{"id":"https://openalex.org/W2735615928","doi":"https://doi.org/10.1109/lra.2017.2725440","title":"Probabilistic Prioritization of Movement Primitives","display_name":"Probabilistic Prioritization of Movement Primitives","publication_year":2017,"publication_date":"2017-07-11","ids":{"openalex":"https://openalex.org/W2735615928","doi":"https://doi.org/10.1109/lra.2017.2725440","mag":"2735615928"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2725440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2725440","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/Probabilistic_prioritization_of_movement_primitives/24364735","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086955688","display_name":"Alexandros Paraschos","orcid":"https://orcid.org/0000-0002-3930-4840"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I1319473763","display_name":"Volkswagen Group (Germany)","ror":"https://ror.org/01f3bhg26","country_code":"DE","type":"company","lineage":["https://openalex.org/I1319473763"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Alexandros Paraschos","raw_affiliation_strings":["Data Lab, Volkswagen Group, Munich, Germany","Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Data Lab, Volkswagen Group, Munich, Germany","institution_ids":["https://openalex.org/I1319473763"]},{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033283742","display_name":"Rudolf Lioutikov","orcid":"https://orcid.org/0000-0002-8924-7514"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudolf Lioutikov","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","Robot Learning Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Robot Learning Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110467801","display_name":"Gerhard Neumann","orcid":"https://orcid.org/0000-0002-5483-4225"},"institutions":[{"id":"https://openalex.org/I51532219","display_name":"University of Lincoln","ror":"https://ror.org/03yeq9x20","country_code":"GB","type":"education","lineage":["https://openalex.org/I51532219"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Gerhard Neumann","raw_affiliation_strings":["Lincoln Centre for Autonomous Systems, University of Lincoln, Lincoln, U.K"],"affiliations":[{"raw_affiliation_string":"Lincoln Centre for Autonomous Systems, University of Lincoln, Lincoln, U.K","institution_ids":["https://openalex.org/I51532219"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5086955688"],"corresponding_institution_ids":["https://openalex.org/I1319473763","https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":2.0389,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.87379737,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"2","issue":"4","first_page":"2294","last_page":"2301"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.996399998664856,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.8995288610458374},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7714880704879761},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.6853151321411133},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6604994535446167},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6321568489074707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6113169193267822},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5386670827865601},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4830118417739868},{"id":"https://openalex.org/keywords/prioritization","display_name":"Prioritization","score":0.4734579920768738},{"id":"https://openalex.org/keywords/probabilistic-roadmap","display_name":"Probabilistic roadmap","score":0.4445819854736328},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4151213467121124},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3793339431285858},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3473321497440338},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09482181072235107}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.8995288610458374},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7714880704879761},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.6853151321411133},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6604994535446167},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6321568489074707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6113169193267822},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5386670827865601},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4830118417739868},{"id":"https://openalex.org/C2777615720","wikidata":"https://www.wikidata.org/wiki/Q11888847","display_name":"Prioritization","level":2,"score":0.4734579920768738},{"id":"https://openalex.org/C2778803389","wikidata":"https://www.wikidata.org/wiki/Q7246866","display_name":"Probabilistic roadmap","level":4,"score":0.4445819854736328},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4151213467121124},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3793339431285858},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3473321497440338},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09482181072235107},{"id":"https://openalex.org/C539667460","wikidata":"https://www.wikidata.org/wiki/Q2414942","display_name":"Management