{"id":"https://openalex.org/W4312428719","doi":"https://doi.org/10.1109/icdl53763.2022.9962221","title":"Evaluating Sensorimotor Abstraction on Curricula for Learning Mobile Manipulation Skills","display_name":"Evaluating Sensorimotor Abstraction on Curricula for Learning Mobile Manipulation Skills","publication_year":2022,"publication_date":"2022-09-12","ids":{"openalex":"https://openalex.org/W4312428719","doi":"https://doi.org/10.1109/icdl53763.2022.9962221"},"language":"en","primary_location":{"id":"doi:10.1109/icdl53763.2022.9962221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icdl53763.2022.9962221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Development and Learning (ICDL)","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/A5075286655","display_name":"Oscar Youngquist","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]},{"id":"https://openalex.org/I177605424","display_name":"Amherst College","ror":"https://ror.org/028vqfs63","country_code":"US","type":"education","lineage":["https://openalex.org/I177605424"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Oscar Youngquist","raw_affiliation_strings":["University of Massachusetts,Manning College of Information and Computer Science,Amherst","Manning College of Information and Computer Science, University of Massachusetts, Amherst"],"affiliations":[{"raw_affiliation_string":"University of Massachusetts,Manning College of Information and Computer Science,Amherst","institution_ids":["https://openalex.org/I177605424","https://openalex.org/I24603500"]},{"raw_affiliation_string":"Manning College of Information and Computer Science, University of Massachusetts, Amherst","institution_ids":["https://openalex.org/I177605424","https://openalex.org/I24603500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089224591","display_name":"Alenna Spiro","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]},{"id":"https://openalex.org/I177605424","display_name":"Amherst College","ror":"https://ror.org/028vqfs63","country_code":"US","type":"education","lineage":["https://openalex.org/I177605424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alenna Spiro","raw_affiliation_strings":["University of Massachusetts,Manning College of Information and Computer Science,Amherst","Manning College of Information and Computer Science, University of Massachusetts, Amherst"],"affiliations":[{"raw_affiliation_string":"University of Massachusetts,Manning College of Information and Computer Science,Amherst","institution_ids":["https://openalex.org/I177605424","https://openalex.org/I24603500"]},{"raw_affiliation_string":"Manning College of Information and Computer Science, University of Massachusetts, Amherst","institution_ids":["https://openalex.org/I177605424","https://openalex.org/I24603500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061856423","display_name":"Khoshrav Doctor","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]},{"id":"https://openalex.org/I177605424","display_name":"Amherst College","ror":"https://ror.org/028vqfs63","country_code":"US","type":"education","lineage":["https://openalex.org/I177605424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Khoshrav Doctor","raw_affiliation_strings":["University of Massachusetts,Manning College of Information and Computer Science,Amherst","Manning College of Information and Computer Science, University of Massachusetts, Amherst"],"affiliations":[{"raw_affiliation_string":"University of Massachusetts,Manning College of Information and Computer Science,Amherst","institution_ids":["https://openalex.org/I177605424","https://openalex.org/I24603500"]},{"raw_affiliation_string":"Manning College of Information and Computer Science, University of Massachusetts, Amherst","institution_ids":["https://openalex.org/I177605424","https://openalex.org/I24603500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111628193","display_name":"Roderic A. Grupen","orcid":null},"institutions":[{"id":"https://openalex.org/I177605424","display_name":"Amherst College","ror":"https://ror.org/028vqfs63","country_code":"US","type":"education","lineage":["https://openalex.org/I177605424"]},{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roderic Grupen","raw_affiliation_strings":["University of Massachusetts,Manning College of Information and Computer Science,Amherst","Manning College of Information and Computer Science, University of Massachusetts, Amherst"],"affiliations":[{"raw_affiliation_string":"University of Massachusetts,Manning College of Information and Computer Science,Amherst","institution_ids":["https://openalex.org/I177605424","https://openalex.org/I24603500"]},{"raw_affiliation_string":"Manning College of Information and Computer Science, University of Massachusetts, Amherst","institution_ids":["https://openalex.org/I177605424","https://openalex.org/I24603500"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5075286655"],"corresponding_institution_ids":["https://openalex.org/I177605424","https://openalex.org/I24603500"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20279116,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"75","last_page":"80"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10656","display_name":"Child and Animal Learning Development","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/3204","display_name":"Developmental and Educational Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10656","display_name":"Child and Animal Learning Development","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/3204","display_name":"Developmental and Educational Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.992900013923645,"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/T10699","display_name":"Primate Behavior and