{"id":"https://openalex.org/W2053858918","doi":"https://doi.org/10.1109/humanoids.2012.6651500","title":"Applying statistical generalization to determine search direction for reinforcement learning of movement primitives","display_name":"Applying statistical generalization to determine search direction for reinforcement learning of movement primitives","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2053858918","doi":"https://doi.org/10.1109/humanoids.2012.6651500","mag":"2053858918"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651500","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5020114289","display_name":"Bojan Nemec","orcid":"https://orcid.org/0000-0002-8728-7731"},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]},{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]}],"countries":["DE","SI"],"is_corresponding":false,"raw_author_name":"Bojan Nemec","raw_affiliation_strings":["Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","Dept. of Automatics, Biocybernetics, & Robot., Jozef Stefan Inst., Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171"]},{"raw_affiliation_string":"Dept. of Automatics, Biocybernetics, & Robot., Jozef Stefan Inst., Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020051011","display_name":"Denis Forte","orcid":null},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]},{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]}],"countries":["DE","SI"],"is_corresponding":false,"raw_author_name":"Denis Forte","raw_affiliation_strings":["Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","Dept. of Automatics, Biocybernetics, & Robot., Jozef Stefan Inst., Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171"]},{"raw_affiliation_string":"Dept. of Automatics, Biocybernetics, & Robot., Jozef Stefan Inst., Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043077669","display_name":"Rok Vuga","orcid":null},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]},{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]}],"countries":["DE","SI"],"is_corresponding":false,"raw_author_name":"Rok Vuga","raw_affiliation_strings":["Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","Dept. of Automatics, Biocybernetics, & Robot., Jozef Stefan Inst., Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171"]},{"raw_affiliation_string":"Dept. of Automatics, Biocybernetics, & Robot., Jozef Stefan Inst., Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026724617","display_name":"Minija Tamo\u0161i\u016bnait\u0117","orcid":"https://orcid.org/0000-0003-2996-3612"},"institutions":[{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Minija Tamosiunaite","raw_affiliation_strings":["Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","Bernstein Center for Comput. Neurosci., Gottingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171"]},{"raw_affiliation_string":"Bernstein Center for Comput. Neurosci., Gottingen, Germany","institution_ids":["https://openalex.org/I4210087171"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023811677","display_name":"Florentin W\u00f6rg\u00f6tter","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florentin Worgotter","raw_affiliation_strings":["Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","Bernstein Center for Comput. Neurosci., Gottingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171"]},{"raw_affiliation_string":"Bernstein Center for Comput. Neurosci., Gottingen, Germany","institution_ids":["https://openalex.org/I4210087171"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019399129","display_name":"Ale\u0161 Ude","orcid":"https://orcid.org/0000-0003-3677-3972"},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]},{"id":"https://openalex.org/I4210087171","display_name":"Bernstein Center for Computational Neuroscience G\u00f6ttingen","ror":"https://ror.org/003g6b432","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210087171","https://openalex.org/I4210092532"]}],"countries":["DE","SI"],"is_corresponding":false,"raw_author_name":"Ales Ude","raw_affiliation_strings":["Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","Dept. of Automatics, Biocybernetics, & Robot., Jozef Stefan Inst., Ljubljana, Slovenia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatics Biocybernetics, and Robotics, Ljubljana, Slovenia, Bernstein Center for Computational Neuroscience, G\u00f6ttingen, Germany","institution_ids":["https://openalex.org/I4210087171"]},{"raw_affiliation_string":"Dept. of Automatics, Biocybernetics, & Robot., Jozef Stefan Inst., Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"65","last_page":"70"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9991000294685364,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.996399998664856,"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":0.8129798173904419},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.673418402671814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6507603526115417},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.6045573949813843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5728079676628113},{"id":"https://openalex.org/keywords/manifold","display_name":"Manifold (fluid