{"id":"https://openalex.org/W2082940787","doi":"https://doi.org/10.1109/ijcnn.2014.6889784","title":"Explore to see, learn to perceive, get the actions for free: SKILLABILITY","display_name":"Explore to see, learn to perceive, get the actions for free: SKILLABILITY","publication_year":2014,"publication_date":"2014-07-01","ids":{"openalex":"https://openalex.org/W2082940787","doi":"https://doi.org/10.1109/ijcnn.2014.6889784","mag":"2082940787"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn.2014.6889784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn.2014.6889784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 International Joint Conference on Neural Networks (IJCNN)","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/A5098459307","display_name":"Varan R. Kompella","orcid":null},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Varan R. Kompella","raw_affiliation_strings":["IDSIA, Manno-Lugano, Switzerland"],"affiliations":[{"raw_affiliation_string":"IDSIA, Manno-Lugano, Switzerland","institution_ids":["https://openalex.org/I2614128279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030342244","display_name":"Marijn Stollenga","orcid":null},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marijn F. Stollenga","raw_affiliation_strings":["IDSIA, Manno-Lugano, Switzerland"],"affiliations":[{"raw_affiliation_string":"IDSIA, Manno-Lugano, Switzerland","institution_ids":["https://openalex.org/I2614128279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065817157","display_name":"Matthew Luciw","orcid":null},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Matthew D. Luciw","raw_affiliation_strings":["IDSIA, Manno-Lugano, Switzerland"],"affiliations":[{"raw_affiliation_string":"IDSIA, Manno-Lugano, Switzerland","institution_ids":["https://openalex.org/I2614128279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104087148","display_name":"Juergen Schmidhuber","orcid":null},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Juergen Schmidhuber","raw_affiliation_strings":["IDSIA, Manno-Lugano, Switzerland"],"affiliations":[{"raw_affiliation_string":"IDSIA, Manno-Lugano, Switzerland","institution_ids":["https://openalex.org/I2614128279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5098459307"],"corresponding_institution_ids":["https://openalex.org/I2614128279"],"apc_list":null,"apc_paid":null,"fwci":3.3828,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93188385,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"4","issue":null,"first_page":"2705","last_page":"2712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987000226974487,"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":0.9987000226974487,"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":0.9968000054359436,"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/T10581","display_name":"Neural dynamics and brain function","score":0.9861000180244446,"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/computer-science","display_name":"Computer science","score":0.7060229778289795},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.6878116726875305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6108543276786804},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.608797550201416},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.600967526435852},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.57237708568573},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5683764815330505},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5506413578987122},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5148550868034363},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.4748968183994293},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4601135849952698},{"id":"https://openalex.org/keywords/bottleneck","display_name":"Bottleneck","score":0.44488388299942017},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.44469618797302246},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.44134920835494995},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.4376695156097412},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.42605385184288025},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3777087926864624},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17357638478279114},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.10809409618377686},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1061052680015564}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7060229778289795},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.6878116726875305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6108543276786804},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.608797550201416},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.600967526435852},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.57237708568573},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5683764815330505},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5506413578987122},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5148550868034363},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4748968183994293},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4601135849952698},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.44488388299942017},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.44469618797302246},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.44134920835494995},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.4376695156097412},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.42605385184288025},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3777087926864624},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17357638478279114},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.10809409618377686},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1061052680015564},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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},{"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/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ijcnn.2014.6889784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn.2014.6889784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.706.3861","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.706.3861","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://people.idsia.ch/%7Ekompella/Papers/IJCNN_14.