{"id":"https://openalex.org/W2539916161","doi":"https://doi.org/10.1109/ichr.2004.1442117","title":"Reaching through learned forward model","display_name":"Reaching through learned forward model","publication_year":2005,"publication_date":"2005-07-27","ids":{"openalex":"https://openalex.org/W2539916161","doi":"https://doi.org/10.1109/ichr.2004.1442117","mag":"2539916161"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2004.1442117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2004.1442117","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"4th IEEE/RAS International Conference on Humanoid Robots, 2004.","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/A5031058944","display_name":"Ganghua Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ganghua Sun","raw_affiliation_strings":["Computer Science Department, Yale University, New Heaven, CT, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Yale University, New Heaven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027635705","display_name":"Brian Scassellati","orcid":"https://orcid.org/0000-0002-7671-7759"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Scassellati","raw_affiliation_strings":["Computer Science Department, Yale University, New Heaven, CT, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Yale University, New Heaven, CT, USA","institution_ids":["https://openalex.org/I32971472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5031058944"],"corresponding_institution_ids":["https://openalex.org/I32971472"],"apc_list":null,"apc_paid":null,"fwci":10.6605,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.98118119,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"1","issue":null,"first_page":"93","last_page":"112"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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":0.9987999796867371,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9977999925613403,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/kinematics","display_name":"Kinematics","score":0.703641951084137},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6910839676856995},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6817867755889893},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6501894593238831},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6361262202262878},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6074105501174927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5755950212478638},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5103883147239685},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.47650018334388733},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4557274878025055},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.45503684878349304},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4401886463165283},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4386163353919983},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.4384855628013611},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3786987364292145},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23989549279212952},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1683272123336792},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.0847615897655487}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.703641951084137},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6910839676856995},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6817867755889893},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6501894593238831},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6361262202262878},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6074105501174927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5755950212478638},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5103883147239685},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.47650018334388733},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4557274878025055},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.45503684878349304},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4401886463165283},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4386163353919983},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.4384855628013611},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3786987364292145},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23989549279212952},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1683272123336792},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0847615897655487},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ichr.2004.1442117","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2004.1442117","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"4th IEEE/RAS International Conference on Humanoid Robots, 2004.","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.116.431","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.116.431","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.yale.edu/~scaz/papers/Sun-Humanoids2004.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1592984752","https://openalex.org/W1807867248","https://openalex.org/W1926515346","https://openalex.org/W1982442957","https://openalex.org/W1994875265","https://openalex.org/W2014101840","https://openalex.org/W2014758345","https://openalex.org/W2015003349","https://openalex.org/W2033749261","https://openalex.org/W2043968544","https://openalex.org/W2049617391","https://openalex.org/W2051348997","https://openalex.org/W2055373425","https://openalex.org/W2059003347","https://openalex.org/W2067440245","https://openalex.org/W2081249723","https://openalex.org/W2087629825","https://openalex.org/W2100790457","https://openalex.org/W2113442785","https://openalex.org/W2129395477","https://openalex.org/W2132558143","https://openalex.org/W2138484437","https://openalex.org/W2155399784","https://openalex.org/W2156909104","https://openalex.org/W2233184987","https://openalex.org/W2286699414","https://openalex.org/W2286812955","https://openalex.org/W2611684114","https://openalex.org/W3088063282","https://openalex.org/W3129457433","https://openalex.org/W4206428659","https://openalex.org/W4233775018","https://openalex.org/W4252377156","https://openalex.org/W6790840285"],"related_works":["https://openalex.org/W2115240519","https://openalex.org/W2962851396","https://openalex.org/W2347988643","https://openalex.org/W2080642692","https://openalex.org/W27710093","https://openalex.org/W3016367173","https://openalex.org/W3040474838","https://openalex.org/W2172144564","https://openalex.org/W3047523153","https://openalex.org/W3179890939"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,7,39,76,80],"learning":[4,35,71],"approach":[5],"for":[6],"humanoid":[8],"to":[9,53,57,92,116],"reach":[10],"objects":[11],"in":[12],"its":[13],"environment.":[14],"Instead":[15],"of":[16,23,83,98,129],"assuming":[17],"that":[18,68],"the":[19,24,30,70,99,120,127,130],"exact":[20],"forward":[21,36,48],"kinematics":[22,37],"arm":[25],"is":[26,50,114],"given,":[27],"we":[28],"address":[29],"reaching":[31,61,94,118],"problem":[32],"by":[33,64,86],"first":[34],"with":[38],"RBFN":[40,77],"through":[41],"autonomously":[42],"gathered":[43],"training":[44,100],"samples.":[45],"The":[46,96],"learnt":[47],"model":[49],"subsequently":[51],"used":[52,115],"construct":[54],"Jacobian":[55],"matrices":[56],"incrementally":[58],"generate":[59],"straight":[60],"trajectory":[62],"exhibited":[63],"humans.":[65],"We":[66],"show":[67],"if":[69,110],"parameters":[72],"are":[73],"set":[74,101],"appropriately,":[75],"trained":[78],"on":[79],"small":[81],"number":[82],"samples":[84],"corrupted":[85],"perception":[87],"noise":[88],"can":[89,102],"still":[90],"lead":[91],"high":[93],"accuracy.":[95],"size":[97],"be":[103],"further":[104],"reduced":[105],"without":[106],"severe":[107],"performance":[108],"degradation":[109],"limited":[111],"visual":[112],"feedback":[113],"aid":[117],"after":[119],"end":[121],"effector":[122],"has":[123],"been":[124],"moved":[125],"into":[126],"neighborhood":[128],"desired":[131],"object.":[132]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