mechanics)","score":0.559476912021637},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5240928530693054},{"id":"https://openalex.org/keywords/nonlinear-dimensionality-reduction","display_name":"Nonlinear dimensionality reduction","score":0.4761202931404114},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4245988428592682},{"id":"https://openalex.org/keywords/dimensionality-reduction","display_name":"Dimensionality reduction","score":0.27381837368011475},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2589978575706482}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8129798173904419},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.673418402671814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6507603526115417},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.6045573949813843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5728079676628113},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.559476912021637},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5240928530693054},{"id":"https://openalex.org/C151876577","wikidata":"https://www.wikidata.org/wiki/Q7049464","display_name":"Nonlinear dimensionality reduction","level":3,"score":0.4761202931404114},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4245988428592682},{"id":"https://openalex.org/C70518039","wikidata":"https://www.wikidata.org/wiki/Q16000077","display_name":"Dimensionality reduction","level":2,"score":0.27381837368011475},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2589978575706482},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2012.6651500","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651500","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},{"id":"pmh:oai:vdu.lt:20.500.12259/57750","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/6651500","pdf_url":null,"source":{"id":"https://openalex.org/S7407055361","display_name":"Vytautas Magnus University","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1689445748","https://openalex.org/W1925816294","https://openalex.org/W1964985369","https://openalex.org/W1970890515","https://openalex.org/W2047191624","https://openalex.org/W2069324174","https://openalex.org/W2080039641","https://openalex.org/W2101205555","https://openalex.org/W2110304639","https://openalex.org/W2116226448","https://openalex.org/W2118459920","https://openalex.org/W2119717200","https://openalex.org/W2120772693","https://openalex.org/W2121863487","https://openalex.org/W2125612430","https://openalex.org/W2129908972","https://openalex.org/W2130801532","https://openalex.org/W2161872510","https://openalex.org/W2166302491","https://openalex.org/W2171054284","https://openalex.org/W2319890895","https://openalex.org/W3005581722","https://openalex.org/W3029645440","https://openalex.org/W4214717370","https://openalex.org/W4230563027","https://openalex.org/W4293775970","https://openalex.org/W6640290305","https://openalex.org/W6679257226"],"related_works":["https://openalex.org/W117517268","https://openalex.org/W2148415967","https://openalex.org/W122603882","https://openalex.org/W2383239174","https://openalex.org/W2362829263","https://openalex.org/W2010679820","https://openalex.org/W1505873999","https://openalex.org/W3159953198","https://openalex.org/W49725993","https://openalex.org/W2380477800"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3,21,52,75,131],"present":[4],"a":[5,45,54,68,91,133,185],"new":[6],"methodology":[7],"for":[8,29,175],"robot":[9],"learning":[10,83,92,106,118,135,144,149,176],"that":[11,39,102],"combines":[12,143],"ideas":[13],"from":[14],"statistical":[15,23],"generalization":[16,24],"and":[17,183],"reinforcement":[18,82,134],"learning.":[19],"First":[20],"apply":[22,121],"to":[25,95,125,161],"compute":[26],"an":[27,116,138],"approximation":[28],"the":[30,41,65,77,85,96,108,127,166],"optimal":[31],"control":[32,128],"policy":[33,78],"as":[34,115],"defined":[35],"by":[36,79],"training":[37],"movements":[38],"solve":[40],"given":[42],"task":[43],"in":[44,90,103,145,150,181],"number":[46],"of":[47,56,67,71,81,153,165,177],"specific":[48],"situations.":[49],"This":[50],"way":[51],"obtain":[53],"manifold":[55,111],"movements,":[57],"which":[58,88,142,157],"dimensionality":[59,66],"is":[60],"usually":[61],"much":[62],"smaller":[63],"than":[64],"full":[69,151],"space":[70,152],"movement":[72,155],"primitives.":[73],"Next":[74],"refine":[76,126],"means":[80],"on":[84,107,184],"approximating":[86,168],"manifold,":[87],"results":[89],"problem":[93],"constrained":[94,146],"low":[97,109],"dimensional":[98,110],"manifold.":[99,169],"We":[100,120],"show":[101],"some":[104],"situations,":[105],"can":[112],"be":[113],"implemented":[114],"error":[117],"algorithm.":[119],"golden":[122],"section":[123],"search":[124],"policy.":[129],"Furthermore,":[130],"propose":[132],"algorithm":[136],"with":[137,148],"extended":[139],"parameter":[140],"set,":[141],"domain":[147],"parametric":[154],"primitives,":[156],"makes":[158],"it":[159],"possible":[160],"explore":[162],"actions":[163],"outside":[164],"initial":[167],"The":[170],"proposed":[171],"approach":[172],"was":[173],"tested":[174],"pouring":[178],"action":[179],"both":[180],"simulation":[182],"real":[186],"robot.":[187]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}