{"id":"https://openalex.org/W2978957027","doi":"https://doi.org/10.1109/icra40945.2020.9196566","title":"Accelerated Robot Learning via Human Brain Signals","display_name":"Accelerated Robot Learning via Human Brain Signals","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2978957027","doi":"https://doi.org/10.1109/icra40945.2020.9196566","mag":"2978957027"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.00682","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056689854","display_name":"Iretiayo Akinola","orcid":"https://orcid.org/0000-0001-8398-8138"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Iretiayo Akinola","raw_affiliation_strings":["Department of Computer Science, Columbia University, New York","Columbia University, Department of Computer Science, New York#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Columbia University, New York","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Columbia University, Department of Computer Science, New York#TAB#","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061218022","display_name":"Zizhao Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zizhao Wang","raw_affiliation_strings":["Department of Computer Science, Columbia University, New York","Columbia University, Department of Computer Science, New York#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Columbia University, New York","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Columbia University, Department of Computer Science, New York#TAB#","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101211964","display_name":"Junyao Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junyao Shi","raw_affiliation_strings":["Department of Computer Science, Columbia University, New York","Columbia University, Department of Computer Science, New York#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Columbia University, New York","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Columbia University, Department of Computer Science, New York#TAB#","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060602964","display_name":"HE Xiao-min","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaomin He","raw_affiliation_strings":["Department of Biomedical Engineering, Columbia University, New York","Columbia University,Department of Biomedical Engineering,New York"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Columbia University, New York","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Columbia University,Department of Biomedical Engineering,New York","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028253184","display_name":"Pawan Lapborisuth","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pawan Lapborisuth","raw_affiliation_strings":["Department of Biomedical Engineering, Columbia University, New York","Columbia University,Department of Biomedical Engineering,New York"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Columbia University, New York","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Columbia University,Department of Biomedical Engineering,New York","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077222502","display_name":"Jingxi Xu","orcid":"https://orcid.org/0000-0003-0632-7963"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingxi Xu","raw_affiliation_strings":["Department of Computer Science, Columbia University, New York","Columbia University, Department of Computer Science, New York#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Columbia University, New York","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Columbia University, Department of Computer Science, New York#TAB#","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080480074","display_name":"David Watkins-Valls","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Watkins-Valls","raw_affiliation_strings":["Department of Computer Science, Columbia University, New York","Columbia University, Department of Computer Science, New York#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Columbia University, New York","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Columbia University, Department of Computer Science, New York#TAB#","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042749874","display_name":"Paul Sajda","orcid":"https://orcid.org/0000-0002-9738-1342"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Sajda","raw_affiliation_strings":["Department of Biomedical Engineering, Columbia University, New York","Columbia University,Department of Biomedical Engineering,New York"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Columbia University, New York","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Columbia University,Department of Biomedical Engineering,New York","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111499014","display_name":"Peter Allen","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Peter Allen","raw_affiliation_strings":["Department of Computer Science, Columbia University, New York","Columbia University, Department of Computer Science, New York#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Columbia University, New York","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Columbia University, Department of Computer Science, New York#TAB#","institution_ids":["https://openalex.org/I78577930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5056689854"],"corresponding_institution_ids":["https://openalex.org/I78577930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.00591349,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3799","last_page":"3805"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10042","display_name":"Neural and Behavioral Psychology