{"id":"https://openalex.org/W4403675188","doi":"https://doi.org/10.1109/biorob60516.2024.10719719","title":"Generating Realistic Arm Movements in Reinforcement Learning: A Quantitative Comparison of Reward Terms and Task Requirements","display_name":"Generating Realistic Arm Movements in Reinforcement Learning: A Quantitative Comparison of Reward Terms and Task Requirements","publication_year":2024,"publication_date":"2024-09-01","ids":{"openalex":"https://openalex.org/W4403675188","doi":"https://doi.org/10.1109/biorob60516.2024.10719719"},"language":"en","primary_location":{"id":"doi:10.1109/biorob60516.2024.10719719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob60516.2024.10719719","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"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/A5093984850","display_name":"Jhon P.F. Charaja","orcid":null},"institutions":[{"id":"https://openalex.org/I4210141865","display_name":"Hertie Institute for Clinical Brain Research","ror":"https://ror.org/04zzwzx41","country_code":"DE","type":"other","lineage":["https://openalex.org/I4210141865","https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jhon P.F. Charaja","raw_affiliation_strings":["Hertie Institute for Clinical Brain Research, and Centre for Integrative Neuroscience, University of T&#x00FC;bingen,Germany"],"affiliations":[{"raw_affiliation_string":"Hertie Institute for Clinical Brain Research, and Centre for Integrative Neuroscience, University of T&#x00FC;bingen,Germany","institution_ids":["https://openalex.org/I4210141865"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020694827","display_name":"Isabell Wochner","orcid":"https://orcid.org/0000-0002-2820-5791"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Isabell Wochner","raw_affiliation_strings":["Institute of Computer Engineering (ZITI), Heidelberg University,Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Computer Engineering (ZITI), Heidelberg University,Germany","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010207430","display_name":"Pierre Schumacher","orcid":"https://orcid.org/0009-0006-7369-1836"},"institutions":[{"id":"https://openalex.org/I4210141865","display_name":"Hertie Institute for Clinical Brain Research","ror":"https://ror.org/04zzwzx41","country_code":"DE","type":"other","lineage":["https://openalex.org/I4210141865","https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Pierre Schumacher","raw_affiliation_strings":["Hertie Institute for Clinical Brain Research, and Centre for Integrative Neuroscience, University of T&#x00FC;bingen,Germany"],"affiliations":[{"raw_affiliation_string":"Hertie Institute for Clinical Brain Research, and Centre for Integrative Neuroscience, University of T&#x00FC;bingen,Germany","institution_ids":["https://openalex.org/I4210141865"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020135461","display_name":"Winfried Ilg","orcid":"https://orcid.org/0000-0002-1537-1336"},"institutions":[{"id":"https://openalex.org/I4210141865","display_name":"Hertie Institute for Clinical Brain Research","ror":"https://ror.org/04zzwzx41","country_code":"DE","type":"other","lineage":["https://openalex.org/I4210141865","https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Winfried Ilg","raw_affiliation_strings":["Hertie Institute for Clinical Brain Research, and Centre for Integrative Neuroscience, University of T&#x00FC;bingen,Germany"],"affiliations":[{"raw_affiliation_string":"Hertie Institute for Clinical Brain Research, and Centre for Integrative Neuroscience, University of T&#x00FC;bingen,Germany","institution_ids":["https://openalex.org/I4210141865"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077370551","display_name":"Martin Giese","orcid":"https://orcid.org/0000-0002-5621-9429"},"institutions":[{"id":"https://openalex.org/I4210141865","display_name":"Hertie Institute for Clinical Brain Research","ror":"https://ror.org/04zzwzx41","country_code":"DE","type":"other","lineage":["https://openalex.org/I4210141865","https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Giese","raw_affiliation_strings":["Hertie Institute for Clinical Brain Research, and Centre for Integrative Neuroscience, University of T&#x00FC;bingen,Germany"],"affiliations":[{"raw_affiliation_string":"Hertie Institute for Clinical Brain Research, and Centre for Integrative Neuroscience, University of T&#x00FC;bingen,Germany","institution_ids":["https://openalex.org/I4210141865"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035697171","display_name":"Christophe Maufroy","orcid":"https://orcid.org/0000-0002-7929-4560"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christophe Maufroy","raw_affiliation_strings":["Institut for Industrial Manufacturing and Management (IFF), University of Stuttgart,Germany"],"affiliations":[{"raw_affiliation_string":"Institut for Industrial Manufacturing and Management (IFF), University of Stuttgart,Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073661463","display_name":"Andreas Bulling","orcid":"https://orcid.org/0000-0001-6317-7303"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas Bulling","raw_affiliation_strings":["Institute for Visualization and Interactive Systems, University of Stuttgart,Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Visualization and Interactive Systems, University of Stuttgart,Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052810943","display_name":"Syn Schmitt","orcid":"https://orcid.org/0000-0002-7768-8961"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Syn Schmitt","raw_affiliation_strings":["Institute for Modelling and Simulation of Biomechanical Systems, University of Stuttgart,Germany"],"affiliations":[{"raw_affiliation_string":"Institute for Modelling and Simulation of Biomechanical Systems, University of Stuttgart,Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001474340","display_name":"Georg Martius","orcid":"https://orcid.org/0000-0002-8963-7627"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg Martius","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,T&#x00FC;bingen,Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,T&#x00FC;bingen,Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110486192","display_name":"Daniel