{"id":"https://openalex.org/W4405785133","doi":"https://doi.org/10.1109/iros58592.2024.10801966","title":"Learning When to Stop: Efficient Active Tactile Perception with Deep Reinforcement Learning","display_name":"Learning When to Stop: Efficient Active Tactile Perception with Deep Reinforcement Learning","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785133","doi":"https://doi.org/10.1109/iros58592.2024.10801966"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pub.uni-bielefeld.de/record/2994195","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115648085","display_name":"Christopher Niemann","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christopher Niemann","raw_affiliation_strings":["Bielefeld University,CoR-Lab, CITEC,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bielefeld University,CoR-Lab, CITEC,Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018867092","display_name":"David P. Leins","orcid":"https://orcid.org/0000-0002-3386-2577"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Leins","raw_affiliation_strings":["Bielefeld University,Machine Learning Group, CITEC,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bielefeld University,Machine Learning Group, CITEC,Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048594758","display_name":"Luca Lach","orcid":"https://orcid.org/0000-0002-7527-1978"},"institutions":[{"id":"https://openalex.org/I145824119","display_name":"Ipca Laboratories (India)","ror":"https://ror.org/02ppykv54","country_code":"IN","type":"company","lineage":["https://openalex.org/I145824119"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Luca Lach","raw_affiliation_strings":["CSIC-UPC,Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CSIC-UPC,Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial","institution_ids":["https://openalex.org/I145824119"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044067164","display_name":"Robert Haschke","orcid":"https://orcid.org/0000-0001-5842-9991"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Robert Haschke","raw_affiliation_strings":["Bielefeld University,Social Cognitive Systems Group, CITEC,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bielefeld University,Social Cognitive Systems Group, CITEC,Germany","institution_ids":["https://openalex.org/I20121455"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"685","last_page":"692"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9887999892234802,"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"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9887999892234802,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9850000143051147,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10581","display_name":"Neural dynamics and brain function","score":0.9725000262260437,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7844319343566895},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6253154277801514},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6005144119262695},{"id":"https://openalex.org/keywords/tactile-perception","display_name":"Tactile perception","score":0.5828164219856262},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.502610445022583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4513853192329407},{"id":"https://openalex.org/keywords/active-perception","display_name":"Active perception","score":0.4358944892883301},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3448662757873535},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.22840097546577454},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.15092265605926514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08827310800552368},{"id":"https://openalex.org/keywords/social-psychology","display_name":"Social psychology","score":0.04928097128868103}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7844319343566895},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6253154277801514},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6005144119262695},{"id":"https://openalex.org/C3017819093","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Tactile perception","level":3,"score":0.5828164219856262},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.502610445022583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4513853192329407},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.4358944892883301},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3448662757873535},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.22840097546577454},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.15092265605926514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08827310800552368},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.04928097128868103}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros58592.2024.10801966","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801966","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:pub.uni-bielefeld.de:2994195","is_oa":true,"landing_page_url":"https://pub.uni-bielefeld.de/record/2994195","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"http://purl.org/coar/resource_type/c_5794"}],"best_oa_location":{"id":"pmh:oai:pub.uni-bielefeld.de:2994195","is_oa":true,"landing_page_url":"https://pub.uni-bielefeld.de/record/2994195","pdf_url":null,"source":{"id":"https://openalex.org/S4306401671","display_name":"PUB \u2013 Publications at Bielefeld University (Bielefeld University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20121455","host_organization_name":"Bielefeld University","host_organization_lineage":["https://openalex.org/I20121455"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"http://purl.org/coar/resource_type/c_5794"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.47999998927116394,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2024400951","https://openalex.org/W2080317558","https://openalex.org/W2119717200","https://openalex.org/W2128697253","https://openalex.org/W2158782408","https://openalex.org/W2168986765","https://openalex.org/W2788109308","https://openalex.org/W2963263790","https://openalex.org/W2981350625","https://openalex.org/W2996888844","https://openalex.org/W4388820037","https://openalex.org/W6627932998","https://openalex.org/W6638018090","https://openalex.org/W6682137061","https://openalex.org/W6683204974","https://openalex.org/W6741002519","https://openalex.org/W6772562993","https://openalex.org/W6784333009","https://openalex.org/W7027552507","https://openalex.org/W7049067601"],"related_works":["https://openalex.org/W4388576615","https://openalex.org/W116417374","https://openalex.org/W2345650853","https://openalex.org/W1591344272","https://openalex.org/W4309389268","https://openalex.org/W4386095487","https://openalex.org/W2766994831","https://openalex.org/W2497263329","https://openalex.org/W2708918667","https://openalex.org/W2397232755"],"abstract_inverted_index":{"Actively":[0],"guiding":[1],"attention":[2,43],"is":[3,102],"an":[4,36,145],"important":[5],"mechanism":[6],"to":[7,23,31,49,64,74,91,127,168],"employ":[8],"limited":[9,51],"processing":[10],"resources":[11],"efficiently.":[12],"The":[13,58],"Recurrent":[14],"Visual":[15],"Attention":[16,71],"Model":[17,72],"(RAM)":[18],"has":[19],"been":[20],"successfully":[21],"applied":[22],"process":[24],"large":[25],"input":[26],"images":[27],"by":[28,68],"sequentially":[29],"attending":[30],"smaller":[32],"image":[33],"regions":[34],"with":[35,121],"RL":[37],"framework.":[38],"In":[39],"tactile":[40,55,85],"perception,":[41],"sequential":[42],"methods":[44],"are":[45],"required":[46],"naturally":[47],"due":[48],"the":[50,54,65,69,117,122,132,139,156,170],"size":[52],"of":[53,60,80,95,125,134,141,148,158],"receptive":[56],"field.":[57],"concept":[59],"RAM":[61],"was":[62],"transferred":[63],"haptic":[66,82,100],"domain":[67],"Haptic":[70],"(HAM)":[73],"iteratively":[75],"generate":[76],"a":[77,92,112,162],"fixed":[78],"number":[79,147],"informative":[81],"glances":[83,149],"for":[84,104],"object":[86],"classification.":[87,106],"We":[88,154],"extend":[89],"HAM":[90],"system":[93],"capable":[94],"actively":[96],"determining":[97],"when":[98,126],"sufficient":[99],"data":[101],"available":[103],"reliable":[105],"To":[107],"this":[108],"end,":[109],"we":[110],"introduce":[111],"hybrid":[113],"action":[114],"space,":[115],"augmenting":[116],"continuous":[118],"glance":[119,173],"location":[120],"discrete":[123],"decision":[124],"classify.":[128],"This":[129],"allows":[130,166],"balancing":[131],"cost":[133,140],"obtaining":[135],"new":[136],"samples":[137],"against":[138],"misclassification,":[142],"resulting":[143],"in":[144],"optimized":[146],"while":[150],"maintaining":[151],"reasonable":[152],"accuracy.":[153],"evaluate":[155],"efficiency":[157],"our":[159],"approach":[160],"on":[161],"handcrafted":[163],"dataset,":[164],"which":[165],"us":[167],"compute":[169],"most":[171],"efficient":[172],"locations.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
