{"id":"https://openalex.org/W3091444023","doi":"https://doi.org/10.1109/icra40945.2020.9197134","title":"Learning to Scaffold the Development of Robotic Manipulation Skills","display_name":"Learning to Scaffold the Development of Robotic Manipulation Skills","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091444023","doi":"https://doi.org/10.1109/icra40945.2020.9197134","mag":"3091444023"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197134","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":"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/A5100566831","display_name":"Lin Shao","orcid":"https://orcid.org/0000-0002-3412-5755"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]},{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Lin Shao","raw_affiliation_strings":["Stanford Artificial Intelligence Lab (SAIL), Stanford University, CA, USA"],"affiliations":[{"raw_affiliation_string":"Stanford Artificial Intelligence Lab (SAIL), Stanford University, CA, USA","institution_ids":["https://openalex.org/I97018004","https://openalex.org/I1343180700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066132051","display_name":"Toki Migimatsu","orcid":"https://orcid.org/0000-0002-1106-4152"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Toki Migimatsu","raw_affiliation_strings":["Stanford Artificial Intelligence Lab (SAIL), Stanford University, CA, USA"],"affiliations":[{"raw_affiliation_string":"Stanford Artificial Intelligence Lab (SAIL), Stanford University, CA, USA","institution_ids":["https://openalex.org/I97018004","https://openalex.org/I1343180700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021676288","display_name":"Jeannette Bohg","orcid":"https://orcid.org/0000-0002-4921-7193"},"institutions":[{"id":"https://openalex.org/I1343180700","display_name":"Intel (United States)","ror":"https://ror.org/01ek73717","country_code":"US","type":"company","lineage":["https://openalex.org/I1343180700"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeannette Bohg","raw_affiliation_strings":["Stanford Artificial Intelligence Lab (SAIL), Stanford University, CA, USA"],"affiliations":[{"raw_affiliation_string":"Stanford Artificial Intelligence Lab (SAIL), Stanford University, CA, USA","institution_ids":["https://openalex.org/I97018004","https://openalex.org/I1343180700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100566831"],"corresponding_institution_ids":["https://openalex.org/I1343180700","https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":2.2067,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.87924313,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9973999857902527,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9782000184059143,"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/robot","display_name":"Robot","score":0.6492856740951538},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6225552558898926},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5767773389816284},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.5273295640945435},{"id":"https://openalex.org/keywords/inner-loop","display_name":"Inner loop","score":0.521978497505188},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.4306142330169678},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.430361270904541},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.41685807704925537},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35288381576538086},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2262035310268402},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.15911361575126648}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6492856740951538},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6225552558898926},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5767773389816284},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.5273295640945435},{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.521978497505188},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.4306142330169678},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.430361270904541},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.41685807704925537},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35288381576538086},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2262035310268402},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.15911361575126648},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197134","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W77824725","https://openalex.org/W1249953932","https://openalex.org/W1522950143","https://openalex.org/W1920293286","https://openalex.org/W1969583232","https://openalex.org/W2015034312","https://openalex.org/W2045071742","https://openalex.org/W2052020945","https://openalex.org/W2056559587","https://openalex.org/W2063987138","https://openalex.org/W2112474089","https://openalex.org/W2118980425","https://openalex.org/W2162000109","https://openalex.org/W2168405694","https://openalex.org/W2605102758","https://openalex.org/W2907572567","https://openalex.org/W2912800932","https://openalex.org/W2951270685","https://openalex.org/W2963484919","https://openalex.org/W2963506504","https://openalex.org/W2963940579","https://openalex.org/W2964043796","https://openalex.org/W2964147919","https://openalex.org/W2964333597","https://openalex.org/W2968095426","https://openalex.org/W2968268581","https://openalex.org/W2970710335","https://openalex.org/W2983963859","https://openalex.org/W3082652141","https://openalex.org/W6677741321","https://openalex.org/W6692846177","https://openalex.org/W6759044151"],"related_works":["https://openalex.org/W2997512100","https://openalex.org/W2331043530","https://openalex.org/W2786194227","https://openalex.org/W3005097076","https://openalex.org/W2970182061","https://openalex.org/W2393933887","https://openalex.org/W2998534312","https://openalex.org/W3006181717","https://openalex.org/W3163470622","https://openalex.org/W2217160951"],"abstract_inverted_index":{"Learning":[0],"contact-rich,":[1],"robotic":[2],"manipulation":[3,77,118,152,205,213],"skills":[4],"is":[5,171,216],"a":[6,49,64,123,151,156,184],"challenging":[7],"problem":[8],"due":[9],"to":[10,66,75,164,173],"the":[11,14,45,83,93,102,133,136,139,142,145,148,162,165,169,175,179,196],"high-dimensionality":[12],"of":[13,104,128,159,223],"state":[15],"and":[16,26,34,71,113,116,154,194,206],"action":[17],"space":[18],"as":[19,21],"well":[20],"uncertainty":[22,110],"from":[23,111],"noisy":[24],"sensors":[25],"inaccurate":[27],"motor":[28,114],"control.":[29],"To":[30],"combat":[31],"these":[32],"factors":[33],"achieve":[35,55],"more":[36,56],"robust":[37,57],"manipulation,":[38],"humans":[39],"actively":[40],"exploit":[41],"contact":[42],"constraints":[43,99],"in":[44,141,192,195],"environment.":[46,94],"By":[47],"adopting":[48],"similar":[50],"strategy,":[51],"robots":[52],"can":[53,89],"also":[54],"manipulation.":[58],"In":[59,132,144],"this":[60,221],"paper,":[61],"we":[62,81],"enable":[63],"robot":[65,84,105,137,149,170],"autonomously":[67],"modify":[68],"its":[69],"environment":[70],"thereby":[72],"discover":[73],"how":[74],"ease":[76],"skill":[78,119,153,214],"learning.":[79,120],"Specifically,":[80],"provide":[82,97],"with":[85],"fixtures":[86,96],"that":[87,100,126,178,212],"it":[88],"freely":[90],"place":[91,174],"within":[92],"These":[95],"hard":[98],"limit":[101],"outcome":[103],"actions.":[106],"Thereby,":[107,168],"they":[108],"funnel":[109],"perception":[112],"control":[115],"scaffold":[117],"We":[121,187,210],"propose":[122],"learning":[124,130,215],"system":[125],"consists":[127],"two":[129],"loops.":[131],"outer":[134,166],"loop,":[135,147],"positions":[138],"fixture":[140,176],"workspace.":[143],"inner":[146,180],"learns":[150],"after":[155],"fixed":[157],"number":[158],"episodes,":[160],"returns":[161],"reward":[163],"loop.":[167],"incentivised":[172],"such":[177],"loop":[181],"quickly":[182],"achieves":[183],"high":[185],"reward.":[186],"demonstrate":[188],"our":[189],"framework":[190],"both":[191],"simulation":[193],"real":[197],"world":[198],"on":[199],"three":[200],"tasks:":[201],"peg":[202],"insertion,":[203],"wrench":[204],"shallow-":[207],"depth":[208],"insertion.":[209],"show":[211],"dramatically":[217],"sped":[218],"up":[219],"through":[220],"way":[222],"scaffolding.":[224]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}