Studies","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7382025122642517},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7318376302719116},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.6436073780059814},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.621819257736206},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6153321266174316},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5900001525878906},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.5239534378051758},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48516327142715454},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.42662811279296875},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36982613801956177},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14708518981933594},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08040151000022888}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7382025122642517},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7318376302719116},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.6436073780059814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.621819257736206},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6153321266174316},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5900001525878906},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.5239534378051758},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48516327142715454},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.42662811279296875},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36982613801956177},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14708518981933594},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08040151000022888},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9196566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.00682","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.00682","pdf_url":"https://arxiv.org/pdf/1910.00682","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2978957027","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1910.00682","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1910.00682","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.00682","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.00682","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.00682","pdf_url":"https://arxiv.org/pdf/1910.00682","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7370673630","display_name":null,"funder_award_id":"IIS-1527747","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320308943","display_name":"Microsoft Research","ror":"https://ror.org/00d0nc645"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2978957027.pdf","grobid_xml":"https://content.openalex.org/works/W2978957027.grobid-xml"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W1540685400","https://openalex.org/W1777239053","https://openalex.org/W1878852850","https://openalex.org/W2034172541","https://openalex.org/W2060309822","https://openalex.org/W2084777029","https://openalex.org/W2098441518","https://openalex.org/W2109065101","https://openalex.org/W2116938621","https://openalex.org/W2118378735","https://openalex.org/W2139351654","https://openalex.org/W2154848553","https://openalex.org/W2156869222","https://openalex.org/W2198041288","https://openalex.org/W2241109995","https://openalex.org/W2419349576","https://openalex.org/W2559463885","https://openalex.org/W2565110810","https://openalex.org/W2610189169","https://openalex.org/W2736601468","https://openalex.org/W2738010428","https://openalex.org/W2741122588","https://openalex.org/W2744959560","https://openalex.org/W2783588997","https://openalex.org/W2790513108","https://openalex.org/W2884565639","https://openalex.org/W2887397374","https://openalex.org/W2889983762","https://openalex.org/W2898324619","https://openalex.org/W2953127211","https://openalex.org/W2963099939","https://openalex.org/W2963489214","https://openalex.org/W2964263543","https://openalex.org/W3102455230","https://openalex.org/W6632235069","https://openalex.org/W6638088447","https://openalex.org/W6674812091","https://openalex.org/W6677331607","https://openalex.org/W6677838749","https://openalex.org/W6717094648","https://openalex.org/W6739585900","https://openalex.org/W6741002519","https://openalex.org/W6753516098","https://openalex.org/W6755735296"],"related_works":["https://openalex.org/W2060309822","https://openalex.org/W2084777029","https://openalex.org/W3132826882","https://openalex.org/W2998312465","https://openalex.org/W3212723749","https://openalex.org/W2997479185","https://openalex.org/W1539188400","https://openalex.org/W2151074445","https://openalex.org/W3131041265","https://openalex.org/W2900406861","https://openalex.org/W21238566","https://openalex.org/W2888332784","https://openalex.org/W1453801241","https://openalex.org/W3096101263","https://openalex.org/W3207649131","https://openalex.org/W2909911836","https://openalex.org/W2570477374","https://openalex.org/W3175395689","https://openalex.org/W2576848832","https://openalex.org/W1968668104"],"abstract_inverted_index":{"In":[0,34,86],"reinforcement":[1],"learning":[2,29,59,147,171,175,204],"(RL),":[3],"sparse":[4,113,177,206],"rewards":[5,207],"are":[6,37],"a":[7,91,125,150,180,186,195],"natural":[8],"way":[9],"to":[10,14,22,55,106,148,173,211,218,220],"specify":[11],"the":[12,28,43,57,66,78,81,117,120,122,129,155,162,169,221],"task":[13,82,184],"be":[15],"learned.":[16],"However,":[17],"most":[18],"RL":[19,108,170],"algorithms":[20],"struggle":[21],"learn":[23],"in":[24,112,161],"this":[25,87,142],"setting":[26],"since":[27],"signal":[30],"is":[31,132],"mostly":[32],"zeros.":[33],"contrast,":[35],"humans":[36],"good":[38,52],"at":[39],"assessing":[40],"and":[41,48,134,158],"predicting":[42],"future":[44],"consequences":[45],"of":[46,124,165],"actions":[47],"can":[49],"serve":[50],"as":[51,185],"reward/policy":[53],"shapers":[54],"accelerate":[56,107],"robot":[58,118,130],"process.":[60],"Previous":[61],"works":[62],"have":[63],"shown":[64],"that":[65,93,152,191,209],"human":[67,79,99,126],"brain":[68,100],"generates":[69],"an":[70],"error-related":[71],"signal,":[72],"measurable":[73],"using":[74],"electroencephelography":[75],"(EEG),":[76],"when":[77],"perceives":[80],"being":[83],"done":[84],"erroneously.":[85],"work,":[88],"we":[89,144,189],"propose":[90],"method":[92,193],"uses":[94],"evaluative":[95],"feedback":[96,139],"obtained":[97],"from":[98,176,205],"signals":[101],"measured":[102],"via":[103],"scalp":[104],"EEG":[105,123],"for":[109],"robotic":[110,182],"agents":[111],"reward":[114],"settings.":[115],"As":[116],"learns":[119],"task,":[121],"observer":[127],"watching":[128],"attempts":[131],"recorded":[133],"decoded":[135],"into":[136],"noisy":[137],"error":[138],"signal.":[140],"From":[141],"feedback,":[143],"use":[145],"supervised":[146],"obtain":[149],"policy":[151,157,198],"subsequently":[153],"augments":[154],"behavior":[156,215],"guides":[159],"exploration":[160],"early":[163],"stages":[164],"RL.":[166],"This":[167],"bootstraps":[168],"process":[172],"enable":[174],"reward.":[178],"Using":[179],"simple":[181],"navigation":[183],"test":[187],"bed,":[188],"show":[190],"our":[192],"achieves":[194],"stable":[196],"obstacle-avoidance":[197],"with":[199],"high":[200],"success":[201],"rate,":[202],"outperforming":[203],"only":[208],"struggles":[210],"achieve":[212],"obstacle":[213],"avoidance":[214],"or":[216],"fails":[217],"advance":[219],"goal.":[222]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}
