{"id":"https://openalex.org/W2922083167","doi":"https://doi.org/10.1109/robio.2018.8664825","title":"Effective Robot Skill Synthesis via Divided Control","display_name":"Effective Robot Skill Synthesis via Divided Control","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2922083167","doi":"https://doi.org/10.1109/robio.2018.8664825","mag":"2922083167"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8664825","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664825","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5023132247","display_name":"Osman Naf\u0131z Kaya","orcid":"https://orcid.org/0000-0002-7736-2179"},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Osman Kaya","raw_affiliation_strings":["Computer Science Department, Ozyegin University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018729334","display_name":"Erhan \u00d6ztop","orcid":"https://orcid.org/0000-0002-3051-6038"},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Erhan Oztop","raw_affiliation_strings":["Computer Science Department, Ozyegin University, Istanbul, Turkey"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5023132247"],"corresponding_institution_ids":["https://openalex.org/I44925452"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.22532271,"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":"766","last_page":"771"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.988099992275238,"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":0.9865000247955322,"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/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.753631591796875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6952329874038696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6727099418640137},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5583544969558716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5466287136077881},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.5362187623977661},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5213231444358826},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4381955862045288},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.43288755416870117},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4209449887275696},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.41000470519065857},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34371769428253174},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2411532998085022},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.168931245803833}],"concepts":[{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.753631591796875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6952329874038696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6727099418640137},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5583544969558716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5466287136077881},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.5362187623977661},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5213231444358826},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4381955862045288},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.43288755416870117},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4209449887275696},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.41000470519065857},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34371769428253174},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2411532998085022},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.168931245803833},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C138496976","wikidata":"https://www.wikidata.org/wiki/Q175002","display_name":"Developmental psychology","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":2,"locations":[{"id":"doi:10.1109/robio.2018.8664825","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8664825","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:eresearch.ozyegin.edu.tr:10679/6542","is_oa":false,"landing_page_url":"http://hdl.handle.net/10679/6542","pdf_url":null,"source":{"id":"https://openalex.org/S4306400232","display_name":"ECS Journal of Solid State Science and Technology (The Electrochemical Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2802273670","host_organization_name":"Electrochemical Society","host_organization_lineage":["https://openalex.org/I2802273670"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1952489873","https://openalex.org/W1973668536","https://openalex.org/W2043152589","https://openalex.org/W2071841410","https://openalex.org/W2077358809","https://openalex.org/W2082729427","https://openalex.org/W2099280471","https://openalex.org/W2114138219","https://openalex.org/W2123967136","https://openalex.org/W2129202194","https://openalex.org/W2136719407","https://openalex.org/W2151003079","https://openalex.org/W2162695884","https://openalex.org/W2296944518","https://openalex.org/W2541714591","https://openalex.org/W4206035832","https://openalex.org/W6640954454","https://openalex.org/W6678157427","https://openalex.org/W6683886023","https://openalex.org/W6697329900"],"related_works":["https://openalex.org/W4320154428","https://openalex.org/W2773365182","https://openalex.org/W230475630","https://openalex.org/W3133699834","https://openalex.org/W1989753795","https://openalex.org/W4205867949","https://openalex.org/W2809775952","https://openalex.org/W2542622692","https://openalex.org/W2114138219","https://openalex.org/W2145409477"],"abstract_inverted_index":{"Learning":[0],"from":[1],"demonstration":[2],"is":[3,119,134,154,186],"a":[4,73,89,112,219,246,266],"powerful":[5],"method":[6],"for":[7,17,48,76,100,106,300],"obtaining":[8],"task":[9,49],"skills,":[10],"which":[11,43,295],"aim":[12],"to":[13,26,81,141,143,145,201,211,260],"eliminate":[14],"the":[15,22,27,83,95,98,116,124,127,131,138,151,158,169,175,181,184,189,192,195,198,203,206,209,213,216,239,243,255,262,269,274],"need":[16],"explicit":[18],"robot":[19,28,57,78,99,146,244,286],"programming.":[20],"Classically,":[21],"tasks":[23],"are":[24],"demonstrated":[25],"by":[29,136,156,235],"means":[30],"of":[31,85,92,126,130,191,208,273,283],"either":[32],"recorded":[33],"human":[34,96,117,139,199,240,256,284],"motion,":[35],"direct":[36],"kinesthetic":[37],"teaching":[38],"or":[39],"through":[40],"manual":[41],"interfaces,":[42],"may":[44,64],"not":[45,114],"be":[46,65,104,172,232,297],"applicable":[47],"that":[50,227,254,268],"involve":[51],"dynamics.":[52],"In":[53,68,148,180,250],"such":[54,111,265],"cases,":[55],"human-in-the-Ioop":[56,77],"learning":[58,79,118],"with":[59],"anthropomorphic":[60,164],"and":[61,97,194,205,242,285],"intuitive":[62],"tele-operation":[63],"more":[66],"suitable.":[67],"this":[69,149],"paper,":[70],"we":[71,252],"propose":[72],"divide-and-conquer":[74],"approach":[75,153],"framework":[80],"improve":[82],"efficacy":[84],"skill":[86,101,108],"synthesis.":[87],"Usually":[88],"straightforward":[90],"division":[91],"control":[93,132,185,190,202,237,248,261,287],"between":[94],"transfer":[102],"can":[103,231,296],"designed":[105],"effective":[107,277],"transfer.":[109],"With":[110],"division,":[113],"only":[115],"sped":[120],"up,":[121],"but":[122],"also":[123],"design":[125],"autonomous":[128,229,291],"part":[129],"policy":[133],"simplified":[135],"exploiting":[137],"capability":[140],"learn":[142],"adapt":[144],"operation.":[147],"study,":[150],"proposed":[152],"realized":[155],"using":[157],"`ball":[159],"swapping":[160,279,293],"task'":[161],"on":[162],"an":[163,290],"robotic":[165],"arm-hand":[166],"setup,":[167],"where":[168,197],"balls":[170],"must":[171],"swapped":[173],"over":[174,188,238],"fingers":[176],"without":[177],"being":[178],"dropped.":[179],"current":[182],"implementation,":[183],"divided":[187],"arm":[193,263],"hand,":[196],"learns":[200,259],"position":[204],"orientation":[207],"hand":[210,217,275],"swap":[212],"balls,":[214],"while":[215],"runs":[218],"periodic":[220],"finger":[221,271],"movement":[222],"autonomously.":[223],"Our":[224],"results":[225],"indicate":[226],"complex":[228],"policies":[230],"easily":[233],"obtained":[234],"distributing":[236],"operator":[241,257],"in":[245,264],"human-in-the-loop":[247],"setup.":[249],"particular,":[251],"show":[253],"quickly":[258],"way":[267],"simple":[270],"movements":[272],"become":[276],"ball":[278,292],"actions.":[280],"The":[281],"combination":[282],"then":[288],"yields":[289],"skill,":[294],"further":[298],"improved":[299],"speed.":[301]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