F. B. Haeufle","orcid":null},"institutions":[{"id":"https://openalex.org/I4210141865","display_name":"Hertie Institute for Clinical Brain Research","ror":"https://ror.org/04zzwzx41","country_code":"DE","type":"other","lineage":["https://openalex.org/I4210141865","https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel F.B. Haeufle","raw_affiliation_strings":["Hertie Institute for Clinical Brain Research, and Centre for Integrative Neuroscience, University of T&#x00FC;bingen,Germany"],"affiliations":[{"raw_affiliation_string":"Hertie Institute for Clinical Brain Research, and Centre for Integrative Neuroscience, University of T&#x00FC;bingen,Germany","institution_ids":["https://openalex.org/I4210141865"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5093984850"],"corresponding_institution_ids":["https://openalex.org/I4210141865"],"apc_list":null,"apc_paid":null,"fwci":3.2206,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.92215755,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"562","last_page":"568"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10826","display_name":"Behavioral and Psychological Studies","score":0.4853000044822693,"subfield":{"id":"https://openalex.org/subfields/3204","display_name":"Developmental and Educational Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10826","display_name":"Behavioral and Psychological Studies","score":0.4853000044822693,"subfield":{"id":"https://openalex.org/subfields/3204","display_name":"Developmental and Educational Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.4821999967098236,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7937719821929932},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7764369249343872},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.7351524829864502},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7074315547943115},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4745180010795593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4072215259075165},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.157173752784729},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.128152996301651},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.07640144228935242}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7937719821929932},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7764369249343872},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.7351524829864502},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7074315547943115},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4745180010795593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4072215259075165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.157173752784729},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.128152996301651},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.07640144228935242},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/biorob60516.2024.10719719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob60516.2024.10719719","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},{"id":"pmh:oai:publica.fraunhofer.de:publica/499145","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/499145","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1885639605","https://openalex.org/W1956636948","https://openalex.org/W1996799060","https://openalex.org/W2021300704","https://openalex.org/W2029776687","https://openalex.org/W2054326469","https://openalex.org/W2067440245","https://openalex.org/W2102017824","https://openalex.org/W2133355507","https://openalex.org/W2139419943","https://openalex.org/W2155339399","https://openalex.org/W2158782408","https://openalex.org/W3024338744","https://openalex.org/W3109410822","https://openalex.org/W3159546544","https://openalex.org/W3179833101","https://openalex.org/W6747924173","https://openalex.org/W6785297421","https://openalex.org/W6838955714","https://openalex.org/W6855845805"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"Mimicking":[0],"of":[1,66,116,160],"human-like":[2,86],"arm":[3,42,67,109,122,168,188],"movement":[4,20],"characteristics":[5,88],"involves":[6],"considering":[7],"three":[8],"factors":[9,32,81,117],"during":[10,19,162],"control":[11,104,154],"policy":[12,105],"synthesis:":[13],"(a)":[14],"task":[15],"requirements,":[16],"(b)":[17],"noise":[18,161],"execution,":[21],"and":[22,89,137,153,190],"(c)":[23],"optimality":[24],"principles.":[25],"Previous":[26],"studies":[27],"showed":[28],"that":[29,44,134,147,175],"when":[30],"these":[31,80],"(a-c)":[33,118],"are":[34],"considered":[35],"individually,":[36],"it":[37,75],"is":[38],"possible":[39],"to":[40,101,112,125,165,184],"synthesize":[41],"movements":[43,68,84,123,169,189],"either":[45],"kinematically":[46],"match":[47],"experimental":[48],"data":[49],"or":[50],"reproduce":[51],"the":[52,64,90,141,158,176,182],"stereotypical":[53,129],"triphasic":[54,91],"muscle":[55,92],"activation":[56],"pattern.":[57,93],"However,":[58],"no":[59],"quantitative":[60],"comparison":[61],"has":[62,74],"assessed":[63],"realism":[65],"generated":[69],"by":[70,170],"each":[71],"factor,":[72],"nor":[73],"been":[76],"determined":[77],"whether":[78],"combining":[79],"results":[82,119],"in":[83,120,181,193],"with":[85,157],"kinematic":[87],"To":[94],"investigate":[95],"this,":[96],"we":[97],"used":[98],"reinforcement":[99,171],"learning":[100],"learn":[102],"a":[103,107],"for":[106],"musculoskeletal":[108],"model,":[110],"aiming":[111],"discern":[113],"which":[114],"combination":[115],"realistic":[121,166],"according":[124],"four":[126],"frequently":[127],"reported":[128],"characteristics.":[130],"Our":[131],"findings":[132],"indicate":[133],"incorporating":[135],"velocity":[136],"acceleration":[138],"requirements":[139],"into":[140],"reaching":[142],"task,":[143],"employing":[144],"reward":[145],"terms":[146],"minimize":[148],"mechanical":[149],"work,":[150],"hand":[151],"jerk,":[152],"effort,":[155],"along":[156],"inclusion":[159],"movement,":[163],"leads":[164],"human":[167],"learning.":[172],"We":[173],"expect":[174],"gained":[177],"insights":[178],"will":[179],"help":[180],"future":[183],"better":[185],"predict":[186],"desired":[187],"corrective":[191],"forces":[192],"wearable":[194],"assistive":[195],"devices.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2024-10-24T00:00:00"}
