{"id":"https://openalex.org/W3126384422","doi":"https://doi.org/10.1109/icar53236.2021.9659344","title":"Towards Hierarchical Task Decomposition using Deep Reinforcement Learning for Pick and Place Subtasks","display_name":"Towards Hierarchical Task Decomposition using Deep Reinforcement Learning for Pick and Place Subtasks","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W3126384422","doi":"https://doi.org/10.1109/icar53236.2021.9659344","mag":"3126384422"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659344","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://eprints.gla.ac.uk/view/author/20809.html>","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5005034849","display_name":"Luca Marzari","orcid":"https://orcid.org/0000-0002-0069-0182"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Luca Marzari","raw_affiliation_strings":["Department of Computer Science, University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011989897","display_name":"Ameya Pore","orcid":"https://orcid.org/0000-0001-7380-6118"},"institutions":[{"id":"https://openalex.org/I9617848","display_name":"Universitat Polit\u00e8cnica de Catalunya","ror":"https://ror.org/03mb6wj31","country_code":"ES","type":"education","lineage":["https://openalex.org/I9617848"]},{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["ES","IT"],"is_corresponding":false,"raw_author_name":"Ameya Pore","raw_affiliation_strings":["Center of Research in Biomedical Engineering, Universitat Polit&#x00E8;cnica de Catalunya, Barcelona, Spain","Department of Computer Science, University of Verona, Verona, Italy","cnica de Catalunya, Barcelona, Spain","Center of Research in Biomedical Engineering, Universitat Polit&#x00E8"],"affiliations":[{"raw_affiliation_string":"Center of Research in Biomedical Engineering, Universitat Polit&#x00E8;cnica de Catalunya, Barcelona, Spain","institution_ids":["https://openalex.org/I9617848"]},{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]},{"raw_affiliation_string":"cnica de Catalunya, Barcelona, Spain","institution_ids":[]},{"raw_affiliation_string":"Center of Research in Biomedical Engineering, Universitat Polit&#x00E8","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072250553","display_name":"Diego Dall\u2019Alba","orcid":"https://orcid.org/0000-0002-7300-5975"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Diego Dall'Alba","raw_affiliation_strings":["Department of Computer Science, University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013549829","display_name":"Gerardo Arag\u00f3n-Camarasa","orcid":"https://orcid.org/0000-0003-3756-5569"},"institutions":[{"id":"https://openalex.org/I7882870","display_name":"University of Glasgow","ror":"https://ror.org/00vtgdb53","country_code":"GB","type":"education","lineage":["https://openalex.org/I7882870"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Gerardo Aragon-Camarasa","raw_affiliation_strings":["Computer Vision and Autonomous group, School of Computing Science, University of Glasgow, Glasgow, UK"],"affiliations":[{"raw_affiliation_string":"Computer Vision and Autonomous group, School of Computing Science, University of Glasgow, Glasgow, UK","institution_ids":["https://openalex.org/I7882870"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045922629","display_name":"Alessandro Farinelli","orcid":"https://orcid.org/0000-0002-2592-5814"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Farinelli","raw_affiliation_strings":["Department of Computer Science, University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065107543","display_name":"Paolo Fiorini","orcid":"https://orcid.org/0000-0002-0711-8605"},"institutions":[{"id":"https://openalex.org/I119439378","display_name":"University of Verona","ror":"https://ror.org/039bp8j42","country_code":"IT","type":"education","lineage":["https://openalex.org/I119439378"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Fiorini","raw_affiliation_strings":["Department of Computer Science, University of Verona, Verona, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Verona, Verona, Italy","institution_ids":["https://openalex.org/I119439378"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5005034849"],"corresponding_institution_ids":["https://openalex.org/I119439378"],"apc_list":null,"apc_paid":null,"fwci":10.0539,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.99426446,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"640","last_page":"645"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9995999932289124,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8479664325714111},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.805114209651947},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7982825040817261},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7404792308807373},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6795239448547363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6677718758583069},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.48022136092185974},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.45790740847587585},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41324126720428467},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11941304802894592}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8479664325714111},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.805114209651947},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7982825040817261},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7404792308807373