{"id":"https://openalex.org/W2441459262","doi":"https://doi.org/10.1109/tcds.2016.2581307","title":"Emergent Structuring of Interdependent Affordance Learning Tasks Using Intrinsic Motivation and Empirical Feature Selection","display_name":"Emergent Structuring of Interdependent Affordance Learning Tasks Using Intrinsic Motivation and Empirical Feature Selection","publication_year":2016,"publication_date":"2016-06-16","ids":{"openalex":"https://openalex.org/W2441459262","doi":"https://doi.org/10.1109/tcds.2016.2581307","mag":"2441459262"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2016.2581307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2016.2581307","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Transactions on Cognitive and Developmental Systems","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/A5048165304","display_name":"Emre U\u011fur","orcid":"https://orcid.org/0000-0001-9597-2731"},"institutions":[{"id":"https://openalex.org/I4405392","display_name":"Bo\u011fazi\u00e7i University","ror":"https://ror.org/03z9tma90","country_code":"TR","type":"education","lineage":["https://openalex.org/I4405392"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Emre Ugur","raw_affiliation_strings":["Computer Engineering Department, Bogazici University, Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0001-9597-2731","affiliations":[{"raw_affiliation_string":"Computer Engineering Department, Bogazici University, Istanbul, Turkey","institution_ids":["https://openalex.org/I4405392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024515193","display_name":"Justus Piater","orcid":"https://orcid.org/0000-0002-1898-3362"},"institutions":[{"id":"https://openalex.org/I190249584","display_name":"Universit\u00e4t Innsbruck","ror":"https://ror.org/054pv6659","country_code":"AT","type":"education","lineage":["https://openalex.org/I190249584"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Justus Piater","raw_affiliation_strings":["Institute of Computer Science, University of Innsbruck, Innsbruck, Austria"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science, University of Innsbruck, Innsbruck, Austria","institution_ids":["https://openalex.org/I190249584"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048165304"],"corresponding_institution_ids":["https://openalex.org/I4405392"],"apc_list":null,"apc_paid":null,"fwci":4.4172,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.94949756,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"9","issue":"4","first_page":"328","last_page":"340"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9718000292778015,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9718000292778015,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9702000021934509,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9052000045776367,"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/computer-science","display_name":"Computer science","score":0.8266650438308716},{"id":"https://openalex.org/keywords/affordance","display_name":"Affordance","score":0.7903156280517578},{"id":"https://openalex.org/keywords/structuring","display_name":"Structuring","score":0.6172024011611938},{"id":"https://openalex.org/keywords/bootstrapping","display_name":"Bootstrapping (finance)","score":0.6074641942977905},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5733975768089294},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5315154790878296},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.5253700017929077},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5042837858200073},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4768846333026886},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4489787817001343},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3716380298137665}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8266650438308716},{"id":"https://openalex.org/C194995250","wikidata":"https://www.wikidata.org/wiki/Q531136","display_name":"Affordance","level":2,"score":0.7903156280517578},{"id":"https://openalex.org/C2775945657","wikidata":"https://www.wikidata.org/wiki/Q381442","display_name":"Structuring","level":2,"score":0.6172024011611938},{"id":"https://openalex.org/C207609745","wikidata":"https://www.wikidata.org/wiki/Q4944086","display_name":"Bootstrapping (finance)","level":2,"score":0.6074641942977905},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5733975768089294},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5315154790878296},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.5253700017929077},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5042837858200073},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4768846333026886},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4489787817001343},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3716380298137665},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2016.2581307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2016.2581307","pdf_url":null,"source":{"id":"https://openalex.org/S2488537894","display_name":"IEEE