","https://openalex.org/W6638018090","https://openalex.org/W6639949747","https://openalex.org/W6676750447","https://openalex.org/W6683784394","https://openalex.org/W6683821272","https://openalex.org/W6684205842","https://openalex.org/W6684921986","https://openalex.org/W6685444567","https://openalex.org/W6687681856","https://openalex.org/W6692846177","https://openalex.org/W6696324988","https://openalex.org/W6703271639","https://openalex.org/W6704571135","https://openalex.org/W6704665273","https://openalex.org/W6727349600","https://openalex.org/W6729507393","https://openalex.org/W6734129231","https://openalex.org/W6734215269","https://openalex.org/W6736368053","https://openalex.org/W6746825387","https://openalex.org/W6766234440"],"related_works":["https://openalex.org/W2365264209","https://openalex.org/W2167940021","https://openalex.org/W2942485139","https://openalex.org/W2910225356","https://openalex.org/W573714618","https://openalex.org/W2007455779","https://openalex.org/W2164371879","https://openalex.org/W2997394943","https://openalex.org/W4205449067","https://openalex.org/W2087847779"],"abstract_inverted_index":{"It":[0],"has":[1],"been":[2],"evidenced":[3],"that":[4,127,151],"the":[5,10,29,38,42,50,54,65,75,82,86,94,102,115,128,147],"neural":[6],"motor":[7,96],"control":[8,31,47,122],"exploits":[9],"hierarchical":[11,21,105,154],"and":[12,93,145],"intermittent":[13,66,106],"representation.":[14,156],"In":[15],"this":[16],"paper,":[17],"we":[18],"propose":[19],"a":[20,70,153],"deep":[22,107],"reinforcement":[23],"learning":[24],"(DRL)":[25],"method":[26,116,129],"to":[27,68,132],"learn":[28],"continuous":[30,121,155],"policy":[32,109],"across":[33],"multiple":[34],"levels,":[35],"by":[36],"unifying":[37],"neuroscience":[39],"principle":[40],"of":[41,53,72,88,114,139],"minimum":[43],"transition":[44],"hypothesis.":[45],"The":[46,61,90,112,124],"policies":[48],"in":[49,79,119],"two":[51,120],"levels":[52],"hierarchy":[55],"operate":[56],"at":[57],"different":[58],"time":[59],"scales.":[60],"high-level":[62],"controller":[63],"produces":[64],"actions":[67],"set":[69],"sequence":[71],"goals":[73],"for":[74],"low-level":[76],"controller,":[77],"which":[78],"turn":[80],"conducts":[81],"basic":[83,95,140],"skills":[84,97],"with":[85,101,142],"modulation":[87],"goals.":[89],"goal":[91],"planning":[92],"are":[98],"trained":[99],"jointly":[100],"proposed":[103],"algorithm:":[104],"deterministic":[108],"gradient":[110],"(HI-DDPG).":[111],"performance":[113],"is":[117],"validated":[118],"problems.":[123],"results":[125],"show":[126],"successfully":[130],"learns":[131],"temporally":[133],"decompose":[134],"compound":[135],"tasks":[136],"into":[137],"sequences":[138],"motions":[141],"sparse":[143],"transitions":[144],"outperforms":[146],"previous":[148],"DRL":[149],"methods":[150],"lack":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