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.47999998927116394}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1536990779","https://openalex.org/W1588607462","https://openalex.org/W1755933627","https://openalex.org/W1863227302","https://openalex.org/W1963597874","https://openalex.org/W1989096664","https://openalex.org/W2034806191","https://openalex.org/W2035353864","https://openalex.org/W2038101149","https://openalex.org/W2043828270","https://openalex.org/W2060350815","https://openalex.org/W2102899970","https://openalex.org/W2107726111","https://openalex.org/W2108535023","https://openalex.org/W2109910161","https://openalex.org/W2116386744","https://openalex.org/W2119972318","https://openalex.org/W2121863487","https://openalex.org/W2126375903","https://openalex.org/W2146444479","https://openalex.org/W2166160300","https://openalex.org/W2166489517","https://openalex.org/W2168640731","https://openalex.org/W2172131460","https://openalex.org/W2546588632","https://openalex.org/W4214717370","https://openalex.org/W4242606736","https://openalex.org/W4285719527","https://openalex.org/W6635430216","https://openalex.org/W6676007687","https://openalex.org/W6676557315","https://openalex.org/W6684448357","https://openalex.org/W6684863604","https://openalex.org/W6685218902"],"related_works":["https://openalex.org/W2595172197","https://openalex.org/W2084856301","https://openalex.org/W4225571923","https://openalex.org/W3212257828","https://openalex.org/W2999580272","https://openalex.org/W4297873223","https://openalex.org/W3009457412","https://openalex.org/W2350784623","https://openalex.org/W2126211886","https://openalex.org/W273478400"],"abstract_inverted_index":{"How":[0],"can":[1,117],"a":[2,13,71,102,107,113,120,144,156,206],"humanoid":[3,258],"robot":[4,99,132,259],"autonomously":[5],"learn":[6,261],"and":[7,146,248],"refine":[8],"multiple":[9],"sensorimotor":[10],"skills":[11,263],"as":[12,60,62,136,265],"byproduct":[14],"of":[15,87,130],"curiosity":[16],"driven":[17,277],"exploration,":[18],"upon":[19],"its":[20,134,280],"high-dimensional":[21,67,121,274],"unprocessed":[22],"visual":[23,122],"input?":[24],"We":[25,74],"present":[26],"SKILLABILITY,":[27],"which":[28,116,220],"makes":[29,253],"this":[30,176],"possible.":[31,63],"It":[32],"combines":[33],"the":[34,48,81,93,98,128,131,153,163,191,210,231,233,238,245,249,256],"recently":[35],"introduced":[36],"Curiosity":[37],"Driven":[38],"Modular":[39],"Incremental":[40],"Slow":[41],"Feature":[42],"Analysis":[43],"(Curious":[44],"Dr.":[45,53],"MISFA)":[46],"with":[47,89,184],"well-known":[49],"options":[50],"framework.":[51],"Curious":[52],"MISFA's":[54],"objective":[55],"is":[56,100,106,165,167,182,200],"to":[57,70,216,236,260,266],"acquire":[58],"abstractions":[59,65],"quickly":[61],"These":[64],"map":[66],"pixel-level":[68],"vision":[69],"low-dimensional":[72],"manifold.":[73],"find":[75],"that":[76,204],"each":[77],"learnable":[78],"abstraction":[79,105,181],"augments":[80],"robot's":[82],"state":[83,173],"space":[84,174],"(a":[85],"set":[86],"poses)":[88],"new":[90,172],"information":[91],"about":[92],"environment,":[94],"for":[95,190,202,225],"example,":[96,125,232],"when":[97,162],"grasping":[101,140,143,237],"cup.":[103,239],"The":[104,171,187,240],"function":[108,158,189],"on":[109],"an":[110,185,270],"image,":[111],"called":[112],"slow":[114,212],"feature,":[115],"effectively":[118],"discretize":[119],"sequence.":[123],"For":[124],"it":[126,137],"maps":[127],"sequence":[129],"watching":[133],"arm":[135],"moves":[138],"around,":[139],"randomly,":[141],"then":[142],"cup,":[145,154],"moving":[147],"around":[148],"some":[149],"more":[150],"while":[151],"holding":[152],"into":[155],"step":[157],"having":[159],"two":[160],"outputs:":[161],"cup":[164],"or":[166,268],"not":[168],"currently":[169],"grasped.":[170],"includes":[175,243],"grasped/not":[177],"grasped":[178],"information.":[179],"Each":[180],"coupled":[183],"option.":[186],"reward":[188],"option's":[192],"policy":[193,247],"(learned":[194],"through":[195],"Least":[196],"Squares":[197],"Policy":[198],"Iteration)":[199],"high":[201],"transitions":[203],"produce":[205],"large":[207],"change":[208],"in":[209,230],"step-functionlike":[211],"features.":[213],"This":[214],"corresponds":[215,235],"finding":[217],"bottleneck":[218],"states,":[219],"are":[221],"known":[222],"good":[223],"subgoals":[224],"hierarchical":[226],"reinforcement":[227],"learning":[228],"-":[229],"subgoal":[234],"final":[241],"skill":[242],"both":[244],"learned":[246,250],"abstraction.":[251],"SKILLABILITY":[252],"our":[254],"iCub":[255],"first":[257],"complex":[262],"such":[264],"topple":[267],"grasp":[269],"object,":[271],"from":[272],"raw":[273],"video":[275],"input,":[276],"purely":[278],"by":[279],"intrinsic":[281],"motivations.":[282]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}