{"id":"https://openalex.org/W3146139324","doi":"https://doi.org/10.1109/ieeeconf49454.2021.9382755","title":"Emergence of Motor Synergy in Multi-directional Reaching with Deep Reinforcement Learning","display_name":"Emergence of Motor Synergy in Multi-directional Reaching with Deep Reinforcement Learning","publication_year":2021,"publication_date":"2021-01-11","ids":{"openalex":"https://openalex.org/W3146139324","doi":"https://doi.org/10.1109/ieeeconf49454.2021.9382755","mag":"3146139324"},"language":"en","primary_location":{"id":"doi:10.1109/ieeeconf49454.2021.9382755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ieeeconf49454.2021.9382755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/SICE International Symposium on System Integration (SII)","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/A5070105774","display_name":"Jihui Han","orcid":"https://orcid.org/0000-0002-6969-2573"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Jihui Han","raw_affiliation_strings":["Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063699566","display_name":"Jiazheng Chai","orcid":"https://orcid.org/0000-0002-9417-804X"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jiazheng Chai","raw_affiliation_strings":["Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060102825","display_name":"Mitsuhiro Hayashibe","orcid":"https://orcid.org/0000-0001-6179-5706"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuhiro Hayashibe","raw_affiliation_strings":["Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Engineering, Neuro-Robotics Laboratory, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5070105774"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02578885,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":null,"first_page":"78","last_page":"82"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","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/T10982","display_name":"Motor Control and Adaptation","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11431","display_name":"Action Observation and Synchronization","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8677347898483276},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6916216611862183},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5767230987548828},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5738680362701416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5305472016334534},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5049987435340881},{"id":"https://openalex.org/keywords/relation","display_name":"Relation (database)","score":0.49845170974731445},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4724864363670349},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4590323269367218},{"id":"https://openalex.org/keywords/motor-learning","display_name":"Motor learning","score":0.458373099565506},{"id":"https://openalex.org/keywords/index","display_name":"Index (typography)","score":0.45709696412086487},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.4492465853691101},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4403080344200134},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.333312064409256},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16208282113075256},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11707967519760132},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10181489586830139},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.07094401121139526}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8677347898483276},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6916216611862183},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5767230987548828},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5738680362701416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5305472016334534},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5049987435340881},{"id":"https://openalex.org/C25343380","wikidata":"https://www.wikidata.org/wiki/Q277521","display_name":"Relation (database)","level":2,"score":0.49845170974731445},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4724864363670349},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4590323269367218},{"id":"https://openalex.org/C107690735","wikidata":"https://www.wikidata.org/wiki/Q852461","display_name":"Motor learning","level":2,"score":0.458373099565506},{"id":"https://openalex.org/C2777382242","wikidata":"https://www.wikidata.org/wiki/Q6017816","display_name":"Index (typography)","level":2,"score":0.45709696412086487},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.4492465853691101},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4403080344200134},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.333312064409256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16208282113075256},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11707967519760132},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10181489586830139},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.07094401121139526},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ieeeconf49454.2021.9382755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ieeeconf49454.2021.9382755","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1484809412","https://openalex.org/W1885639605","https://openalex.org/W1956636948","https://openalex.org/W1980440818","https://openalex.org/W1986201898","https://openalex.org/W2015356556","https://openalex.org/W2036640283","https://openalex.org/W2053226299","https://openalex.org/W2064527819","https://openalex.org/W2087905492","https://openalex.org/W2112802476","https://openalex.org/W2119233587","https://openalex.org/W2155571773","https://openalex.org/W2158782408","https://openalex.org/W2583598337","https://openalex.org/W2688993066","https://openalex.org/W2904246096","https://openalex.org/W3001803449","https://openalex.org/W3100789280","https://openalex.org/W6732656399","https://openalex.org/W6757592117","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W2920061524","https://openalex.org/W4310083477","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W1987513656","https://openalex.org/W2072376847","https://openalex.org/W2089013912","https://openalex.org/W2145821588"],"abstract_inverted_index":{"In":[0,93],"this":[1,71],"study,":[2],"we":[3],"apply":[4],"Deep":[5],"Reinforcement":[6],"Learning":[7],"for":[8,89],"handling":[9],"full-dimensional":[10],"7":[11],"degrees":[12],"of":[13,36,68,108],"freedom":[14],"arm":[15],"reaching,":[16],"and":[17,25,84],"demonstrate":[18],"the":[19,29,34,48,51,66,81],"relations":[20],"among":[21],"motion":[22,63],"error,":[23],"energy,":[24],"synergy":[26,41,52,85],"emergence":[27],"during":[28],"learning":[30],"process,":[31],"to":[32,57],"reveal":[33],"mechanism":[35],"employing":[37],"motor":[38],"synergy.":[39],"Although":[40],"information":[42],"has":[43],"never":[44],"been":[45],"encoded":[46],"into":[47],"reward":[49],"function,":[50],"effect":[53],"naturally":[54],"emerges,":[55],"leading":[56],"a":[58,73,77],"similar":[59],"situation":[60],"as":[61],"human":[62],"learning.":[64],"To":[65],"best":[67],"our":[69,95],"knowledge,":[70],"is":[72],"pioneer":[74],"study":[75],"verifying":[76],"concurrent":[78],"relation":[79],"between":[80],"error-energy":[82,109],"index":[83],"development":[86],"in":[87,106],"DRL":[88,98,104],"multi-directional":[90],"reaching":[91],"tasks.":[92],"addition,":[94],"proposed":[96],"feedback-augmented":[97],"controller":[99],"shows":[100],"better":[101],"capability":[102],"over":[103],"only":[105],"terms":[107],"index.":[110]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}