{"id":"https://openalex.org/W4313177244","doi":"https://doi.org/10.1109/iros47612.2022.9982025","title":"Can we reach human expert programming performance? A tactile manipulation case study in learning time and task performance","display_name":"Can we reach human expert programming performance? A tactile manipulation case study in learning time and task performance","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4313177244","doi":"https://doi.org/10.1109/iros47612.2022.9982025"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982025","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5063169662","display_name":"Lars Johannsmeier","orcid":"https://orcid.org/0000-0003-4599-7636"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"Lars Johannsmeier","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany","Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany","Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich,Germany","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Chair of Robotics and Systems Intelligence and the Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5063169662"],"corresponding_institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.0617,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76511628,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"12081","last_page":"12088"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9829000234603882,"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/task","display_name":"Task (project management)","score":0.7621651887893677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7292488813400269},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.71967613697052},{"id":"https://openalex.org/keywords/programmer","display_name":"Programmer","score":0.6182162761688232},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5787385702133179},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5534961223602295},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5259124040603638},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5104250311851501},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4487787187099457},{"id":"https://openalex.org/keywords/duration","display_name":"Duration (music)","score":0.446820467710495},{"id":"https://openalex.org/keywords/multi-task-learning","display_name":"Multi-task learning","score":0.4453691244125366},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.43028318881988525},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.42129698395729065},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1366470754146576},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.09053882956504822}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7621651887893677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7292488813400269},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.71967613697052},{"id":"https://openalex.org/C2778514511","wikidata":"https://www.wikidata.org/wiki/Q1374194","display_name":"Programmer","level":2,"score":0.6182162761688232},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5787385702133179},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5534961223602295},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5259124040603638},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5104250311851501},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4487787187099457},{"id":"https://openalex.org/C112758219","wikidata":"https://www.wikidata.org/wiki/Q16038819","display_name":"Duration (music)","level":2,"score":0.446820467710495},{"id":"https://openalex.org/C28006648","wikidata":"https://www.wikidata.org/wiki/Q6934509","display_name":"Multi-task learning","level":3,"score":0.4453691244125366},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.43028318881988525},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.42129698395729065},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1366470754146576},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.09053882956504822},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros47612.2022.9982025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982025","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1700077","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1700077","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"ConferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.5299999713897705}],"awards":[{"id":"https://openalex.org/G100456731","display_name":null,"funder_award_id":"ID390696704","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W7981553","https://openalex.org/W1503536476","https://openalex.org/W1820821744","https://openalex.org/W1965078187","https://openalex.org/W1979045132","https://openalex.org/W2025460877","https://openalex.org/W2093989592","https://openalex.org/W2101129603","https://openalex.org/W2108557890","https://openalex.org/W2112036188","https://openalex.org/W2131666656","https://openalex.org/W2142237569","https://openalex.org/W2145744986","https://openalex.org/W2148921959","https://openalex.org/W2150024155","https://openalex.org/W2161872510","https://openalex.org/W2162189406","https://openalex.org/W2201087437","https://openalex.org/W2556468286","https://openalex.org/W2594522609","https://openalex.org/W2606126819","https://openalex.org/W2608976729","https://openalex.org/W2762248135","https://openalex.org/W2911296969","https://openalex.org/W2950069298","https://openalex.org/W2964262254","https://openalex.org/W2967717386","https://openalex.org/W3135570755","https://openalex.org/W4221166013","https://openalex.org/W6809596220"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W1993948687","https://openalex.org/W2000169967","https://openalex.org/W2112883198"],"abstract_inverted_index":{"Reaching":[0],"human-level":[1],"performance":[2,94,124,169],"in":[3,12,22,50,203,214],"tactile":[4],"manipulation":[5,205],"is":[6,88,154],"one":[7,158],"of":[8,64,125,149],"the":[9,17,31,38,45,51,86,91,115,123,130,134,145,150,157,161,165,167,181,215],"grand":[10],"challenges":[11],"nowadays":[13],"robotics":[14],"research.":[15],"Over":[16],"past":[18],"decade":[19],"significant":[20,212],"progress":[21],"both":[23],"skill":[24,53,109],"control":[25],"and":[26,118,207],"learning":[27,102,110,143],"was":[28,183],"made.":[29],"However,":[30],"achievable":[32,92],"execution":[33,147,193],"speed":[34,148],"still":[35,210],"falls":[36],"behind":[37],"human":[39,97,128,162,192],"ability,":[40],"without":[41],"clearly":[42],"understanding":[43,63],"whether":[44],"specific":[46,178],"shortcomings":[47],"are":[48],"mainly":[49],"control,":[52],"learning,":[54],"or":[55,188],"motion":[56],"planning":[57],"layer.":[58],"For":[59,133,164],"gaining":[60],"a":[61,78,82,96,107],"better":[62],"this":[65],"complex":[66],"problem,":[67],"we":[68,113],"draw":[69],"an":[70,126],"experimental":[71],"side-by-side":[72],"comparative":[73],"case":[74],"study.":[75],"First,":[76],"given":[77],"task":[79,93,131,146],"program":[80],"for":[81,176],"challenging":[83],"benchmarking":[84],"task,":[85],"goal":[87],"to":[89,122,156,185],"objectify":[90],"from":[95],"expert":[98],"programmer":[99],"against":[100],"autonomously":[101],"these":[103],"assembly":[104],"behaviors":[105],"with":[106],"state-of-the-art":[108],"framework.":[111],"Second,":[112],"compare":[114],"manually":[116],"tuned":[117],"learned":[119],"robot":[120],"skills":[121,180],"adult":[127],"solving":[129],"manually.":[132],"former,":[135],"it":[136],"could":[137],"be":[138],"shown":[139],"that":[140],"despite":[141],"longer":[142],"duration,":[144],"machine":[151],"learning-based":[152],"solution":[153],"equivalent":[155],"programmed":[159],"by":[160],"expert.":[163],"latter,":[166],"identified":[168],"gap":[170],"remained":[171],"significantly":[172],"larger,":[173],"where":[174,202],"only":[175],"some":[177],"isolated":[179],"system":[182],"able":[184],"reach":[186],"comparable":[187],"even":[189],"faster":[190],"than":[191],"speeds.":[194],"The":[195],"overall":[196],"analysis":[197],"gave":[198],"also":[199],"useful":[200],"hints":[201],"particular":[204],"policies":[206],"arm-hand":[208],"coordination":[209],"need":[211],"improvements":[213],"future.":[216]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
