{"id":"https://openalex.org/W4285127678","doi":"https://doi.org/10.1109/lra.2022.3187517","title":"Robot Task Learning With Motor Babbling Using Pseudo Rehearsal","display_name":"Robot Task Learning With Motor Babbling Using Pseudo Rehearsal","publication_year":2022,"publication_date":"2022-06-30","ids":{"openalex":"https://openalex.org/W4285127678","doi":"https://doi.org/10.1109/lra.2022.3187517"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3187517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3187517","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010195602","display_name":"Kei Kase","orcid":"https://orcid.org/0000-0003-4009-5254"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Kase","raw_affiliation_strings":["Waseda University, Tokyo, Japan","National Institute of Advanced Industrial Science and Technology, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4009-5254","affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022819206","display_name":"Ai Tateishi","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ai Tateishi","raw_affiliation_strings":["Waseda University, Tokyo, Japan","National Institute of Advanced Industrial Science and Technology, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055922202","display_name":"Tetsuya Ogata","orcid":"https://orcid.org/0000-0001-7015-0379"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuya Ogata","raw_affiliation_strings":["Waseda University, Tokyo, Japan","National Institute of Advanced Industrial Science and Technology, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0001-7015-0379","affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2427,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.50133139,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":"3","first_page":"8377","last_page":"8382"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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":0.9929999709129333,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/babbling","display_name":"Babbling","score":0.9941157698631287},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7483037710189819},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6909811496734619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6592890620231628},{"id":"https://openalex.org/keywords/motor-learning","display_name":"Motor learning","score":0.5795528292655945},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5694764852523804},{"id":"https://openalex.org/keywords/motor-skill","display_name":"Motor skill","score":0.4781306982040405},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44090014696121216},{"id":"https://openalex.org/keywords/speech-recognition","display_name":"Speech recognition","score":0.3217007517814636},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.26763710379600525},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15287178754806519},{"id":"https://openalex.org/keywords/developmental-psychology","display_name":"Developmental psychology","score":0.05762246251106262}],"concepts":[{"id":"https://openalex.org/C134589348","wikidata":"https://www.wikidata.org/wiki/Q1723890","display_name":"Babbling","level":2,"score":0.9941157698631287},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7483037710189819},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6909811496734619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6592890620231628},{"id":"https://openalex.org/C107690735","wikidata":"https://www.wikidata.org/wiki/Q852461","display_name":"Motor learning","level":2,"score":0.5795528292655945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5694764852523804},{"id":"https://openalex.org/C169976356","wikidata":"https://www.wikidata.org/wiki/Q13208902","display_name":"Motor skill","level":2,"score":0.4781306982040405},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44090014696121216},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.3217007517814636},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.26763710379600525},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15287178754806519},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","level":1,"score":0.05762246251106262},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3187517","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3187517","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education"}],"awards":[{"id":"https://openalex.org/G6725152017","display_name":null,"funder_award_id":"JPNP20006","funder_id":"https://openalex.org/F4320321034","funder_display_name":"New Energy and Industrial Technology Development Organization"}],"funders":[{"id":"https://openalex.org/F4320321034","display_name":"New Energy and Industrial Technology Development Organization","ror":"https://ror.org/0055k7a87"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1682403713","https://openalex.org/W1978579256","https://openalex.org/W2026593493","https://openalex.org/W2028138594","https://openalex.org/W2028418738","https://openalex.org/W2063742311","https://openalex.org/W2100300558","https://openalex.org/W2164474021","https://openalex.org/W2166302491","https://openalex.org/W2205828249","https://openalex.org/W2345211079","https://openalex.org/W2473930607","https://openalex.org/W2550300031","https://openalex.org/W2583761661","https://openalex.org/W2767335241","https://openalex.org/W2902332709","https://openalex.org/W2945383715","https://openalex.org/W2962736495","https://openalex.org/W2962793652","https://openalex.org/W2963092423","https://openalex.org/W2963188159","https://openalex.org/W2964157221","https://openalex.org/W2964335674","https://openalex.org/W2973439545","https://openalex.org/W2982220706","https://openalex.org/W2991391304","https://openalex.org/W3183815358","https://openalex.org/W3207231863","https://openalex.org/W4239943352","https://openalex.org/W6604828220","https://openalex.org/W6683633756","https://openalex.org/W6732467815","https://openalex.org/W6746643698"],"related_works":["https://openalex.org/W2562000796","https://openalex.org/W3160884617","https://openalex.org/W815979431","https://openalex.org/W4308126387","https://openalex.org/W1970523025","https://openalex.org/W2801972429","https://openalex.org/W2013588380","https://openalex.org/W2071080072","https://openalex.org/W3185285019","https://openalex.org/W2368697114"],"abstract_inverted_index":{"The":[0],"paradigm":[1],"of":[2,65,88],"deep":[3],"robot":[4,66,110],"learning":[5],"from":[6,19,96,154],"demonstrations":[7,24,56],"allows":[8],"robots":[9,31,149],"to":[10,46,61,112,119],"solve":[11],"complex":[12],"manipulation":[13],"tasks":[14],"by":[15,38],"capturing":[16],"motor":[17,36,48,97,121,142,152,155],"skills":[18,37,153],"given":[20],"demonstrations;":[21],"however,":[22],"collecting":[23],"can":[25,32,58,133,150],"be":[26,59,113,134],"costly.":[27],"As":[28],"an":[29],"alternative,":[30],"acquire":[33],"embodiment":[34,93],"and":[35,57,90,115,140,157],"randomly":[39],"moving":[40],"their":[41],"bodies,":[42],"which":[43],"is":[44],"referred":[45],"as":[47],"babbling.":[49],"Motor":[50],"babbling":[51,98,122,143,156],"data":[52,99],"provide":[53],"relatively":[54],"inexpensive":[55],"used":[60,72],"enhance":[62],"the":[63,86,92,120],"generalizability":[64],"motions,":[67],"but":[68],"they":[69],"are":[70],"often":[71],"for":[73,100],"pre-training":[74],"or":[75],"joint":[76],"training":[77],"with":[78,137],"target":[79],"task":[80,102,138,162],"demonstrations.":[81],"This":[82],"study":[83],"focused":[84],"on":[85],"concept":[87],"pseudo-rehearsal":[89,130],"retaining":[91],"information":[94],"acquired":[95],"effective":[101],"learning.":[103],"Pseudo-rehearsal":[104],"has":[105],"beneficial":[106],"features":[107],"that":[108,132],"allow":[109],"models":[111],"retrained":[114],"distributed":[116],"without":[117],"access":[118],"dataset.":[123],"In":[124],"this":[125],"paper,":[126],"we":[127],"propose":[128],"a":[129],"framework":[131],"jointly":[135],"trained":[136],"trajectories":[139],"rehearsed":[141],"trajectories.":[144],"Using":[145],"our":[146],"proposed":[147],"method,":[148],"retain":[151],"exhibit":[158],"improved":[159],"performance":[160],"in":[161],"execution.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}