},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6795239448547363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6677718758583069},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.48022136092185974},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.45790740847587585},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41324126720428467},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11941304802894592},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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},{"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/icar53236.2021.9659344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659344","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.gla.ac.uk:257517","is_oa":true,"landing_page_url":"https://eprints.gla.ac.uk/view/author/20809.html>","pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":{"id":"pmh:oai:eprints.gla.ac.uk:257517","is_oa":true,"landing_page_url":"https://eprints.gla.ac.uk/view/author/20809.html>","pdf_url":null,"source":{"id":"https://openalex.org/S4210235606","display_name":"ENLIGHTEN (Jurnal Bimbingan dan Konseling Islam)","issn_l":"2622-8912","issn":["2622-8912","2622-8920"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","score":0.4099999964237213,"display_name":"Decent work and economic growth"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332605","display_name":"Agricultural Research Service","ror":"https://ror.org/02d2m2044"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W1592847719","https://openalex.org/W1931877416","https://openalex.org/W2150884987","https://openalex.org/W2397253692","https://openalex.org/W2575705757","https://openalex.org/W2733961795","https://openalex.org/W2741122588","https://openalex.org/W2774343553","https://openalex.org/W2789008106","https://openalex.org/W2803281228","https://openalex.org/W2809668646","https://openalex.org/W2907537824","https://openalex.org/W2949604932","https://openalex.org/W2950614095","https://openalex.org/W2962736495","https://openalex.org/W2962957031","https://openalex.org/W2963099939","https://openalex.org/W2964043796","https://openalex.org/W2964262254","https://openalex.org/W2971178512","https://openalex.org/W3003997138","https://openalex.org/W3037625705","https://openalex.org/W3037790619","https://openalex.org/W3091277626","https://openalex.org/W3099298343","https://openalex.org/W3111294788","https://openalex.org/W3112178754","https://openalex.org/W3204292263","https://openalex.org/W4226137952","https://openalex.org/W4293872189","https://openalex.org/W4300799055","https://openalex.org/W6627932998","https://openalex.org/W6640174482","https://openalex.org/W6692846177","https://openalex.org/W6740801417","https://openalex.org/W6742461812","https://openalex.org/W6746722632","https://openalex.org/W6752089545","https://openalex.org/W6752431149","https://openalex.org/W6757380569","https://openalex.org/W6768977950","https://openalex.org/W6780058518","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2152313554","https://openalex.org/W2064303750","https://openalex.org/W3048672182","https://openalex.org/W1509300825","https://openalex.org/W3092582874","https://openalex.org/W2065450024"],"abstract_inverted_index":{"Deep":[0],"Reinforcement":[1],"Learning":[2,46],"(DRL)":[3],"is":[4,24,38],"emerging":[5],"as":[6,111],"a":[7,18,67,90,125,141,145,161],"promising":[8],"approach":[9],"to":[10,53,75,128,151,176],"generate":[11],"adaptive":[12],"behaviors":[13],"for":[14],"robotic":[15,44,149,179],"platforms.":[16],"However,":[17,64],"major":[19],"drawback":[20],"of":[21,32,61,70,169],"using":[22,185],"DRL":[23,117],"the":[25,59,130,173,177],"data-hungry":[26],"training":[27],"regime":[28],"that":[29,72,157],"requires":[30,66],"millions":[31],"trial":[33],"and":[34,98,114,133,147,155,181],"error":[35],"attempts,":[36],"which":[37],"impractical":[39],"when":[40],"running":[41],"experiments":[42],"on":[43,165],"systems.":[45],"from":[47],"Demonstrations":[48],"(LfD)":[49],"has":[50],"been":[51],"introduced":[52],"solve":[54],"this":[55],"issue":[56],"by":[57,124],"cloning":[58],"behavior":[60],"expert":[62,112],"demonstrations.":[63],"LfD":[65,166],"large":[68],"number":[69],"demonstrations":[71],"are":[73,82,109,121],"difficult":[74],"be":[76,102],"acquired":[77],"since":[78],"dedicated":[79],"complex":[80,96],"setups":[81],"required.":[83],"To":[84],"overcome":[85],"these":[86],"limitations,":[87],"we":[88,143],"propose":[89],"multi-subtask":[91],"reinforcement":[92],"learning":[93],"methodology":[94,154,163],"where":[95],"pick":[97,132,146],"place":[99,134,148],"tasks":[100],"can":[101],"decomposed":[103],"into":[104],"low-level":[105],"subtasks.":[106],"These":[107],"subtasks":[108,120],"parametrized":[110],"networks":[113],"learned":[115,174],"via":[116],"methods.":[118],"Trained":[119],"then":[122],"combined":[123],"high-level":[126],"choreographer":[127],"accomplish":[129],"intended":[131],"task":[135],"considering":[136],"different":[137],"initial":[138],"configurations.":[139],"As":[140],"testbed,":[142],"use":[144],"simulator":[150],"demonstrate":[152,182],"our":[153,158],"show":[156],"method":[159],"outperforms":[160],"benchmark":[162],"based":[164],"in":[167],"terms":[168],"sample-efficiency.":[170],"We":[171],"transfer":[172],"policy":[175],"real":[178],"system":[180],"robust":[183],"grasping":[184],"various":[186],"geometric-shaped":[187],"objects.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-15T09:29:46.208133","created_date":"2025-10-10T00:00:00"}
