{"id":"https://openalex.org/W1588671388","doi":"https://doi.org/10.1109/icar.2015.7251511","title":"Reactive, task-specific object manipulation by metric reinforcement learning","display_name":"Reactive, task-specific object manipulation by metric reinforcement learning","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1588671388","doi":"https://doi.org/10.1109/icar.2015.7251511","mag":"1588671388"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2015.7251511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251511","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","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/A5090480079","display_name":"Simon Hangl","orcid":null},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Simon Hangl","raw_affiliation_strings":["Intelligent and Interactive Systems, University of Innsbruck","Intelligent and Interactive Systems, University of Innsbruck, Austria"],"affiliations":[{"raw_affiliation_string":"Intelligent and Interactive Systems, University of Innsbruck","institution_ids":["https://openalex.org/I190249584"]},{"raw_affiliation_string":"Intelligent and Interactive Systems, University of Innsbruck, Austria","institution_ids":["https://openalex.org/I190249584"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048165304","display_name":"Emre U\u011fur","orcid":"https://orcid.org/0000-0001-9597-2731"},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Emre Ugur","raw_affiliation_strings":["Intelligent and Interactive Systems, University of Innsbruck","Intelligent and Interactive Systems, University of Innsbruck, Austria"],"affiliations":[{"raw_affiliation_string":"Intelligent and Interactive Systems, University of Innsbruck","institution_ids":["https://openalex.org/I190249584"]},{"raw_affiliation_string":"Intelligent and Interactive Systems, University of Innsbruck, Austria","institution_ids":["https://openalex.org/I190249584"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056529215","display_name":"S\u00e1ndor Szedm\u00e1k","orcid":"https://orcid.org/0000-0003-1469-2215"},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Sandor Szedmak","raw_affiliation_strings":["Intelligent and Interactive Systems, University of Innsbruck","Intelligent and Interactive Systems, University of Innsbruck, Austria"],"affiliations":[{"raw_affiliation_string":"Intelligent and Interactive Systems, University of Innsbruck","institution_ids":["https://openalex.org/I190249584"]},{"raw_affiliation_string":"Intelligent and Interactive Systems, University of Innsbruck, Austria","institution_ids":["https://openalex.org/I190249584"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024515193","display_name":"Justus Piater","orcid":"https://orcid.org/0000-0002-1898-3362"},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Justus Piater","raw_affiliation_strings":["Intelligent and Interactive Systems, University of Innsbruck","Intelligent and Interactive Systems, University of Innsbruck, Austria"],"affiliations":[{"raw_affiliation_string":"Intelligent and Interactive Systems, University of Innsbruck","institution_ids":["https://openalex.org/I190249584"]},{"raw_affiliation_string":"Intelligent and Interactive Systems, University of Innsbruck, Austria","institution_ids":["https://openalex.org/I190249584"]}]},{"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"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Ales Ude","raw_affiliation_strings":["Department of Automatics, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana","Department of Automatics, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana, Austria"],"affiliations":[{"raw_affiliation_string":"Department of Automatics, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Department of Automatics, Biocybernetics and Robotics, Jozef Stefan Institute, Ljubljana, Austria","institution_ids":["https://openalex.org/I3006985408"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5090480079"],"corresponding_institution_ids":["https://openalex.org/I190249584"],"apc_list":null,"apc_paid":null,"fwci":0.6732,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.72783688,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"557","last_page":"564"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991999864578247,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9932000041007996,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7883410453796387},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7595881819725037},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7427079677581787},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7051681876182556},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6858119964599609},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6380845904350281},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.621704638004303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5801941156387329},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5715737342834473},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