{"id":"https://openalex.org/W4391422732","doi":"https://doi.org/10.1109/icar58858.2023.10406757","title":"Autonomous Learning of Task Sequences in Robotic Scenarios with Non-Stationary Interdependencies","display_name":"Autonomous Learning of Task Sequences in Robotic Scenarios with Non-Stationary Interdependencies","publication_year":2023,"publication_date":"2023-12-05","ids":{"openalex":"https://openalex.org/W4391422732","doi":"https://doi.org/10.1109/icar58858.2023.10406757"},"language":"en","primary_location":{"id":"doi:10.1109/icar58858.2023.10406757","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icar58858.2023.10406757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 21st 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/A5071213167","display_name":"Alejandro Romero\u2010Ruiz","orcid":"https://orcid.org/0000-0002-6654-2908"},"institutions":[{"id":"https://openalex.org/I4210124246","display_name":"CITIC Group (China)","ror":"https://ror.org/037b6wy35","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210124246"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Alejandro Romero","raw_affiliation_strings":["Integrated Group for Engineering Research (GII) at the CITIC research center, Universidade da Coruña"],"affiliations":[{"raw_affiliation_string":"Integrated Group for Engineering Research (GII) at the CITIC research center, Universidade da Coruña","institution_ids":["https://openalex.org/I4210124246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076711458","display_name":"Gianluca Baldassarre","orcid":"https://orcid.org/0000-0002-1277-4447"},"institutions":[{"id":"https://openalex.org/I4210166865","display_name":"Institute of Cognitive Sciences and Technologies","ror":"https://ror.org/05w9g2j85","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210155236","https://openalex.org/I4210166865"]},{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"funder","lineage":["https://openalex.org/I4210155236"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Baldassarre","raw_affiliation_strings":["Institute of Cognitive Sciences and Technologies (ISTC), National Research Council of Italy (CNR)"],"affiliations":[{"raw_affiliation_string":"Institute of Cognitive Sciences and Technologies (ISTC), National Research Council of Italy (CNR)","institution_ids":["https://openalex.org/I4210166865","https://openalex.org/I4210155236"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036723055","display_name":"Richard J. Duro","orcid":"https://orcid.org/0000-0002-6807-524X"},"institutions":[{"id":"https://openalex.org/I4210124246","display_name":"CITIC Group (China)","ror":"https://ror.org/037b6wy35","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210124246"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Richard J. Duro","raw_affiliation_strings":["Integrated Group for Engineering Research (GII) at the CITIC research center, Universidade da Coruña"],"affiliations":[{"raw_affiliation_string":"Integrated Group for Engineering Research (GII) at the CITIC research center, Universidade da Coruña","institution_ids":["https://openalex.org/I4210124246"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012368267","display_name":"Vieri Giuliano Santucci","orcid":"https://orcid.org/0000-0002-8748-9632"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"funder","lineage":["https://openalex.org/I4210155236"]},{"id":"https://openalex.org/I4210166865","display_name":"Institute of Cognitive Sciences and Technologies","ror":"https://ror.org/05w9g2j85","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210155236","https://openalex.org/I4210166865"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vieri Giuliano Santucci","raw_affiliation_strings":["Institute of Cognitive Sciences and Technologies (ISTC), National Research Council of Italy (CNR)"],"affiliations":[{"raw_affiliation_string":"Institute of Cognitive Sciences and Technologies (ISTC), National Research Council of Italy (CNR)","institution_ids":["https://openalex.org/I4210166865","https://openalex.org/I4210155236"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5071213167"],"corresponding_institution_ids":["https://openalex.org/I4210124246"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19833678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"29","issue":null,"first_page":"64","last_page":"70"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9837999939918518,"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"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9837999939918518,"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":0.9596999883651733,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9552000164985657,"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/interdependence","display_name":"Interdependence","score":0.8320945501327515},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.742760419845581},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5653896331787109},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5615083575248718},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5469704270362854},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5056576728820801},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.5011723041534424},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.48118382692337036},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.4506318271160126},{"id":"https://openalex.org/keywords/competence","display_name":"Competence (human resources)","score":0.44482994079589844},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4447783827781677},{"id":"https://openalex.org/keywords/autonomous-robot","display_name":"Autonomous