Transactions on Cognitive and Developmental Systems","issn_l":"2379-8920","issn":["2379-8920","2379-8939"],"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 Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5995278757","display_name":null,"funder_award_id":"610532","funder_id":"https://openalex.org/F4320334960","funder_display_name":"Seventh Framework Programme"},{"id":"https://openalex.org/G6164125072","display_name":null,"funder_award_id":"270273","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":47,"referenced_works":["https://openalex.org/W157606319","https://openalex.org/W1486707268","https://openalex.org/W1506047933","https://openalex.org/W1524405667","https://openalex.org/W1533544838","https://openalex.org/W1933657216","https://openalex.org/W1973615355","https://openalex.org/W1984889945","https://openalex.org/W1998031345","https://openalex.org/W2000514530","https://openalex.org/W2004303440","https://openalex.org/W2005581799","https://openalex.org/W2011929953","https://openalex.org/W2015146415","https://openalex.org/W2028798328","https://openalex.org/W2032179398","https://openalex.org/W2034042800","https://openalex.org/W2054228171","https://openalex.org/W2058840044","https://openalex.org/W2069815296","https://openalex.org/W2074200719","https://openalex.org/W2087775928","https://openalex.org/W2091417852","https://openalex.org/W2101125591","https://openalex.org/W2101524054","https://openalex.org/W2105546430","https://openalex.org/W2116327256","https://openalex.org/W2119972318","https://openalex.org/W2121863487","https://openalex.org/W2132322793","https://openalex.org/W2135106139","https://openalex.org/W2146055337","https://openalex.org/W2146150411","https://openalex.org/W2148603752","https://openalex.org/W2149390907","https://openalex.org/W2153635508","https://openalex.org/W2155217025","https://openalex.org/W2157904933","https://openalex.org/W2170208355","https://openalex.org/W2324146323","https://openalex.org/W2330143912","https://openalex.org/W2342768878","https://openalex.org/W2527422040","https://openalex.org/W4214717370","https://openalex.org/W4254721730","https://openalex.org/W6628902087","https://openalex.org/W6680272842"],"related_works":["https://openalex.org/W2012639978","https://openalex.org/W2076843880","https://openalex.org/W1511739438","https://openalex.org/W21644437","https://openalex.org/W2021400925","https://openalex.org/W1995250594","https://openalex.org/W2077154395","https://openalex.org/W2093156167","https://openalex.org/W2343515139","https://openalex.org/W2140073107"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"mechanisms":[3],"that":[4,147,167],"produce":[5],"hierarchical":[6,169],"structuring":[7],"of":[8,12,15,50,104,108,135,155,159,161,189],"affordance":[9],"learning":[10,60,69,119,136,179,187],"tasks":[11,25,43,71,85,113,134],"different":[13,36],"levels":[14],"complexity.":[16],"Guided":[17],"by":[18],"intrinsic":[19],"motivation,":[20],"our":[21,130,164],"system":[22,63,131],"detects":[23],"easy":[24,95],"first,":[26],"and":[27,53,67,141],"learns":[28],"them":[29,120],"in":[30,90,186],"selected":[31],"environments":[32],"which":[33],"are":[34,44,86,98],"maximally":[35],"from":[37,46,74,79,121,124,207],"the":[38,51,62,91,94,133,153,162,168,190,196,208],"previously":[39],"encountered":[40],"ones.":[41],"Easy":[42],"learned":[45,116],"observed":[47,194],"low-level":[48,75,125],"attributes":[49,76,103],"environment,":[52],"provide":[54],"abstractions":[55],"over":[56],"these":[57],"attributes.":[58],"As":[59],"progresses,":[61],"shifts":[64],"its":[65],"focus":[66],"starts":[68],"harder":[70],"not":[72],"only":[73,200],"but":[77],"also":[78],"previously-learned":[80],"abstract":[81,109],"concepts.":[82],"Therefore,":[83],"hard":[84,105,112],"autonomously":[87],"placed":[88],"higher":[89],"hierarchy":[92],"if":[93],"task":[96,170],"concepts":[97,110],"identified":[99],"as":[100,173],"distinctive":[101],"input":[102],"tasks.":[106],"Use":[107],"allows":[111],"to":[114],"be":[115],"faster":[117],"than":[118],"scratch,":[122],"i.e.,":[123],"perception":[126],"only.":[127],"We":[128],"tested":[129],"with":[132,176,195],"effect":[137,185],"predictions":[138],"for":[139],"poke":[140,203],"stack":[142,191],"actions":[143,204],"using":[144],"a":[145,156,177,182],"dataset":[146],"includes":[148],"83":[149],"real-world":[150],"objects.":[151],"On":[152],"basis":[154],"large":[157],"number":[158],"runs":[160],"method,":[163],"analysis":[165],"shows":[166],"structure":[171],"emerged":[172],"expected,":[174],"along":[175],"consistent":[178],"order.":[180],"Furthermore,":[181],"significant":[183],"bootstrapping":[184],"speed":[188],"action":[192],"was":[193],"discovered":[197],"hierarchy,":[198],"albeit":[199],"when":[201],"fully-learned":[202],"were":[205],"used":[206],"beginning.":[209]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}