5261330604553223},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.49126046895980835},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4398091435432434},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.41161221265792847},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07753106951713562}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7883410453796387},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7595881819725037},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7427079677581787},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7051681876182556},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6858119964599609},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6380845904350281},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.621704638004303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5801941156387329},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5715737342834473},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5261330604553223},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.49126046895980835},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4398091435432434},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.41161221265792847},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07753106951713562},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar.2015.7251511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251511","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W745779314","https://openalex.org/W1620680570","https://openalex.org/W1898424075","https://openalex.org/W1925816294","https://openalex.org/W1929309940","https://openalex.org/W1975059663","https://openalex.org/W1976536305","https://openalex.org/W1993436046","https://openalex.org/W2012204020","https://openalex.org/W2012392077","https://openalex.org/W2047191624","https://openalex.org/W2069324174","https://openalex.org/W2116226448","https://openalex.org/W2127107099","https://openalex.org/W2129202194","https://openalex.org/W2133853511","https://openalex.org/W2151263703","https://openalex.org/W2164223054","https://openalex.org/W3005581722","https://openalex.org/W4300982816","https://openalex.org/W6640290305","https://openalex.org/W6683941694"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W4225571923","https://openalex.org/W3212257828","https://openalex.org/W4297873223","https://openalex.org/W2350784623","https://openalex.org/W2126211886"],"abstract_inverted_index":{"In":[0,53,78],"the":[1,22,32,39,45,48,60,72,75,88,123,141,146,156,165,169,173],"context":[2],"of":[3,5,47,74,104,112,140,168,211],"manipulation":[4,196],"dynamical":[6],"systems,":[7],"it":[8,231],"is":[9,134,161],"not":[10],"trivial":[11],"to":[12,43,55,90,95,129,207],"design":[13],"controllers":[14],"that":[15,86,107,133,153,188],"can":[16,108,191,204],"cope":[17,56],"with":[18,57,119,224,237],"unpredictable":[19],"changes":[20],"in":[21,28,114,164,232],"system":[23,190],"being":[24],"manipulated.":[25],"For":[26],"example,":[27],"a":[29,83,102,110,120,130,151,208,225,238],"pouring":[30,200,235],"task,":[31],"target":[33],"cup":[34],"might":[35],"start":[36],"moving":[37],"or":[38,201],"agent":[40],"may":[41],"decide":[42],"change":[44,66],"amount":[46],"liquid":[49],"during":[50,214],"action":[51],"execution.":[52],"order":[54],"these":[58],"situations,":[59],"robot":[61,89,99,124],"should":[62],"smoothly":[63,91,125],"(and":[64],"timely)":[65],"its":[67,127],"execution":[68,105],"policy":[69],"based":[70],"on":[71,155],"requirements":[73],"new":[76,131],"situation.":[77],"this":[79],"paper,":[80],"we":[81],"propose":[82],"robust":[84],"method":[85,220],"allows":[87],"and":[92,177,193,203,229,234],"successfully":[93,205],"react":[94,206],"such":[96,198],"changes.":[97],"The":[98],"first":[100],"learns":[101],"set":[103],"trajectories":[106],"solve":[109],"number":[111],"tasks":[113,197,236],"different":[115],"situations.":[116],"When":[117],"encountered":[118],"novel":[121],"situation,":[122],"adapts":[126],"trajectory":[128,227],"one":[132],"generated":[135],"by":[136],"weighted":[137],"linear":[138],"combination":[139],"previously":[142],"learned":[143,163],"trajectories,":[144],"where":[145],"weights":[147],"are":[148],"computed":[149],"using":[150,180,181],"metric":[152,160],"depends":[154],"task.":[157],"This":[158],"task-dependent":[159],"automatically":[162],"state":[166],"space":[167],"robot,":[170],"rather":[171],"than":[172],"motor":[174],"control":[175],"space,":[176],"further":[178],"optimized":[179],"reinforcement":[182],"learning":[183],"(RL)":[184],"framework.":[185],"We":[186,217],"discuss":[187],"our":[189,219],"learn":[192],"model":[194],"various":[195],"as":[199],"reaching;":[202],"wide":[209],"range":[210],"perturbations":[212],"introduced":[213],"task":[215],"executions.":[216],"evaluated":[218],"against":[221],"ground":[222],"truth":[223],"synthetic":[226],"dataset,":[228],"verified":[230],"grasping":[233],"real":[239],"robot.":[240]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}