{"id":"https://openalex.org/W2740829698","doi":"https://doi.org/10.1109/icra.2017.7989760","title":"Empowered skills","display_name":"Empowered skills","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2740829698","doi":"https://doi.org/10.1109/icra.2017.7989760","mag":"2740829698"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5025913739","display_name":"Alexander Gabriel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210093498","display_name":"Fraunhofer Institute for Mechatronic Systems Design","ror":"https://ror.org/004nttc42","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210093498","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Alexander Gabriel","raw_affiliation_strings":["Fraunhofer Research Institution for Mechatronic Systems Design IEM, Paderborn, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Research Institution for Mechatronic Systems Design IEM, Paderborn, Germany","institution_ids":["https://openalex.org/I4210093498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075701789","display_name":"Riad Akrour","orcid":"https://orcid.org/0000-0002-8735-6960"},"institutions":[{"id":"https://openalex.org/I4210093498","display_name":"Fraunhofer Institute for Mechatronic Systems Design","ror":"https://ror.org/004nttc42","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210093498","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Riad Akrour","raw_affiliation_strings":["Fraunhofer Research Institution for Mechatronic Systems Design IEM, Paderborn, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Research Institution for Mechatronic Systems Design IEM, Paderborn, Germany","institution_ids":["https://openalex.org/I4210093498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I4210093498","display_name":"Fraunhofer Institute for Mechatronic Systems Design","ror":"https://ror.org/004nttc42","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210093498","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Fraunhofer Research Institution for Mechatronic Systems Design IEM, Paderborn, Germany"],"affiliations":[{"raw_affiliation_string":"Fraunhofer Research Institution for Mechatronic Systems Design IEM, Paderborn, Germany","institution_ids":["https://openalex.org/I4210093498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110467801","display_name":"Gerhard Neumann","orcid":"https://orcid.org/0000-0002-5483-4225"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gerhard Neumann","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5025913739"],"corresponding_institution_ids":["https://openalex.org/I4210093498"],"apc_list":null,"apc_paid":null,"fwci":0.7801,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79241408,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"6435","last_page":"6441"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991999864578247,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9929999709129333,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9704999923706055,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8376141786575317},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6536158919334412},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5986800193786621},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.5388839244842529},{"id":"https://openalex.org/keywords/empowerment","display_name":"Empowerment","score":0.5158573985099792},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5039092898368835},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4820628762245178},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4335033893585205},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3489709496498108},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12179362773895264}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8376141786575317},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6536158919334412},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5986800193786621},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.5388839244842529},{"id":"https://openalex.org/C20555606","wikidata":"https://www.wikidata.org/wiki/Q868575","display_name":"Empowerment","level":2,"score":0.5158573985099792},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5039092898368835},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4820628762245178},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4335033893585205},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3489709496498108},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12179362773895264},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989760","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989760","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W172298727","https://openalex.org/W1499669280","https://openalex.org/W1554318634","https://openalex.org/W1556151214","https://openalex.org/W1598598862","https://openalex.org/W1771410628","https://openalex.org/W1778716298","https://openalex.org/W1972063518","https://openalex.org/W1977655452","https://openalex.org/W2000514530","https://openalex.org/W2004303440","https://openalex.org/W2016765487","https://openalex.org/W2106469529","https://openalex.org/W2116086091","https://openalex.org/W2123694750","https://openalex.org/W2126909264","https://openalex.org/W2151083897","https://openalex.org/W2160589914","https://openalex.org/W2185709919","https://openalex.org/W2416041116","https://openalex.org/W2565678376","https://openalex.org/W2896027395","https://openalex.org/W3011570961","https://openalex.org/W4205513846","https://openalex.org/W4298857966","https://openalex.org/W6607097208","https://openalex.org/W6629881138","https://openalex.org/W6637967152","https://openalex.org/W6638018090","https://openalex.org/W6643267832","https://openalex.org/W6650587873","https://openalex.org/W6654705334","https://openalex.org/W6676560026","https://openalex.org/W6678264118","https://openalex.org/W6683436435","https://openalex.org/W6686239993"],"related_works":["https://openalex.org/W4229726131","https://openalex.org/W2166791242","https://openalex.org/W2323122434","https://openalex.org/W3038859464","https://openalex.org/W2007682987","https://openalex.org/W2162746924","https://openalex.org/W2114441423","https://openalex.org/W3040778547","https://openalex.org/W4318719422","https://openalex.org/W2343019076"],"abstract_inverted_index":{"Robot":[0],"Reinforcement":[1],"Learning":[2],"(RL)":[3],"algorithms":[4],"return":[5,175,178],"a":[6,10,29,33,40,139,149,159,193,201,208,221,236],"policy":[7,24,203],"that":[8,206,231],"maximizes":[9,207],"global":[11],"cumulative":[12],"reward":[13,213],"signal":[14,143],"but":[15],"typically":[16,26],"do":[17],"not":[18],"create":[19],"diverse":[20,237],"behaviors.":[21],"Hence,":[22],"the":[23,46,66,71,80,97,103,108,117,125,146,167,174,188,211,242,247],"will":[25],"only":[27],"capture":[28],"single":[30],"solution":[31],"of":[32,43,68,116,124,148,158,190,239,244,246],"task.":[34,118],"However,":[35],"many":[36],"motor":[37],"tasks":[38],"have":[39,52],"large":[41],"variety":[42],"solutions":[44,50],"and":[45,74,105,135,177,214,225],"knowledge":[47],"about":[48],"these":[49],"can":[51,234],"several":[53],"advantages.":[54],"For":[55,162],"example,":[56,163],"in":[57,113,164],"an":[58,83,92,152],"adversarial":[59],"setting":[60,85],"such":[61,86],"as":[62,87,197],"robot":[63,104,227],"table":[64,165,228],"tennis,":[65,166],"lack":[67],"diversity":[69,95,123,189],"renders":[70],"behavior":[72],"predictable":[73],"hence":[75],"easy":[76],"to":[77,106,110,121],"counter":[78],"for":[79,101],"opponent.":[81],"In":[82,119],"interactive":[84],"learning":[88],"from":[89],"human":[90,98],"feedback,":[91],"emphasis":[93],"on":[94,132,220],"gives":[96],"more":[99],"opportunity":[100],"guiding":[102],"avoid":[107],"latter":[109],"be":[111,171],"stuck":[112],"local":[114],"optima":[115],"order":[120],"increase":[122],"learned":[126],"behaviors,":[127],"we":[128],"leverage":[129],"prior":[130],"work":[131],"intrinsic":[133,141,182,216],"motivation":[134,142,183,217],"empowerment.":[136,198],"We":[137,199],"derive":[138,200],"new":[140,202],"by":[144,173,187],"enriching":[145],"description":[147],"task":[150,224],"with":[151],"outcome":[153,168],"space,":[154],"representing":[155],"interesting":[156],"aspects":[157],"sensorimotor":[160],"stream.":[161],"space":[169],"could":[170],"given":[172,186],"position":[176],"ball":[179],"speed.":[180],"The":[181],"is":[184],"now":[185],"future":[191],"outcomes,":[192],"concept":[194],"also":[195],"known":[196],"search":[204],"algorithm":[205,233],"trade-off":[209],"between":[210],"extrinsic":[212],"this":[215],"criterion.":[218],"Experiments":[219],"planar":[222],"reaching":[223],"simulated":[226],"tennis":[229],"demonstrate":[230],"our":[232],"learn":[235],"set":[238],"behaviors":[240],"within":[241],"area":[243],"interest":[245],"tasks.":[248]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2017-08-08T00:00:00"}