{"id":"https://openalex.org/W2210018674","doi":"https://doi.org/10.1109/iros.2015.7354076","title":"A sensorimotor approach for self-learning of hand-eye coordination","display_name":"A sensorimotor approach for self-learning of hand-eye coordination","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2210018674","doi":"https://doi.org/10.1109/iros.2015.7354076","mag":"2210018674"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7354076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5038342432","display_name":"Ali Ghadirzadeh","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Ali Ghadirzadeh","raw_affiliation_strings":["Computer Vision and Active Perception Lab (CVAP), CSC, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab (CVAP), CSC, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054834085","display_name":"Atsuto Maki","orcid":"https://orcid.org/0000-0002-4266-6746"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Atsuto Maki","raw_affiliation_strings":["Computer Vision and Active Perception Lab (CVAP), CSC, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab (CVAP), CSC, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082269387","display_name":"M\u00e5rten Bj\u00f6rkman","orcid":null},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Marten Bjorkman","raw_affiliation_strings":["Computer Vision and Active Perception Lab (CVAP), CSC, KTH Royal Institute of Technology, Stockholm, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Vision and Active Perception Lab (CVAP), CSC, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":1.9312,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.84824383,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"10","issue":null,"first_page":"4969","last_page":"4975"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9919000267982483,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9905999898910522,"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/computer-science","display_name":"Computer science","score":0.7453431487083435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6638647317886353},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6304956078529358},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5620582103729248},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5560784935951233},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5521175861358643},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4857385754585266},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.46723252534866333},{"id":"https://openalex.org/keywords/scratch","display_name":"Scratch","score":0.4179306626319885},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21429646015167236}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7453431487083435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6638647317886353},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6304956078529358},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5620582103729248},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5560784935951233},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5521175861358643},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4857385754585266},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.46723252534866333},{"id":"https://openalex.org/C2781235140","wikidata":"https://www.wikidata.org/wiki/Q275131","display_name":"Scratch","level":2,"score":0.4179306626319885},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21429646015167236},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7354076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7354076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6600000262260437,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1502922572","https://openalex.org/W1515851193","https://openalex.org/W1520597402","https://openalex.org/W1521528529","https://openalex.org/W1603381450","https://openalex.org/W1851410152","https://openalex.org/W1933657216","https://openalex.org/W1994732751","https://openalex.org/W2018705428","https://openalex.org/W2019084147","https://openalex.org/W2023758701","https://openalex.org/W2037091700","https://openalex.org/W2043968544","https://openalex.org/W2062896400","https://openalex.org/W2075715311","https://openalex.org/W2088926361","https://openalex.org/W2100249329","https://openalex.org/W2107386393","https://openalex.org/W2109995759","https://openalex.org/W2113261002","https://openalex.org/W2120211971","https://openalex.org/W2134970101","https://openalex.org/W2136492961","https://openalex.org/W2141627350","https://openalex.org/W2142401694","https://openalex.org/W2150499794","https://openalex.org/W2150674791","https://openalex.org/W2154174176","https://openalex.org/W2155217025","https://openalex.org/W2162429410","https://openalex.org/W2165495305","https://openalex.org/W2167501464","https://openalex.org/W2286699414","https://openalex.org/W2965564755","https://openalex.org/W3156347756","https://openalex.org/W4230210808","https://openalex.org/W4249520989","https://openalex.org/W4252031641","https://openalex.org/W6675823452","https://openalex.org/W6766518551"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2744818472","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,33,50,81,95,101,115,177],"sensorimotor":[4],"contingencies":[5],"(SMC)":[6],"based":[7,118],"method":[8,135,168,194],"to":[9,13,84,89,105,129,162,183],"fully":[10],"autonomously":[11],"learn":[12],"perform":[14],"hand-eye":[15,143],"coordination.":[16],"We":[17],"divide":[18],"the":[19,53,59,65,71,77,91,120,140,164,167,184,190,193],"task":[20,92,141],"into":[21],"two":[22],"visuomotor":[23],"subtasks,":[24],"visual":[25],"fixation":[26],"and":[27,29],"reaching,":[28],"implement":[30],"these":[31],"on":[32,40,119],"PR2":[34],"robot":[35,51],"assuming":[36],"no":[37],"prior":[38,68],"information":[39],"its":[41],"kinematic":[42,72],"model.":[43],"Our":[44],"contributions":[45],"are":[46,154],"three-fold:":[47],"i)":[48],"grounding":[49],"in":[52,58],"environment":[54],"by":[55,93,147],"exploiting":[56],"SMCs":[57],"action":[60],"planning":[61],"system,":[62],"which":[63],"eliminates":[64],"need":[66],"for":[67,86],"knowledge":[69],"of":[70,76,99,114,138,142,166,192],"or":[73],"dynamic":[74],"models":[75],"robot;":[78],"ii)":[79],"using":[80],"forward":[82],"model":[83],"search":[85],"proper":[87],"actions":[88],"solve":[90],"minimizing":[94],"cost":[96],"function,":[97],"instead":[98],"training":[100],"separate":[102],"inverse":[103],"model,":[104],"speed":[106],"up":[107],"training;":[108],"iii)":[109],"encoding":[110],"3D":[111],"spatial":[112],"positions":[113],"target":[116],"object":[117],"robot's":[121],"joint":[122],"positions,":[123],"thus":[124],"avoiding":[125],"calibration":[126],"with":[127,171],"respect":[128],"an":[130],"external":[131],"coordinate":[132],"system.":[133],"The":[134],"is":[136],"capable":[137],"learning":[139],"coordination":[144],"from":[145],"scratch":[146],"less":[148],"than":[149],"20":[150],"sensory-motor":[151],"pairs":[152],"that":[153],"iteratively":[155],"generated":[156],"at":[157],"real-time":[158],"speed.":[159],"In":[160],"order":[161],"examine":[163],"robustness":[165],"while":[169],"dealing":[170],"nonlinear":[172],"image":[173,181,198],"distortions,":[174],"we":[175],"apply":[176],"so-called":[178],"retinal":[179],"mapping":[180],"deformation":[182],"input":[185],"images.":[186],"Experimental":[187],"results":[188],"show":[189],"successfulness":[191],"even":[195],"under":[196],"considerable":[197],"deformations.":[199]},"counts_by_year":[{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}