{"id":"https://openalex.org/W3210909170","doi":"https://doi.org/10.1109/robio54168.2021.9739420","title":"Learning Motor Skills of Reactive Reaching and Grasping of Objects","display_name":"Learning Motor Skills of Reactive Reaching and Grasping of Objects","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W3210909170","doi":"https://doi.org/10.1109/robio54168.2021.9739420","mag":"3210909170"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739420","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.research.ed.ac.uk/en/publications/2c004fbe-6e19-4eb4-9a4d-a42124b6742f","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101547512","display_name":"Wenbin Hu","orcid":"https://orcid.org/0000-0003-3073-5182"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Wenbin Hu","raw_affiliation_strings":["University of Edinburgh,School of Informatics","School of Informatics, University of Edinburgh"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Informatics, University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019129514","display_name":"Chuanyu Yang","orcid":"https://orcid.org/0000-0001-9082-5193"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chuanyu Yang","raw_affiliation_strings":["University of Edinburgh,School of Informatics","School of Informatics, University of Edinburgh"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Informatics, University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006409524","display_name":"Kai Yuan","orcid":"https://orcid.org/0000-0002-2349-4192"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kai Yuan","raw_affiliation_strings":["University of Edinburgh,School of Informatics","School of Informatics, University of Edinburgh"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Informatics, University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["University of Edinburgh,School of Informatics","School of Informatics, University of Edinburgh"],"affiliations":[{"raw_affiliation_string":"University of Edinburgh,School of Informatics","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"School of Informatics, University of Edinburgh","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101547512"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":1.3111,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76170543,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"452","last_page":"457"},"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.998199999332428,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9902999997138977,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8891197443008423},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7736966609954834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7090104818344116},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6071416735649109},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5774299502372742},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5495235323905945},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.47184208035469055},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.44720661640167236},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4387744069099426},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.43095800280570984},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4123688340187073},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3546227216720581},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2038649022579193}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8891197443008423},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7736966609954834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7090104818344116},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6071416735649109},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5774299502372742},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5495235323905945},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.47184208035469055},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.44720661640167236},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4387744069099426},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.43095800280570984},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4123688340187073},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3546227216720581},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2038649022579193},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/robio54168.2021.9739420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739420","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10148416","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10148416/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:  Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO) 2021.  (pp. pp. 452-457).  Institute of Electrical and Electronics Engineers (IEEE) (2022)     ","raw_type":"Proceedings paper"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/2c004fbe-6e19-4eb4-9a4d-a42124b6742f","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/2c004fbe-6e19-4eb4-9a4d-a42124b6742f","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Hu, W, Yang, C, Yuan, K & Li, Z 2022, Learning Motor Skills of Reactive Reaching and Grasping of Objects. in 2021 IEEE International Conference on Robotics and Biomimetics. Institute of Electrical and Electronics Engineers, pp. 452-457, 2021 IEEE International Conference on Robotics and Biomimetics, Sanya, China, 6/12/21. https://doi.org/10.1109/ROBIO54168.2021.9739420","raw_type":"contributionToPeriodical"},{"id":"pmh:oai:pure.ed.ac.uk:publications/2c004fbe-6e19-4eb4-9a4d-a42124b6742f","is_oa":false,"landing_page_url":"http://hdl.handle.net/20.500.11820/2c004fbe-6e19-4eb4-9a4d-a42124b6742f","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"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":""}],"best_oa_location":{"id":"pmh:oai:pure.ed.ac.uk:openaire/2c004fbe-6e19-4eb4-9a4d-a42124b6742f","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/2c004fbe-6e19-4eb4-9a4d-a42124b6742f","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Hu, W, Yang, C, Yuan, K & Li, Z 2022, Learning Motor Skills of Reactive Reaching and Grasping of Objects. in 2021 IEEE International Conference on Robotics and Biomimetics. Institute of Electrical and Electronics Engineers, pp. 452-457, 2021 IEEE International Conference on Robotics and Biomimetics, Sanya, China, 6/12/21. https://doi.org/10.1109/ROBIO54168.2021.9739420","raw_type":"contributionToPeriodical"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1503925285","https://openalex.org/W1589892169","https://openalex.org/W1806263934","https://openalex.org/W1997487440","https://openalex.org/W2006273250","https://openalex.org/W2018020788","https://openalex.org/W2070678636","https://openalex.org/W2143172838","https://openalex.org/W2158782408","https://openalex.org/W2201912979","https://openalex.org/W2571420106","https://openalex.org/W2600030077","https://openalex.org/W2736601468","https://openalex.org/W2885163910","https://openalex.org/W2888704052","https://openalex.org/W2963033241","https://openalex.org/W2969113429","https://openalex.org/W3111294788","https://openalex.org/W4205483505","https://openalex.org/W6741002519"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2019547100","https://openalex.org/W2477150073","https://openalex.org/W2515493494"],"abstract_inverted_index":{"Reactive":[0],"grasping":[1,52,74],"of":[2,8,56,73,87],"objects":[3],"is":[4,13],"an":[5],"essential":[6],"capability":[7],"autonomous":[9],"robot":[10],"manipulation,":[11],"which":[12,47,69,146],"yet":[14],"challenging":[15,100],"to":[16,21,42,65,77,91,94,99,115],"learn":[17],"such":[18],"sensorimotor":[19],"control":[20,45],"coordinate":[22,49],"coherent":[23],"hand-finger":[24,89],"motions":[25],"and":[26,31,51,62,106,119,136],"be":[27],"robust":[28,114,138],"against":[29],"disturbances":[30],"failures.":[32],"This":[33],"work":[34],"proposed":[35],"a":[36,130],"deep":[37],"reinforcement":[38],"learning":[39],"based":[40],"scheme":[41],"train":[43,92],"feedback":[44,145],"policies":[46,93],"can":[48],"reaching":[50],"actions":[53],"in":[54,133,142],"presence":[55],"uncertainties.":[57],"We":[58],"formulated":[59],"geometric":[60],"metrics":[61],"task-orientated":[63],"quantities":[64],"design":[66],"the":[67,79,110,123,143],"reward,":[68],"enabled":[70],"efficient":[71],"exploration":[72],"policies.":[75],"Further,":[76],"improve":[78],"success":[80],"rate,":[81],"we":[82],"deployed":[83],"key":[84],"initial":[85],"states":[86],"difficult":[88,134],"poses":[90],"overcome":[95],"potential":[96],"failures":[97],"due":[98],"configurations.":[101],"The":[102],"extensive":[103],"simulation":[104],"validations":[105],"benchmarks":[107],"demonstrated":[108],"that":[109],"learned":[111],"policy":[112,124],"was":[113,137],"grasp":[116],"both":[117],"static":[118],"moving":[120],"objects.":[121],"Moreover,":[122],"generated":[125],"successful":[126],"failure":[127],"recoveries":[128],"within":[129],"short":[131],"time":[132],"configurations":[135],"with":[139],"synthetic":[140],"noises":[141],"state":[144],"were":[147],"unseen":[148],"during":[149],"training.":[150]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}