{"id":"https://openalex.org/W1592970191","doi":"https://doi.org/10.1109/iros.2003.1250750","title":"Learning to select primitives and generate sub-goals from practice","display_name":"Learning to select primitives and generate sub-goals from practice","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W1592970191","doi":"https://doi.org/10.1109/iros.2003.1250750","mag":"1592970191"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5014297709","display_name":"Darrin C. Bentivegna","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"D.C. Bentivegna","raw_affiliation_strings":["Department of Humanoid Robotics and Computational Neuroscience, ATR Computational Neuroscience Laboratories, Kyoto, Japan","Dept. of Humanoid Robotics & Comput. Neuroscience, ATR Comput. Neuroscience Laboratories, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Humanoid Robotics and Computational Neuroscience, ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":[]},{"raw_affiliation_string":"Dept. of Humanoid Robotics & Comput. Neuroscience, ATR Comput. Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055330939","display_name":"Christopher G. Atkeson","orcid":"https://orcid.org/0000-0003-4265-8452"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"C.G. Atkeson","raw_affiliation_strings":["College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","Dept. of Humanoid Robotics & Comput. Neuroscience, ATR Comput. Neuroscience Laboratories, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computing, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Dept. of Humanoid Robotics & Comput. Neuroscience, ATR Comput. Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048975019","display_name":"Gordon Cheng","orcid":"https://orcid.org/0000-0003-0770-8717"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"G. Cheng","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Dept. of Humanoid Robotics & Comput. Neuroscience, ATR Comput. Neuroscience Laboratories, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Dept. of Humanoid Robotics & Comput. Neuroscience, ATR Comput. Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5014297709"],"corresponding_institution_ids":["https://openalex.org/I4210104143"],"apc_list":null,"apc_paid":null,"fwci":1.8504,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.87097269,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"946","last_page":"953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9983000159263611,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9958000183105469,"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/task","display_name":"Task (project management)","score":0.8043241500854492},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7853804230690002},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.659640908241272},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.62310391664505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.573006272315979},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.49706581234931946},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.43096667528152466},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.41624295711517334},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38046982884407043},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2639162838459015},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06308475136756897}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.8043241500854492},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7853804230690002},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.659640908241272},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.62310391664505},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.573006272315979},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.49706581234931946},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.43096667528152466},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.41624295711517334},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38046982884407043},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2639162838459015},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06308475136756897},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2003.1250750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.366.9534","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.366.9534","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cns.atr.jp/~dbent/Docs/bentivegna_iros03.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1533308732","https://openalex.org/W1589678021","https://openalex.org/W1689445748","https://openalex.org/W1949974402","https://openalex.org/W2106793164","https://openalex.org/W2120591602","https://openalex.org/W2143435603","https://openalex.org/W2153756422","https://openalex.org/W2161491846","https://openalex.org/W2161746516","https://openalex.org/W2163387410","https://openalex.org/W2179054690","https://openalex.org/W2297172695","https://openalex.org/W2622604310","https://openalex.org/W3023251708","https://openalex.org/W6606749797","https://openalex.org/W6632012815","https://openalex.org/W6635167856","https://openalex.org/W6680976742","https://openalex.org/W6685755597"],"related_works":["https://openalex.org/W2389015757","https://openalex.org/W2110944602","https://openalex.org/W3213722473","https://openalex.org/W1564680838","https://openalex.org/W2060591604","https://openalex.org/W2003125260","https://openalex.org/W2913184176","https://openalex.org/W2166791242","https://openalex.org/W3012440055","https://openalex.org/W2967461658"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3],"learning":[4,28,56],"to":[5,30,42,51],"select":[6],"behavioral":[7],"primitives":[8],"and":[9,24,34,59],"generate":[10],"sub-goals":[11],"from":[12,57,62],"practicing":[13],"a":[14,18,25],"task.":[15,46],"We":[16,37],"present":[17],"novel":[19],"algorithm":[20],"that":[21],"combines":[22],"Q-learning":[23],"locally":[26],"weighted":[27],"method":[29],"improve":[31],"primitive":[32],"selection":[33],"sub-goal":[35],"generation.":[36],"demonstrate":[38],"this":[39,53],"approach":[40],"applied":[41],"the":[43],"tilt":[44],"maze":[45],"Our":[47],"robot":[48],"initially":[49],"learns":[50,61],"perform":[52],"task":[54],"using":[55],"observation,":[58],"then":[60],"practice.":[63]},"counts_by_year":[{"year":2020,"cited_by_count":2}],"updated_date":"2026-04-28T14:05:53.105641","created_date":"2025-10-10T00:00:00"}