science","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2017.2725440","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2725440","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:eprints.lincoln.ac.uk:27901","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196275","display_name":"Lincoln Repository (University of Lincoln)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I51532219","host_organization_name":"University of Lincoln","host_organization_lineage":["https://openalex.org/I51532219"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:escidoc.org:escidoc:2581531","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0001-310B-C","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:figshare.com:article/24364735","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Probabilistic_prioritization_of_movement_primitives/24364735","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/24364735","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Probabilistic_prioritization_of_movement_primitives/24364735","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"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":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1524887104","display_name":null,"funder_award_id":"#600716","funder_id":"https://openalex.org/F4320334960","funder_display_name":"Seventh Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320334960","display_name":"Seventh Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W103997309","https://openalex.org/W618254468","https://openalex.org/W1513084430","https://openalex.org/W1514989902","https://openalex.org/W1581095231","https://openalex.org/W1623311931","https://openalex.org/W1682895868","https://openalex.org/W1871268903","https://openalex.org/W1977013839","https://openalex.org/W1983706851","https://openalex.org/W2042803738","https://openalex.org/W2046028134","https://openalex.org/W2110612452","https://openalex.org/W2112474089","https://openalex.org/W2114006755","https://openalex.org/W2123967136","https://openalex.org/W2129202194","https://openalex.org/W2132294818","https://openalex.org/W2140801763","https://openalex.org/W2141450827","https://openalex.org/W2146764783","https://openalex.org/W2160049112","https://openalex.org/W2164833077","https://openalex.org/W2169564405","https://openalex.org/W2202454811","https://openalex.org/W2317724673","https://openalex.org/W2414007181","https://openalex.org/W4248446246","https://openalex.org/W6637373105","https://openalex.org/W6639357708","https://openalex.org/W6678157427","https://openalex.org/W6680971464"],"related_works":["https://openalex.org/W2963178506","https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2198321481","https://openalex.org/W2107702345","https://openalex.org/W2963637864"],"abstract_inverted_index":{"Movement":[0],"prioritization":[1,46,116],"is":[2,18,190],"a":[3,20,86,113,152,219],"common":[4],"approach":[5,148,165,198],"to":[6,52,76,138,144],"combine":[7],"controllers":[8,97],"of":[9,24,33,66,89,117,154,185],"different":[10,133],"tasks":[11,26,155],"for":[12,85,112,176,178],"redundant":[13,205],"robots,":[14],"where":[15],"each":[16],"task":[17,45,91,123,161],"assigned":[19],"priority.":[21],"The":[22,81],"priorities":[23,124],"the":[25,31,95,108,122,145,183,187,214],"are":[27,58],"often":[28],"handtuned":[29],"or":[30],"result":[32],"an":[34,99,168],"optimization,":[35],"but":[36],"seldomly":[37],"learned":[38,59],"from":[39,60,128],"data.":[40],"This":[41],"letter":[42],"combines":[43],"Bayesian":[44,90],"with":[47,98,204],"probabilistic":[48,82],"movement":[49],"primitives":[50,134],"(ProMPs)":[51],"prioritize":[53],"full":[54,69],"motion":[55,70],"sequences":[56,71],"that":[57,103],"demonstrations.":[61],"ProMPs":[62],"can":[63,125,135,149,166],"encode":[64],"distributions":[65],"movements":[67,201],"over":[68],"and":[72,110,131,209,218],"provide":[73],"control":[74],"laws":[75],"exactly":[77],"follow":[78],"these":[79],"distributions.":[80],"formulation":[83],"allows":[84,111],"natural":[87],"application":[88],"prioritization.":[92],"We":[93,119,195],"extend":[94],"ProMP":[96],"additional":[100,174],"feedback":[101],"component":[102],"accounts":[104],"inaccuracies":[105],"in":[106,192],"following":[107],"distribution":[109],"more":[114],"robust":[115],"primitives.":[118],"demonstrate":[120],"how":[121,132],"be":[126,136],"obtained":[127],"imitation":[129],"learning":[130],"combined":[137],"solve":[139],"even":[140],"unseen":[141],"task-combinations.":[142],"Due":[143],"prioritization,":[146],"our":[147,164,197],"efficiently":[150],"learn":[151],"combination":[153],"without":[156],"requiring":[157],"individual":[158],"models":[159],"per":[160],"combination.":[162],"Furthermore,":[163],"adapt":[167],"existing":[169],"primitive":[170],"library":[171,189],"by":[172],"prioritizing":[173],"controllers,":[175],"example,":[177],"implementing":[179],"obstacle":[180],"avoidance.":[181],"Hence,":[182],"need":[184],"retraining":[186],"whole":[188],"avoided":[191],"many":[193],"cases.":[194],"evaluate":[196],"on":[199],"reaching":[200],"under":[202],"constraints":[203],"simulated":[206],"planar":[207],"robots":[208],"two":[210],"physical":[211],"robot":[212,216,222],"platforms,":[213],"humanoid":[215],"\u201ciCub\u201d":[217],"KUKA":[220],"LWR":[221],"arm.":[223]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}