{"id":"https://openalex.org/W2074567929","doi":"https://doi.org/10.1109/robio.2011.6181709","title":"Learning motor skills with non-rigid materials by reinforcement learning","display_name":"Learning motor skills with non-rigid materials by reinforcement learning","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2074567929","doi":"https://doi.org/10.1109/robio.2011.6181709","mag":"2074567929"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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/A5007549434","display_name":"Daisuke Shinohara","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Daisuke Shinohara","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Japan","Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042074952","display_name":"Takamitsu Matsubara","orcid":"https://orcid.org/0000-0003-3545-4814"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamitsu Matsubara","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Japan","Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067502749","display_name":"Masatsugu Kidode","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masatsugu Kidode","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Japan","Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5007549434"],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":1.305,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.84708214,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"17","issue":null,"first_page":"2676","last_page":"2681"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7585597038269043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7047423124313354},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6998403072357178},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6339030265808105},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5558413863182068},{"id":"https://openalex.org/keywords/motor-skill","display_name":"Motor skill","score":0.5260748267173767},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5113143920898438},{"id":"https://openalex.org/keywords/socks","display_name":"SOCKS","score":0.4913295805454254},{"id":"https://openalex.org/keywords/motor-learning","display_name":"Motor learning","score":0.4862295687198639},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4793204069137573},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4662282466888428},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22429433465003967},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20646044611930847},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09812968969345093}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7585597038269043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7047423124313354},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6998403072357178},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6339030265808105},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5558413863182068},{"id":"https://openalex.org/C169976356","wikidata":"https://www.wikidata.org/wiki/Q13208902","display_name":"Motor skill","level":2,"score":0.5260748267173767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5113143920898438},{"id":"https://openalex.org/C2777718900","wikidata":"https://www.wikidata.org/wiki/Q1061918","display_name":"SOCKS","level":2,"score":0.4913295805454254},{"id":"https://openalex.org/C107690735","wikidata":"https://www.wikidata.org/wiki/Q852461","display_name":"Motor learning","level":2,"score":0.4862295687198639},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4793204069137573},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4662282466888428},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22429433465003967},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20646044611930847},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09812968969345093},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C118552586","wikidata":"https://www.wikidata.org/wiki/Q7867","display_name":"Psychiatry","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181709","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181709","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1975318316","https://openalex.org/W2009303086","https://openalex.org/W2031679247","https://openalex.org/W2045012281","https://openalex.org/W2051620263","https://openalex.org/W2082261506","https://openalex.org/W2082872327","https://openalex.org/W2089630413","https://openalex.org/W2097197636","https://openalex.org/W2109008048","https://openalex.org/W2120963435","https://openalex.org/W2121863487","https://openalex.org/W2125612430","https://openalex.org/W2155027007","https://openalex.org/W2155134292","https://openalex.org/W2162900923","https://openalex.org/W2167049518","https://openalex.org/W2167647761","https://openalex.org/W2406410786","https://openalex.org/W4214717370","https://openalex.org/W6683204974","https://openalex.org/W6713813729"],"related_works":["https://openalex.org/W2930863966","https://openalex.org/W4308126387","https://openalex.org/W1970523025","https://openalex.org/W2126211886","https://openalex.org/W3153786280","https://openalex.org/W3127551068","https://openalex.org/W2801972429","https://openalex.org/W2013588380","https://openalex.org/W2071080072","https://openalex.org/W3185285019"],"abstract_inverted_index":{"This":[0,148],"paper":[1,88],"focuses":[2,113],"on":[3,114,129,162,217],"learning":[4,93,96,105,111,225],"motor":[5,33,97,146,213],"skills":[6,98],"for":[7,95,143,192],"anthropomorphic":[8,185],"robots":[9],"which":[10],"must":[11],"interact":[12],"with":[13,100,183],"non-rigid":[14,59,63,101,126],"materials":[15,102],"to":[16,37,41,152,167,207,235],"perform":[17,211],"tasks,":[18],"such":[19,31,78],"as":[20],"wearing":[21],"clothes,":[22],"turning":[23],"socks":[24],"inside":[25],"out,":[26],"and":[27,76,124,157,166,188,229],"bandaging.":[28],"To":[29,195],"learn":[30],"a":[32,69,81,91,163,172,189,221],"skill,":[34],"the":[35,48,51,55,58,62,115,119,122,125,130,136,145,154,193,197,200,205,209,212,218,231,241,248,252],"task":[36,155,169,214],"be":[38,42],"performed":[39,240],"needs":[40],"quantitatively":[43],"defined":[44],"using":[45,175],"not":[46,141],"only":[47],"state":[49,56],"of":[50,57,121,135,199,215,223,243,251],"robot,":[52],"but":[53],"also":[54],"material.":[60],"However,":[61],"material":[64,127,137],"is":[65,84],"generally":[66],"represented":[67],"in":[68,80,171],"high":[70],"dimensional":[71],"configuration":[72,120],"space":[73],"(e.g.,":[74,138],"[1])":[75],"obtaining":[77],"information":[79],"real":[82,173],"environment":[83,174],"difficult.":[85],"In":[86],"this":[87],"we":[89,203],"propose":[90],"novel":[92],"framework":[94,112],"interacting":[99],"by":[103],"reinforcement":[104],"that":[106,132,239],"avoids":[107],"these":[108],"difficulties.":[109],"Our":[110],"topological":[116],"relationship":[117],"between":[118],"robot":[123,187,210,232],"based":[128,161],"consideration":[131],"most":[133],"details":[134],"wrinkles)":[139],"are":[140],"important":[142],"performing":[144],"tasks.":[147],"focus":[149],"allows":[150],"us":[151],"define":[153],"performance":[156,170],"provide":[158],"reward":[159],"signals":[160],"low-dimensional":[164],"variable":[165],"measure":[168],"reliable":[176],"sensors.":[177],"We":[178],"constructed":[179],"an":[180,184],"experimental":[181],"setting":[182],"dual-arm":[186],"tailor-made":[190],"T-shirt":[191],"robot.":[194],"demonstrate":[196],"feasibility":[198],"proposed":[201],"method,":[202],"applied":[204],"method":[206],"have":[208],"putting":[216,244],"T-shirt.":[219,253],"As":[220],"result":[222],"our":[224],"framework,":[226],"through":[227],"trial":[228],"error":[230],"was":[233],"able":[234],"acquire":[236],"sequential":[237],"movements":[238],"goal":[242],"both":[245],"arms":[246],"into":[247],"corresponding":[249],"sleeves":[250]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}