{"id":"https://openalex.org/W2567223736","doi":"https://doi.org/10.1109/iros.2016.7759434","title":"Robotic playing for hierarchical complex skill learning","display_name":"Robotic playing for hierarchical complex skill learning","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2567223736","doi":"https://doi.org/10.1109/iros.2016.7759434","mag":"2567223736"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759434","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1603.00794","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Simon Hangl","orcid":null},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Simon Hangl","raw_affiliation_strings":["Universitat Innsbruck, Innsbruck, Tirol, AT"],"affiliations":[{"raw_affiliation_string":"Universitat Innsbruck, Innsbruck, Tirol, AT","institution_ids":["https://openalex.org/I190249584"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Emre Ugur","orcid":null},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Emre Ugur","raw_affiliation_strings":["Universitat Innsbruck, Innsbruck, Tirol, AT"],"affiliations":[{"raw_affiliation_string":"Universitat Innsbruck, Innsbruck, Tirol, AT","institution_ids":["https://openalex.org/I190249584"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sandor Szedmak","orcid":null},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Sandor Szedmak","raw_affiliation_strings":["Universitat Innsbruck, Innsbruck, Tirol, AT"],"affiliations":[{"raw_affiliation_string":"Universitat Innsbruck, Innsbruck, Tirol, AT","institution_ids":["https://openalex.org/I190249584"]}]},{"author_position":"last","author":{"id":null,"display_name":"Justus Piater","orcid":null},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Justus Piater","raw_affiliation_strings":["Department of Computer Science, University of Innsbruck, Inns-bruck, Austria"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Innsbruck, Inns-bruck, Austria","institution_ids":["https://openalex.org/I190249584"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I190249584"],"apc_list":null,"apc_paid":null,"fwci":2.707,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.90937381,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2799","last_page":"2804"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9918000102043152,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9699000120162964,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7623000144958496},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6585000157356262},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5605000257492065},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4724000096321106},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4447999894618988},{"id":"https://openalex.org/keywords/task-analysis","display_name":"Task analysis","score":0.4219000041484833},{"id":"https://openalex.org/keywords/dreyfus-model-of-skill-acquisition","display_name":"Dreyfus model of skill acquisition","score":0.3912000060081482}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7623000144958496},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6585000157356262},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6514999866485596},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5605000257492065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.542900025844574},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4724000096321106},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4675000011920929},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4447999894618988},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4219000041484833},{"id":"https://openalex.org/C132758656","wikidata":"https://www.wikidata.org/wiki/Q5307365","display_name":"Dreyfus model of skill acquisition","level":2,"score":0.3912000060081482},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.3555000126361847},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.3483000099658966},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3449000120162964},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.29510000348091125},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.28700000047683716},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2515000104904175}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759434","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759434","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1603.00794","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1603.00794","pdf_url":"https://arxiv.org/pdf/1603.00794","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1603.00794","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1603.00794","pdf_url":"https://arxiv.org/pdf/1603.00794","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W143499627","https://openalex.org/W1588671388","https://openalex.org/W1986014385","https://openalex.org/W1988994102","https://openalex.org/W2012204020","https://openalex.org/W2078760977","https://openalex.org/W2079905842","https://openalex.org/W2094808257","https://openalex.org/W2107947143","https://openalex.org/W2122480991","https://openalex.org/W2132602743","https://openalex.org/W2138648596","https://openalex.org/W2147168033","https://openalex.org/W2157904933","https://openalex.org/W2164429173","https://openalex.org/W2181205950","https://openalex.org/W2337392266","https://openalex.org/W6664570258","https://openalex.org/W6677133782","https://openalex.org/W6697071109"],"related_works":[],"abstract_inverted_index":{"In":[0,44,73],"complex":[1,7,145,150],"manipulation":[2],"scenarios":[3,147],"(e.g.":[4],"tasks":[5,50],"requiring":[6],"interaction":[8],"of":[9,28,59,70,94,131],"two":[10],"hands":[11],"or":[12,34,125],"in-hand":[13],"manipulation),":[14],"generalization":[15],"is":[16,97,105,142],"a":[17,25,57,67,89],"hard":[18],"problem.":[19],"Current":[20],"methods":[21],"still":[22],"either":[23,120],"require":[24],"substantial":[26],"amount":[27],"(supervised)":[29],"training":[30],"data":[31],"and":[32,41,110,134],"/":[33],"strong":[35],"assumptions":[36],"on":[37],"both":[38],"the":[39,42,64,80,83,92,95,128,132],"environment":[40,84,133],"task.":[43],"this":[45,103],"paradigm,":[46],"controllers":[47,62],"solving":[48,63],"these":[49,156],"tend":[51],"to":[52,75,77,102,106],"be":[53,121,159],"complex.":[54],"We":[55,152],"propose":[56],"paradigm":[58],"maintaining":[60],"simpler":[61],"task":[65,96],"in":[66,137,144],"small":[68],"number":[69],"specific":[71],"situations.":[72],"order":[74],"generalize":[76],"novel":[78,86],"situations,":[79],"robot":[81],"transforms":[82],"from":[85],"situations":[87],"into":[88],"situation":[90],"where":[91],"solution":[93,101],"already":[98],"known.":[99],"Our":[100],"problem":[104],"play":[107],"with":[108],"objects":[109],"use":[111],"previously":[112],"trained":[113],"skills":[114,118,157],"(basis":[115],"skills).":[116],"These":[117],"can":[119,158],"used":[122],"for":[123,126],"estimating":[124],"changing":[127],"current":[129],"state":[130],"are":[135],"organized":[136],"skill":[138],"hierarchies.":[139],"The":[140],"approach":[141],"evaluated":[143],"pick-and-place":[146],"that":[148,155],"involve":[149],"manipulation.":[151],"further":[153],"show":[154],"learned":[160],"by":[161],"autonomous":[162],"playing.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2017-01-06T00:00:00"}
