{"id":"https://openalex.org/W2968968020","doi":"https://doi.org/10.1109/icra.2019.8794458","title":"Multi-Modal Generative Models for Learning Epistemic Active Sensing","display_name":"Multi-Modal Generative Models for Learning Epistemic Active Sensing","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968968020","doi":"https://doi.org/10.1109/icra.2019.8794458","mag":"2968968020"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8794458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794458","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5078472174","display_name":"Timo Korthals","orcid":"https://orcid.org/0000-0003-4297-7197"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Timo Korthals","raw_affiliation_strings":["Cognitronics & Sensor Systems, Inspiration 1, Bielefeld University, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics & Sensor Systems, Inspiration 1, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085582034","display_name":"Daniel Rudolph","orcid":null},"institutions":[{"id":"https://openalex.org/I4210127558","display_name":"Australian Centre for Robotic Vision","ror":"https://ror.org/02zv9xv82","country_code":"AU","type":"facility","lineage":["https://openalex.org/I4210127558"]},{"id":"https://openalex.org/I160993911","display_name":"Queensland University of Technology","ror":"https://ror.org/03pnv4752","country_code":"AU","type":"education","lineage":["https://openalex.org/I160993911"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Daniel Rudolph","raw_affiliation_strings":["Australian Centre for Robotic Vision, Queensland University of Technology, Brisbane, Australia"],"affiliations":[{"raw_affiliation_string":"Australian Centre for Robotic Vision, Queensland University of Technology, Brisbane, Australia","institution_ids":["https://openalex.org/I4210127558","https://openalex.org/I160993911"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023679097","display_name":"J\u00fcrgen Leitner","orcid":"https://orcid.org/0000-0003-1319-5073"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jurgen Leitner","raw_affiliation_strings":["Cognitronics & Sensor Systems, Inspiration 1, Bielefeld University, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics & Sensor Systems, Inspiration 1, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071906667","display_name":"Marc Hesse","orcid":"https://orcid.org/0000-0002-9500-3284"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Hesse","raw_affiliation_strings":["Cognitronics & Sensor Systems, Inspiration 1, Bielefeld University, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics & Sensor Systems, Inspiration 1, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043372144","display_name":"Ulrich R\u00fcckert","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ulrich Ruckert","raw_affiliation_strings":["Cognitronics & Sensor Systems, Inspiration 1, Bielefeld University, Bielefeld, Germany"],"affiliations":[{"raw_affiliation_string":"Cognitronics & Sensor Systems, Inspiration 1, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5078472174"],"corresponding_institution_ids":["https://openalex.org/I20121455"],"apc_list":null,"apc_paid":null,"fwci":1.0102,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.8287709,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"518","issue":null,"first_page":"3319","last_page":"3325"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9961000084877014,"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":0.9961000084877014,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9940000176429749,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9854999780654907,"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/ambiguity","display_name":"Ambiguity","score":0.645561933517456},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6281323432922363},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5667202472686768},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.5510594248771667},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.5450735688209534},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5415904521942139},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.5217441320419312},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.5182325839996338},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.45278215408325195},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4456021189689636},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39629197120666504},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3415018618106842},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18868285417556763},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1760980188846588},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.10635709762573242}],"concepts":[{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.645561933517456},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6281323432922363},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5667202472686768},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.5510594248771667},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.5450735688209534},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5415904521942139},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.5217441320419312},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.5182325839996338},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.45278215408325195},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4456021189689636},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39629197120666504},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3415018618106842},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18868285417556763},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1760980188846588},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.10635709762573242},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2019.8794458","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8794458","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:pub.uni-bielefeld.de:2934957","is_oa":false,"landing_page_url":"https://pub.uni-bielefeld.de/record/2934957","pdf_url":null,"source":{"id":"https://openalex.org/S4306401670","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Korthals T, Rudolph D, Leitner J, Hesse M, R\u00fcckert U. Multi-Modal Generative Models for Learning Epistemic Active Sensing. In:  &lt;em&gt;2019 IEEE International Conference on Robotics and Automation&lt;/em&gt;. Piscataway, NJ: IEEE;  Accepted.","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1757796397","https://openalex.org/W1888754704","https://openalex.org/W1959608418","https://openalex.org/W1975995446","https://openalex.org/W1994197834","https://openalex.org/W2082014790","https://openalex.org/W2106609574","https://openalex.org/W2108501770","https://openalex.org/W2145339207","https://openalex.org/W2148764920","https://openalex.org/W2163922914","https://openalex.org/W2172174689","https://openalex.org/W2184188583","https://openalex.org/W2188365844","https://openalex.org/W2299529128","https://openalex.org/W2410664773","https://openalex.org/W2439880944","https://openalex.org/W2463330366","https://openalex.org/W2530846021","https://openalex.org/W2556013083","https://openalex.org/W2566991751","https://openalex.org/W2617934075","https://openalex.org/W2620974420","https://openalex.org/W2726187156","https://openalex.org/W2739083961","https://openalex.org/W2753738274","https://openalex.org/W2786733527","https://openalex.org/W2794752562","https://openalex.org/W2795910581","https://openalex.org/W2807692250","https://openalex.org/W2890291752","https://openalex.org/W2949416428","https://openalex.org/W2962707519","https://openalex.org/W2963135265","https://openalex.org/W2963246109","https://openalex.org/W2963948515","https://openalex.org/W3036758774","https://openalex.org/W4295177495","https://openalex.org/W4297744728","https://openalex.org/W4298857966","https://openalex.org/W6640963894","https://openalex.org/W6684753728","https://openalex.org/W6686207219","https://openalex.org/W6687045409","https://openalex.org/W6739055881","https://openalex.org/W6744627333","https://openalex.org/W6754806875"],"related_works":["https://openalex.org/W4365211920","https://openalex.org/W3014948380","https://openalex.org/W4380551139","https://openalex.org/W4317695495","https://openalex.org/W4287117424","https://openalex.org/W4387506531","https://openalex.org/W4238433571","https://openalex.org/W2967848559","https://openalex.org/W4299831724","https://openalex.org/W4283803360"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,29,48,82,87],"novel":[3],"approach":[4,21,80],"of":[5,43,68,75,108],"multi-modal":[6,30,88],"deep":[7,91],"generative":[8],"models":[9],"and":[10,89],"apply":[11],"this":[12,24,79],"to":[13,22,27,86,97],"coordinated":[14],"heterogeneous":[15],"multi-agent":[16,90],"active":[17,100],"sensing.":[18],"A":[19],"major":[20],"achieve":[23],"objective":[25,56],"is":[26],"train":[28],"variational":[31],"Auto":[32],"Encoder":[33],"(M":[34],"<sup":[35,60],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[36,61],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[37,62],"VAE)":[38],"that":[39,64,103],"integrates":[40],"the":[41,58,66,69,106],"information":[42],"different":[44],"sensor":[45,76],"modalities":[46],"into":[47],"joint":[49],"latent":[50],"representation.":[51],"Furthermore,":[52],"we":[53],"derive":[54],"an":[55,98],"from":[57],"M":[59],"VAE":[63],"enables":[65],"maximization":[67],"evidence":[70],"lower":[71],"bound":[72],"via":[73],"selection":[74],"modalities.":[77],"Using":[78],"as":[81],"direct":[83],"reward":[84],"signal":[85],"reinforcement":[92],"learning":[93],"setup":[94],"leads":[95],"intuitively":[96],"epistemic":[99],"sensing":[101],"behavior":[102],"coordinately":[104],"resolves":[105],"ambiguity":[107],"observations.":[109]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
