{"id":"https://openalex.org/W4405785462","doi":"https://doi.org/10.1109/iros58592.2024.10802750","title":"Tactile Active Inference Reinforcement Learning for Efficient Robotic Manipulation Skill Acquisition","display_name":"Tactile Active Inference Reinforcement Learning for Efficient Robotic Manipulation Skill Acquisition","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785462","doi":"https://doi.org/10.1109/iros58592.2024.10802750"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802750","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":"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/A5100323067","display_name":"Zihao Liu","orcid":"https://orcid.org/0000-0001-5306-6626"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zihao Liu","raw_affiliation_strings":["Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi&#x2019;an,China,710072"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi&#x2019;an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381466","display_name":"Xing Liu","orcid":"https://orcid.org/0000-0002-5327-4908"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xing Liu","raw_affiliation_strings":["Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi&#x2019;an,China,710072"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi&#x2019;an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046934338","display_name":"Yizhai Zhang","orcid":"https://orcid.org/0000-0001-9022-6369"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yizhai Zhang","raw_affiliation_strings":["Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi&#x2019;an,China,710072"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi&#x2019;an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083493899","display_name":"Zhengxiong Liu","orcid":"https://orcid.org/0000-0002-9427-4066"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengxiong Liu","raw_affiliation_strings":["Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi&#x2019;an,China,710072"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi&#x2019;an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091127758","display_name":"Panfeng Huang","orcid":"https://orcid.org/0000-0002-5132-9602"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Panfeng Huang","raw_affiliation_strings":["Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi&#x2019;an,China,710072"],"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, and National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University,Research Center for Intelligent Robotics, School of Astronautics,Xi&#x2019;an,China,710072","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100323067"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.3634,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.63559038,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"10884","last_page":"10889"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9553999900817871,"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":0.9553999900817871,"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":0.9390000104904175,"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/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9289000034332275,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular 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":0.758463442325592},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7104856967926025},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.6005661487579346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5539577603340149},{"id":"https://openalex.org/keywords/dreyfus-model-of-skill-acquisition","display_name":"Dreyfus model of skill acquisition","score":0.5337297320365906},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.5020115375518799},{"id":"https://openalex.org/keywords/active-learning","display_name":"Active learning (machine learning)","score":0.4187498390674591},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40446197986602783},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17517507076263428}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.758463442325592},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7104856967926025},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.6005661487579346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5539577603340149},{"id":"https://openalex.org/C132758656","wikidata":"https://www.wikidata.org/wiki/Q5307365","display_name":"Dreyfus model of skill acquisition","level":2,"score":0.5337297320365906},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.5020115375518799},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.4187498390674591},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40446197986602783},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17517507076263428},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802750","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.4099999964237213}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1548071717","https://openalex.org/W2148764920","https://openalex.org/W2421020186","https://openalex.org/W2463330366","https://openalex.org/W2567969112","https://openalex.org/W2569244399","https://openalex.org/W2600375652","https://openalex.org/W2886316146","https://openalex.org/W2962793652","https://openalex.org/W2976738340","https://openalex.org/W3112669067","https://openalex.org/W3130633756","https://openalex.org/W3131168342","https://openalex.org/W3192021195","https://openalex.org/W3205115400","https://openalex.org/W4312293813","https://openalex.org/W4382365373","https://openalex.org/W4384519313","https://openalex.org/W4385462854","https://openalex.org/W6771217966","https://openalex.org/W6774996162","https://openalex.org/W6780860281"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W2086122291","https://openalex.org/W1987513656"],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1,30,42,65,134],"holds":[2],"the":[3,9,24,34,80,98,104,173,191],"potential":[4,198],"to":[5,23,110,132,158],"replace":[6],"humans":[7],"in":[8,31,43,63,151,160],"execution":[10],"of":[11,26,36,47,82],"tedious":[12],"or":[13],"dangerous":[14],"tasks.":[15,154],"However,":[16],"control-based":[17],"approaches":[18],"are":[19],"not":[20],"suitable":[21],"due":[22],"difficulty":[25],"formally":[27],"describing":[28],"open-world":[29],"reality,":[32],"and":[33,94,108,120,163,196],"inefficiency":[35],"existing":[37],"learning":[38,62,84,136,194],"methods.":[39],"Therefore,":[40],"applying":[41],"a":[44,57,182],"wide":[45],"range":[46],"scenarios":[48],"presents":[49],"significant":[50],"challenges.":[51],"In":[52],"this":[53],"study,":[54],"we":[55,86,114,177],"propose":[56],"novel":[58],"framework":[59,130],"for":[60,199],"skill":[61],"robotic":[64],"called":[66],"Tactile":[67],"Active":[68],"Inference":[69],"Reinforcement":[70],"Learning":[71],"(TactileAIRL),":[72],"aimed":[73],"at":[74],"achieving":[75],"efficient":[76],"learning.":[77],"To":[78],"enhance":[79],"performance":[81],"reinforcement":[83],"(RL),":[85],"introduce":[87],"active":[88],"inference,":[89],"which":[90,189],"integrates":[91],"model-based":[92],"techniques":[93],"intrinsic":[95],"curiosity":[96],"into":[97],"RL":[99],"process.":[100],"This":[101],"integration":[102],"improves":[103],"algorithm\u2019s":[105,192],"training":[106,149],"efficiency":[107,150],"adaptability":[109],"sparse":[111,164],"rewards.":[112],"Additionally,":[113],"have":[115],"designed":[116],"universal":[117],"tactile":[118,126,138],"static":[119],"dynamic":[121],"features":[122],"based":[123],"on":[124,181],"vision-based":[125],"sensors,":[127],"making":[128],"our":[129,144,187],"scalable":[131],"many":[133],"tasks":[135,166],"involving":[137],"feedback.":[139],"Simulation":[140],"results":[141],"demonstrate":[142],"that":[143],"method":[145],"achieves":[146],"significantly":[147],"high":[148],"objects":[152],"pushing":[153],"It":[155],"enables":[156],"agents":[157],"excel":[159],"both":[161],"dense":[162],"reward":[165],"with":[167],"just":[168],"few":[169],"interaction":[170],"episodes,":[171],"surpassing":[172],"SAC":[174],"baseline.":[175],"Furthermore,":[176],"conduct":[178],"physical":[179],"experiments":[180],"gripper":[183],"screwing":[184],"task":[185],"using":[186],"method,":[188],"showcases":[190],"rapid":[193],"capability":[195],"its":[197],"practical":[200],"applications.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
