{"id":"https://openalex.org/W4313563007","doi":"https://doi.org/10.1109/humanoids53995.2022.10000092","title":"Learning to Autonomously Reach Objects with NICO and Grow-When-Required Networks","display_name":"Learning to Autonomously Reach Objects with NICO and Grow-When-Required Networks","publication_year":2022,"publication_date":"2022-11-28","ids":{"openalex":"https://openalex.org/W4313563007","doi":"https://doi.org/10.1109/humanoids53995.2022.10000092"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids53995.2022.10000092","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids53995.2022.10000092","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","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/A5083760277","display_name":"Nima Rahrakhshan","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Nima Rahrakhshan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040045142","display_name":"Matthias Kerzel","orcid":"https://orcid.org/0000-0002-1378-0435"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Kerzel","raw_affiliation_strings":["University of Hamburg,Knowledge Technology, Department of Informatics,Germany","Knowledge Technology, Department of Informatics, University of Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Hamburg,Knowledge Technology, Department of Informatics,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Knowledge Technology, Department of Informatics, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046907706","display_name":"Philipp Allgeuer","orcid":"https://orcid.org/0000-0002-2355-0764"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Philipp Allgeuer","raw_affiliation_strings":["University of Hamburg,Knowledge Technology, Department of Informatics,Germany","Knowledge Technology, Department of Informatics, University of Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Hamburg,Knowledge Technology, Department of Informatics,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Knowledge Technology, Department of Informatics, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052599150","display_name":"Nicolas Duczek","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nicolas Duczek","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5033486668","display_name":"Stefan Wermter","orcid":"https://orcid.org/0000-0003-1343-4775"},"institutions":[{"id":"https://openalex.org/I159176309","display_name":"Universit\u00e4t Hamburg","ror":"https://ror.org/00g30e956","country_code":"DE","type":"education","lineage":["https://openalex.org/I159176309"]},{"id":"https://openalex.org/I884043246","display_name":"Hamburg University of Technology","ror":"https://ror.org/04bs1pb34","country_code":"DE","type":"education","lineage":["https://openalex.org/I884043246"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Wermter","raw_affiliation_strings":["University of Hamburg,Knowledge Technology, Department of Informatics,Germany","Knowledge Technology, Department of Informatics, University of Hamburg, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Hamburg,Knowledge Technology, Department of Informatics,Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]},{"raw_affiliation_string":"Knowledge Technology, Department of Informatics, University of Hamburg, Germany","institution_ids":["https://openalex.org/I159176309","https://openalex.org/I884043246"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5083760277"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3518,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51690481,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"121","issue":null,"first_page":"217","last_page":"222"},"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/T10982","display_name":"Motor Control and Adaptation","score":0.9984999895095825,"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"}},{"id":"https://openalex.org/T11431","display_name":"Action Observation and Synchronization","score":0.9977999925613403,"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/hebbian-theory","display_name":"Hebbian theory","score":0.768435001373291},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6914094686508179},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6440972089767456},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.6278467178344727},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6252799034118652},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.581360399723053},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5704026222229004},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5241270661354065},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.47449278831481934},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4609305262565613},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4061678349971771},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4054972529411316},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33587226271629333},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.11584258079528809}],"concepts":[{"id":"https://openalex.org/C111437709","wikidata":"https://www.wikidata.org/wiki/Q1277874","display_name":"Hebbian theory","level":3,"score":0.768435001373291},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6914094686508179},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6440972089767456},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.6278467178344727},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6252799034118652},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.581360399723053},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5704026222229004},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5241270661354065},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.47449278831481934},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4609305262565613},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4061678349971771},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4054972529411316},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33587226271629333},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.11584258079528809},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids53995.2022.10000092","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids53995.2022.10000092","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W125273950","https://openalex.org/W914253898","https://openalex.org/W1778380206","https://openalex.org/W1976147785","https://openalex.org/W1990517717","https://openalex.org/W2046372172","https://openalex.org/W2052467472","https://openalex.org/W2058099001","https://openalex.org/W2061689772","https://openalex.org/W2082511574","https://openalex.org/W2112803283","https://openalex.org/W2116327256","https://openalex.org/W2131708731","https://openalex.org/W2142714010","https://openalex.org/W2154604355","https://openalex.org/W2162850206","https://openalex.org/W2173013745","https://openalex.org/W2470271743","https://openalex.org/W2767077819","https://openalex.org/W2771461682","https://openalex.org/W2781682462","https://openalex.org/W2808625875","https://openalex.org/W3035695796","https://openalex.org/W3129877783","https://openalex.org/W4383503721"],"related_works":["https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2963178506","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2069988910","https://openalex.org/W2198321481"],"abstract_inverted_index":{"The":[0,68],"act":[1],"of":[2,21,28,34,65,119,155,161],"reaching":[3],"for":[4,13,62,128],"an":[5,129,144],"object":[6,66,130],"is":[7,40,49,139,171],"a":[8,14,18,31,45,111,177],"fundamental":[9],"yet":[10],"complex":[11,99],"skill":[12],"robotic":[15],"agent,":[16],"requiring":[17],"high":[19],"degree":[20],"visuomotor":[22,54],"control":[23,118],"and":[24,74,80,122],"coordination.":[25,133],"In":[26,42,159],"consideration":[27],"dynamic":[29],"environments,":[30],"robot":[32,69,169],"capable":[33],"autonomously":[35,52],"adapting":[36],"to":[37,51,95,106,126,141,173],"novel":[38],"situations":[39],"desired.":[41],"this":[43],"paper,":[44],"developmental":[46],"robotics":[47],"approach":[48],"used":[50,94],"learn":[53,96],"coordination":[55],"on":[56,86],"the":[57,63,108,120,137,149,153,156,167],"NICO":[58,170],"(Neuro-Inspired":[59],"COmpanion)":[60],"platform,":[61],"task":[64],"reaching.":[67],"interacts":[70],"with":[71,143,176],"its":[72],"environment":[73],"learns":[75],"associations":[76],"between":[77],"motor":[78,117],"commands":[79],"temporally":[81],"correlated":[82],"sensory":[83],"perceptions":[84],"based":[85],"Hebbian":[87],"learning.":[88],"Multiple":[89],"Grow-When-Required":[90],"(GWR)":[91],"networks":[92],"are":[93],"increasingly":[97],"more":[98],"motoric":[100],"behaviors,":[101],"by":[102,115],"first":[103],"learning":[104,116,124],"how":[105,125],"direct":[107],"gaze":[109],"towards":[110],"visual":[112],"stimulus,":[113],"followed":[114],"arm,":[121],"finally":[123],"reach":[127,174],"using":[131],"eye-hand":[132],"We":[134],"demonstrate":[135],"that":[136,166],"model":[138],"able":[140,172],"deal":[142],"unforeseen":[145],"mechanical":[146],"change":[147],"in":[148],"NICO's":[150],"body,":[151],"showing":[152],"adaptability":[154],"proposed":[157],"approach.":[158],"evaluations":[160],"our":[162],"approach,":[163],"we":[164],"show":[165],"humanoid":[168],"objects":[175],"76%":[178],"success":[179],"rate.":[180]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}