{"id":"https://openalex.org/W1976126972","doi":"https://doi.org/10.1109/iros.2011.6094834","title":"Learning elementary movements jointly with a higher level task","display_name":"Learning elementary movements jointly with a higher level task","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W1976126972","doi":"https://doi.org/10.1109/iros.2011.6094834","mag":"1976126972"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094834","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5035229829","display_name":"Jens Kober","orcid":"https://orcid.org/0000-0001-7257-5434"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I149899117","display_name":"Max Planck Society","ror":"https://ror.org/01hhn8329","country_code":"DE","type":"funder","lineage":["https://openalex.org/I149899117"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jens Kober","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","Max Planck Institute for Intelligent Systems, Department of Empirical Inference, Spemannstr. 38, 72076 T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Department of Empirical Inference, Spemannstr. 38, 72076 T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I149899117"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I149899117","display_name":"Max Planck Society","ror":"https://ror.org/01hhn8329","country_code":"DE","type":"funder","lineage":["https://openalex.org/I149899117"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","Max Planck Institute for Intelligent Systems, Department of Empirical Inference, Spemannstr. 38, 72076 T\u00fcbingen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Group, Technische Universit\u00e4t Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Department of Empirical Inference, Spemannstr. 38, 72076 T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I149899117"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5035229829"],"corresponding_institution_ids":["https://openalex.org/I149899117","https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":2.0412,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.86370262,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"36","issue":null,"first_page":"338","last_page":"343"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9936000108718872,"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/T11674","display_name":"Sports Analytics and Performance","score":0.9793000221252441,"subfield":{"id":"https://openalex.org/subfields/2002","display_name":"Economics and Econometrics"},"field":{"id":"https://openalex.org/fields/20","display_name":"Economics, Econometrics and Finance"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7315823435783386},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5959422588348389},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.496869832277298},{"id":"https://openalex.org/keywords/contrast","display_name":"Contrast (vision)","score":0.45840954780578613},{"id":"https://openalex.org/keywords/throwing","display_name":"Throwing","score":0.45689699053764343},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.43927961587905884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4224143624305725},{"id":"https://openalex.org/keywords/video-game","display_name":"Video game","score":0.41023749113082886},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34125977754592896},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.16365209221839905}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7315823435783386},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5959422588348389},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.496869832277298},{"id":"https://openalex.org/C2776502983","wikidata":"https://www.wikidata.org/wiki/Q690182","display_name":"Contrast (vision)","level":2,"score":0.45840954780578613},{"id":"https://openalex.org/C207451115","wikidata":"https://www.wikidata.org/wiki/Q12898216","display_name":"Throwing","level":2,"score":0.45689699053764343},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.43927961587905884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4224143624305725},{"id":"https://openalex.org/C3018412434","wikidata":"https://www.wikidata.org/wiki/Q7889","display_name":"Video game","level":2,"score":0.41023749113082886},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34125977754592896},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.16365209221839905},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2011.6094834","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094834","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.394.3676","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.394.3676","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://robot-learning.de/pmwiki/uploads/Publications/Kober_IROS_2011.pdf","raw_type":"text"},{"id":"pmh:oai:edoc.mpg.de:596182","is_oa":false,"landing_page_url":"http://edoc.mpg.de/596182","pdf_url":null,"source":{"id":"https://openalex.org/S4406922265","display_name":"Max Planck Institute for Plasma Physics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), 338-343 (2011)","raw_type":"Conference-Paper"},{"id":"pmh:oai:escidoc.org:escidoc:1788032","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0013-BA50-F","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:pure.mpg.de:item_1577467","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0010-4C5C-A","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","score":0.47999998927116394,"display_name":"Quality Education"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W155233204","https://openalex.org/W591743693","https://openalex.org/W1499669280","https://openalex.org/W1559736362","https://openalex.org/W1572593412","https://openalex.org/W1969420452","https://openalex.org/W2050065906","https://openalex.org/W2105947986","https://openalex.org/W2106791133","https://openalex.org/W2152118007","https://openalex.org/W2319588593","https://openalex.org/W2591436094","https://openalex.org/W2735192029","https://openalex.org/W2752899502","https://openalex.org/W4233337455","https://openalex.org/W4235335673","https://openalex.org/W6629881138","https://openalex.org/W6633521930","https://openalex.org/W6675977238","https://openalex.org/W6741477363","https://openalex.org/W6743333960"],"related_works":["https://openalex.org/W2757445715","https://openalex.org/W4239855920","https://openalex.org/W2371249440","https://openalex.org/W2365576545","https://openalex.org/W3165347946","https://openalex.org/W4226007727","https://openalex.org/W2059660105","https://openalex.org/W2327671128","https://openalex.org/W2386414876","https://openalex.org/W3196817267"],"abstract_inverted_index":{"Many":[0],"motor":[1,101],"skills":[2],"consist":[3],"of":[4,60,81,125,157],"many":[5],"lower":[6,82,142],"level":[7,83,89,135,143,152],"elementary":[8],"movements":[9,31],"that":[10,76],"need":[11,38],"to":[12,17,23,39,55,63,96,117,139],"be":[13,40],"sequenced":[14],"in":[15,104,179],"order":[16,22],"achieve":[18],"a":[19,26,57,73,87,98,155,174,183],"task.":[20,90],"In":[21,46,68],"learn":[24,64,140],"such":[25],"task,":[27],"both":[28,178],"the":[29,35,43,79,114,122,126,133,141,150,171],"primitive":[30],"as":[32,34],"well":[33,131],"higher-level":[36],"strategy":[37,134],"acquired":[41],"at":[42,121,132],"same":[44],"time.":[45],"contrast,":[47],"most":[48],"learning":[49,54,97,111],"approaches":[50,162],"focus":[51],"either":[52],"on":[53,173],"combine":[56],"fixed":[58],"set":[59],"options":[61],"or":[62],"just":[65],"single":[66],"options.":[67],"this":[69,105],"paper,":[70,106],"we":[71,107],"discuss":[72],"new":[74],"approach":[75,93,172],"allows":[77],"improving":[78],"performance":[80,120],"actions":[84,124,144,153],"while":[85,128],"pursuing":[86],"higher":[88,151],"The":[91,160],"presented":[92],"is":[94],"applicable":[95],"wider":[99],"range":[100],"skills,":[102],"but":[103],"employ":[108],"it":[109],"for":[110],"games":[112],"where":[113],"player":[115],"wants":[116],"improve":[118],"his":[119],"individual":[123],"game":[127,177],"still":[129],"performing":[130],"game.":[136],"We":[137,169],"propose":[138],"using":[145,154],"Cost-regularized":[146],"Kernel":[147],"Regression":[148],"and":[149,181],"form":[156],"Policy":[158],"Iteration.":[159],"two":[161],"are":[163],"coupled":[164],"by":[165],"their":[166],"transition":[167],"probabilities.":[168],"evaluate":[170],"side-stall-style":[175],"throwing":[176],"simulation":[180],"with":[182],"real":[184],"BioRob.":[185]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