robot","score":0.4177429974079132},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4168443977832794},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26024091243743896},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.21441224217414856},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14473244547843933}],"concepts":[{"id":"https://openalex.org/C185874996","wikidata":"https://www.wikidata.org/wiki/Q269699","display_name":"Interdependence","level":2,"score":0.8320945501327515},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.742760419845581},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5653896331787109},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5615083575248718},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5469704270362854},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5056576728820801},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.5011723041534424},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.48118382692337036},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.4506318271160126},{"id":"https://openalex.org/C100521375","wikidata":"https://www.wikidata.org/wiki/Q2015382","display_name":"Competence (human resources)","level":2,"score":0.44482994079589844},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4447783827781677},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.4177429974079132},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4168443977832794},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26024091243743896},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.21441224217414856},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14473244547843933},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icar58858.2023.10406757","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/icar58858.2023.10406757","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 21st International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10"}],"awards":[{"id":"https://openalex.org/G2335409187","display_name":null,"funder_award_id":"EDC431C-2021/39","funder_id":"https://openalex.org/F4320326655","funder_display_name":"Xunta de Galicia"}],"funders":[{"id":"https://openalex.org/F4320326655","display_name":"Xunta de Galicia","ror":"https://ror.org/0181xnw06"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W2004303440","https://openalex.org/W2162850206","https://openalex.org/W2401657790","https://openalex.org/W2892673593","https://openalex.org/W2909250767","https://openalex.org/W2946231253","https://openalex.org/W2963262099","https://openalex.org/W2963276097","https://openalex.org/W2963523627","https://openalex.org/W2971254941","https://openalex.org/W2972758308","https://openalex.org/W2979165213","https://openalex.org/W2999091228","https://openalex.org/W3008195728","https://openalex.org/W3105665640","https://openalex.org/W4206133947","https://openalex.org/W4285009743","https://openalex.org/W4288294174","https://openalex.org/W4312845100","https://openalex.org/W6703271639","https://openalex.org/W6717230150","https://openalex.org/W6755923498","https://openalex.org/W6760560886","https://openalex.org/W6764537672","https://openalex.org/W6788329992","https://openalex.org/W6794839098"],"related_works":["https://openalex.org/W2113226229","https://openalex.org/W2232179526","https://openalex.org/W2122546011","https://openalex.org/W4383066288","https://openalex.org/W2011024242","https://openalex.org/W4366999966","https://openalex.org/W2361329532","https://openalex.org/W1905720634","https://openalex.org/W2341491987","https://openalex.org/W2151908411"],"abstract_inverted_index":{"Autonomously":[0],"acquiring":[1,53],"knowledge":[2],"and":[3,52,85,112,161,194],"skills":[4,54],"interacting":[5],"with":[6,134,146,167,171],"the":[7,18,56,67,86,106,113,116,121,124,132,138,147,150,154,176,182],"environment":[8],"is":[9,34,73,88],"fundamental":[10],"for":[11,58],"systems":[12,36],"operating":[13],"in":[14,30,79,157,164],"real-world":[15],"scenarios.":[16],"While":[17],"majority":[19],"of":[20,27,38,70,109,123,141,149,178],"robotics":[21],"applications":[22],"consider":[23],"a":[24,101,135,158,165],"limited":[25],"range":[26],"autonomy,":[28],"research":[29],"autonomous":[31,68,107,139],"open-ended":[32],"learning":[33,62,69,108],"developing":[35],"capable":[37],"adapting":[39],"to":[40,90,126,144,184,187],"contexts":[41],"that":[42],"cannot":[43],"be":[44],"foreseen":[45],"at":[46],"design-time,":[47],"selecting":[48],"their":[49],"own":[50],"goals":[51],"without":[55],"need":[57],"task-specific":[59],"motivations":[60],"or":[61],"signals.":[63],"In":[64],"this":[65],"perspective,":[66],"interdependent":[71],"tasks":[72,170],"still":[74],"an":[75],"open":[76],"issue,":[77],"especially":[78],"scenarios":[80,190],"where":[81],"dependencies":[82],"are":[83],"non-stationary":[84],"system":[87,133],"forced":[89],"re-modulate":[91],"previously":[92],"acquired":[93],"knowledge.":[94],"Here":[95],"we":[96,130],"investigate":[97],"these":[98],"issues,":[99],"presenting":[100],"hierarchical":[102],"architecture":[103,156],"allowing":[104,137],"both":[105],"multiple":[110],"goals,":[111],"sequences":[114],"reflecting":[115],"relations":[117],"between":[118],"them.":[119],"Leveraging":[120],"capability":[122],"robot":[125,160],"self-monitor":[127],"its":[128,185],"competence,":[129],"endowed":[131],"mechanism":[136],"balancing":[140],"exploration/exploitation":[142],"strategies":[143],"cope":[145],"non-stationarity":[148],"environment.":[151],"We":[152],"implemented":[153],"proposed":[155],"UR5e":[159],"tested":[162],"it":[163],"scenario":[166],"different":[168],"manipulation":[169],"changing":[172,197],"interdependencies.":[173],"Results":[174],"show":[175],"effectiveness":[177],"our":[179],"solution,":[180],"paving":[181],"way":[183],"application":[186],"more":[188],"realistic":[189],"involving":[191],"compound":[192],"objects":[193],"unstructured":[195],"conditions":[196],"over":[198],"time.":[199]},"counts_by_year":[],"updated_date":"2025-12-25T23:11:45.687758","created_date":"2025-10-10T00:00:00"}