{"id":"https://openalex.org/W2912536046","doi":"https://doi.org/10.1109/humanoids.2018.8625031","title":"Online Learning of an Open-Ended Skill Library for Collaborative Tasks","display_name":"Online Learning of an Open-Ended Skill Library for Collaborative Tasks","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2912536046","doi":"https://doi.org/10.1109/humanoids.2018.8625031","mag":"2912536046"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8625031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.26083/tuprints-00020545","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5063353075","display_name":"Dorothea Koert","orcid":"https://orcid.org/0000-0002-3571-6848"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Dorothea Koert","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068233406","display_name":"Susanne Trick","orcid":"https://orcid.org/0000-0001-5790-5060"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Susanne Trick","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075274617","display_name":"Marco Ewerton","orcid":"https://orcid.org/0000-0002-6982-9410"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marco Ewerton","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042151011","display_name":"Michael Lutter","orcid":"https://orcid.org/0000-0002-9019-6769"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Lutter","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5063353075"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":1.6852,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.85703107,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9585000276565552,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9491999745368958,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7869437336921692},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6617802977561951},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6603264212608337},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6507113575935364},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6227033138275146},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4992027282714844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47756534814834595},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.44205474853515625},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.4359925091266632},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.3659564256668091},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07863748073577881}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7869437336921692},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6617802977561951},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6603264212608337},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6507113575935364},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6227033138275146},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4992027282714844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47756534814834595},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.44205474853515625},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.4359925091266632},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.3659564256668091},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07863748073577881},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/humanoids.2018.8625031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:tuprints.ulb.tu-darmstadt.de:20545","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306401590","display_name":"Technischen Universit\u00e4t Darmstadt","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Conference or Workshop Item"},{"id":"pmh:oai:pure.mpg.de:item_3066348","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0003-BC60-D","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids 2018)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:135289","is_oa":false,"landing_page_url":"https://tuprints.ulb.tu-darmstadt.de/20545","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:147556","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/147556/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"},{"id":"doi:10.26083/tuprints-00020545","is_oa":true,"landing_page_url":"https://doi.org/10.26083/tuprints-00020545","pdf_url":null,"source":{"id":"https://openalex.org/S7407051655","display_name":"TUprints","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.26083/tuprints-00020545","is_oa":true,"landing_page_url":"https://doi.org/10.26083/tuprints-00020545","pdf_url":null,"source":{"id":"https://openalex.org/S7407051655","display_name":"TUprints","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.49000000953674316}],"awards":[{"id":"https://openalex.org/G352791218","display_name":null,"funder_award_id":"(BMBF)","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"},{"id":"https://openalex.org/G5768772728","display_name":null,"funder_award_id":"16SV7984","funder_id":"https://openalex.org/F4320321114","funder_display_name":"Bundesministerium f\u00fcr Bildung und Forschung"}],"funders":[{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W258053484","https://openalex.org/W1528914981","https://openalex.org/W1549690437","https://openalex.org/W1552448920","https://openalex.org/W1581800915","https://openalex.org/W1619452145","https://openalex.org/W1623311931","https://openalex.org/W1684361744","https://openalex.org/W1963873191","https://openalex.org/W1986014385","https://openalex.org/W2012058822","https://openalex.org/W2021822032","https://openalex.org/W2031967471","https://openalex.org/W2032277247","https://openalex.org/W2093333331","https://openalex.org/W2103254706","https://openalex.org/W2128677288","https://openalex.org/W2136719407","https://openalex.org/W2139957545","https://openalex.org/W2144576818","https://openalex.org/W2150884987","https://openalex.org/W2166302491","https://openalex.org/W2243880070","https://openalex.org/W2296332048","https://openalex.org/W2336261730","https://openalex.org/W2548184953","https://openalex.org/W2735021678","https://openalex.org/W2739274579","https://openalex.org/W2775751232","https://openalex.org/W4211008118","https://openalex.org/W6631724102","https://openalex.org/W6633054077","https://openalex.org/W6680314158","https://openalex.org/W6703557297","https://openalex.org/W6747136208"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W2130974462","https://openalex.org/W972276598","https://openalex.org/W3205513966","https://openalex.org/W2052971528","https://openalex.org/W3120459843","https://openalex.org/W4366547574","https://openalex.org/W3200191727"],"abstract_inverted_index":{"Intelligent":[0],"robotic":[1],"assistants":[2],"can":[3],"potentially":[4],"improve":[5],"the":[6,20,97],"quality":[7],"of":[8,22,29,44,72,81,110,121],"life":[9],"for":[10,68,113],"elderly":[11],"people":[12],"and":[13,24,41,55,128,146],"help":[14],"them":[15],"maintain":[16],"their":[17],"independence.":[18],"However,":[19],"number":[21],"different":[23],"personalized":[25],"tasks":[26,74],"render":[27],"pre-programming":[28],"such":[30],"assistive":[31,149],"robots":[32],"prohibitively":[33],"difficult.":[34],"Instead,":[35],"to":[36,51,92],"cope":[37],"with":[38,153],"a":[39,69,88,93,119,142,154],"continuous":[40],"open-ended":[42,126],"stream":[43],"cooperative":[45],"tasks,":[46],"new":[47,133],"collaborative":[48,73],"skills":[49,122,131],"need":[50],"be":[52],"continuously":[53],"learned":[54],"updated":[56],"from":[57,102],"demonstrations.":[58,134],"To":[59],"this":[60],"end,":[61],"we":[62],"introduce":[63],"an":[64,77,125,148],"online":[65],"learning":[66],"method":[67],"skill":[70],"library":[71,120],"that":[75],"employs":[76],"incremental":[78],"mixture":[79],"model":[80,86],"probabilistic":[82],"interaction":[83],"primitives.":[84],"This":[85],"chooses":[87],"corresponding":[89],"robot":[90,156],"response":[91],"human":[94,98],"movement":[95,111],"where":[96],"intention":[99],"is":[100],"extracted":[101],"previously":[103],"demonstrated":[104],"movements.":[105],"Unlike":[106],"existing":[107,130],"batch":[108],"methods":[109],"primitives":[112],"human-robot":[114,150],"interaction,":[115],"our":[116],"approach":[117,137],"builds":[118],"online,":[123],"in":[124,147],"fashion":[127],"updates":[129],"using":[132],"The":[135],"resulting":[136],"was":[138],"evaluated":[139],"both":[140],"on":[141],"simple":[143],"benchmark":[144],"task":[145],"collaboration":[151],"scenario":[152],"7DoF":[155],"arm.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}