Ecology","score":0.9111999869346619,"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/abstraction","display_name":"Abstraction","score":0.7627643346786499},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6586456298828125},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5954486727714539},{"id":"https://openalex.org/keywords/motor-skill","display_name":"Motor skill","score":0.5107800960540771},{"id":"https://openalex.org/keywords/curriculum","display_name":"Curriculum","score":0.4757934808731079},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4734223186969757},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4309566020965576},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4170711636543274},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.1945773959159851},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.12032854557037354},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.09849897027015686},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09511977434158325}],"concepts":[{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.7627643346786499},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6586456298828125},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5954486727714539},{"id":"https://openalex.org/C169976356","wikidata":"https://www.wikidata.org/wiki/Q13208902","display_name":"Motor skill","level":2,"score":0.5107800960540771},{"id":"https://openalex.org/C47177190","wikidata":"https://www.wikidata.org/wiki/Q207137","display_name":"Curriculum","level":2,"score":0.4757934808731079},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4734223186969757},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4309566020965576},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4170711636543274},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.1945773959159851},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.12032854557037354},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.09849897027015686},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09511977434158325},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icdl53763.2022.9962221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icdl53763.2022.9962221","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Development and Learning (ICDL)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.7099999785423279}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W102863053","https://openalex.org/W1515004726","https://openalex.org/W1866105685","https://openalex.org/W2015003349","https://openalex.org/W2047032910","https://openalex.org/W2085127157","https://openalex.org/W2107099303","https://openalex.org/W2111734814","https://openalex.org/W2118852110","https://openalex.org/W2126302701","https://openalex.org/W2136832785","https://openalex.org/W2142714010","https://openalex.org/W2161802186","https://openalex.org/W2164596469","https://openalex.org/W2182185367","https://openalex.org/W2476301537","https://openalex.org/W2603088459","https://openalex.org/W2616430965","https://openalex.org/W2741594138","https://openalex.org/W2788781499","https://openalex.org/W2886885155","https://openalex.org/W2921955147","https://openalex.org/W2978129546","https://openalex.org/W2978631743","https://openalex.org/W4241717370","https://openalex.org/W4300281137","https://openalex.org/W6604156702","https://openalex.org/W6685947464","https://openalex.org/W6721408278","https://openalex.org/W6735789912","https://openalex.org/W6737937804","https://openalex.org/W6748523217"],"related_works":["https://openalex.org/W2045155990","https://openalex.org/W4313163053","https://openalex.org/W4300973204","https://openalex.org/W3045811229","https://openalex.org/W1483408780","https://openalex.org/W4284884309","https://openalex.org/W2908749798","https://openalex.org/W2348562106","https://openalex.org/W2370820329","https://openalex.org/W2370554813"],"abstract_inverted_index":{"Developmental":[0],"mechanisms":[1,28],"in":[2,27],"newborn":[3],"animals":[4],"shepherd":[5],"the":[6,11,15,81,134],"infant":[7],"through":[8],"interactions":[9],"with":[10,77],"world":[12],"that":[13,60,105,133],"form":[14],"foundation":[16],"for":[17,79,97],"hierarchical":[18],"skills.":[19],"An":[20],"important":[21],"part":[22],"of":[23,29,35,74,83,120],"this":[24,91],"guidance":[25],"resides":[26],"growth":[30],"and":[31,37,47,85,88,95,124],"maturation,":[32],"wherein":[33],"patterns":[34],"sensory":[36,84],"motor":[38,86],"recruitment":[39,82],"constrain":[40],"learning":[41,76,122],"complexity":[42],"while":[43],"building":[44],"foundational":[45],"expertise":[46],"transferable":[48],"control":[49,53],"knowledge.":[50],"The":[51],"resulting":[52],"policies":[54],"represent":[55],"a":[56,71,98,106],"sensorimotor":[57,111],"state":[58],"abstraction":[59,112],"can":[61],"be":[62],"leveraged":[63],"when":[64],"developing":[65],"new":[66],"behaviors.":[67],"This":[68],"paper":[69],"uses":[70],"computational":[72],"model":[73],"developmental":[75,107,135],"parameters":[78],"controlling":[80],"resources,":[87],"evaluates":[89],"how":[90],"influences":[92],"sample":[93,125],"efficiency":[94,126],"fitness":[96],"specific":[99],"mobile":[100],"manipulation":[101],"task.":[102],"We":[103],"find":[104,132],"curriculum":[108],"driven":[109],"by":[110],"drastically":[113],"improves":[114],"(by":[115],"up":[116],"to":[117,145],"an":[118],"order":[119],"magnitude)":[121],"performance":[123],"over":[127],"non-developmental":[128],"approaches.":[129],"Additionally,":[130],"we":[131],"policies/state":[136],"abstractions":[137],"offer":[138],"significant":[139],"robustness":[140],"properties,":[141],"enabling":[142],"skill":[143],"transfer":[144],"novel":[146],"domains":[147],"without":[148],"additional":[149],"training.":[150]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}