{"id":"https://openalex.org/W1994648061","doi":"https://doi.org/10.1109/icra.2013.6630743","title":"Learning objective functions for manipulation","display_name":"Learning objective functions for manipulation","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W1994648061","doi":"https://doi.org/10.1109/icra.2013.6630743","mag":"1994648061"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630743","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5080415080","display_name":"Mrinal Kalakrishnan","orcid":"https://orcid.org/0000-0003-4292-9857"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mrinal Kalakrishnan","raw_affiliation_strings":["CLMC Laboratory, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CLMC Laboratory, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103760848","display_name":"Peter P\u00e1stor","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Pastor","raw_affiliation_strings":["CLMC Laboratory, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CLMC Laboratory, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026007843","display_name":"Ludovic Righetti","orcid":"https://orcid.org/0000-0002-6458-9112"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ludovic Righetti","raw_affiliation_strings":["University of Southern California, Los Angeles, CA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, CA, US","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029642293","display_name":"Stefan Schaal","orcid":"https://orcid.org/0000-0001-5660-1874"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["University of Southern California, Los Angeles, CA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, CA, US","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":135,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1331","last_page":"1336"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9979000091552734,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9975000023841858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6845503449440002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6172522306442261},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6077100038528442},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.5862126350402832},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5565617680549622},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48388633131980896},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4696941375732422},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37040263414382935},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23802226781845093}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6845503449440002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6172522306442261},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6077100038528442},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.5862126350402832},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5565617680549622},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48388633131980896},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4696941375732422},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37040263414382935},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23802226781845093},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2013.6630743","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630743","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:escidoc.org:escidoc:1900023","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0015-1AD6-9","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1559990548","https://openalex.org/W1726426282","https://openalex.org/W1777783943","https://openalex.org/W1925816294","https://openalex.org/W1975463331","https://openalex.org/W1983599491","https://openalex.org/W1999874108","https://openalex.org/W2004915807","https://openalex.org/W2019965290","https://openalex.org/W2061562262","https://openalex.org/W2069361969","https://openalex.org/W2091829036","https://openalex.org/W2098774185","https://openalex.org/W2099893201","https://openalex.org/W2102667697","https://openalex.org/W2104588723","https://openalex.org/W2105947986","https://openalex.org/W2107567160","https://openalex.org/W2119464071","https://openalex.org/W2133068870","https://openalex.org/W2135677376","https://openalex.org/W2151165286","https://openalex.org/W2155098712","https://openalex.org/W2161872510","https://openalex.org/W2172158418","https://openalex.org/W2323447981","https://openalex.org/W2949623849","https://openalex.org/W3005581722","https://openalex.org/W4205362845","https://openalex.org/W6633543754","https://openalex.org/W6638062875","https://openalex.org/W6640290305","https://openalex.org/W6674884181","https://openalex.org/W6675977238","https://openalex.org/W6677950568","https://openalex.org/W6679958247"],"related_works":["https://openalex.org/W4362501864","https://openalex.org/W4306904969","https://openalex.org/W4380318855","https://openalex.org/W2138720691","https://openalex.org/W2031695474","https://openalex.org/W2607470227","https://openalex.org/W2586732548","https://openalex.org/W3049728571","https://openalex.org/W2024136090","https://openalex.org/W4231651419"],"abstract_inverted_index":{"We":[0,38,63],"present":[1],"an":[2,53],"approach":[3,66],"to":[4,47,56,70,94],"learning":[5,21],"objective":[6,61],"functions":[7],"for":[8,83,109],"robotic":[9,75],"manipulation":[10,112],"based":[11],"on":[12],"inverse":[13,19,87],"reinforcement":[14,20],"learning.":[15],"Our":[16],"path":[17],"integral":[18],"algorithm":[22,55],"can":[23],"deal":[24],"with":[25],"high-dimensional":[26,124],"continuous":[27],"state-action":[28],"spaces,":[29],"and":[30,51,111],"only":[31],"requires":[32],"local":[33],"optimality":[34],"of":[35],"demonstrated":[36],"trajectories.":[37],"use":[39,91],"L":[40],"<sub":[41],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[42],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">1</sub>":[43],"regularization":[44],"in":[45,74,86,105,123],"order":[46],"achieve":[48],"feature":[49],"selection,":[50],"propose":[52],"efficient":[54],"minimize":[57],"the":[58],"resulting":[59],"convex":[60],"function.":[62],"demonstrate":[64],"our":[65,92,118],"by":[67],"applying":[68],"it":[69],"two":[71],"core":[72],"problems":[73],"manipulation.":[76],"First,":[77],"we":[78,90],"learn":[79,95],"a":[80,96],"cost":[81,97],"function":[82,98],"redundancy":[84],"resolution":[85],"kinematics.":[88],"Second,":[89],"method":[93,119],"over":[99],"trajectories,":[100],"which":[101],"is":[102],"then":[103],"used":[104],"optimization-based":[106],"motion":[107],"planning":[108],"grasping":[110],"tasks.":[113],"Experimental":[114],"results":[115],"show":[116],"that":[117],"outperforms":[120],"previous":[121],"algorithms":[122],"settings.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":15},{"year":2017,"cited_by_count":17},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}