{"id":"https://openalex.org/W2595700172","doi":"https://doi.org/10.1109/tcds.2016.2628817","title":"Bootstrapping $Q$ -Learning for Robotics From Neuro-Evolution Results","display_name":"Bootstrapping $Q$ -Learning for Robotics From Neuro-Evolution Results","publication_year":2017,"publication_date":"2017-03-16","ids":{"openalex":"https://openalex.org/W2595700172","doi":"https://doi.org/10.1109/tcds.2016.2628817","mag":"2595700172"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2016.2628817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2016.2628817","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":true,"oa_status":"green","oa_url":"https://hal.science/hal-01494744","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028712584","display_name":"Matthieu Zimmer","orcid":"https://orcid.org/0000-0002-8029-308X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Matthieu Zimmer","raw_affiliation_strings":["LORIA, UMR 7503, Universit\u00e9 de Loraine, Nancy, France","Sorbonne Universit\u00e9s, UPMC Univ Paris 06, CNRS, Institut des Syst\u00e8mes Intelligents et de Robotique, Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LORIA, UMR 7503, Universit\u00e9 de Loraine, Nancy, France","institution_ids":["https://openalex.org/I4210121838"]},{"raw_affiliation_string":"Sorbonne Universit\u00e9s, UPMC Univ Paris 06, CNRS, Institut des Syst\u00e8mes Intelligents et de Robotique, Paris, France","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I39804081","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003629424","display_name":"St\u00e9phane Doncieux","orcid":"https://orcid.org/0000-0003-1541-054X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I39804081","display_name":"Sorbonne Universit\u00e9","ror":"https://ror.org/02en5vm52","country_code":"FR","type":"education","lineage":["https://openalex.org/I39804081"]},{"id":"https://openalex.org/I4210150358","display_name":"Institut Syst\u00e8mes Intelligents et de Robotique","ror":"https://ror.org/05neq8668","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I154526488","https://openalex.org/I39804081","https://openalex.org/I4210150358","https://openalex.org/I4210159245"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Stephane Doncieux","raw_affiliation_strings":["Sorbonne Universit\u00e9s, UPMC Univ Paris 06, CNRS, Institut des Syst\u00e8mes Intelligents et de Robotique, Paris, France"],"raw_orcid":"https://orcid.org/0000-0003-1541-054X","affiliations":[{"raw_affiliation_string":"Sorbonne Universit\u00e9s, UPMC Univ Paris 06, CNRS, Institut des Syst\u00e8mes Intelligents et de Robotique, Paris, France","institution_ids":["https://openalex.org/I4210150358","https://openalex.org/I39804081","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.685,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.92191618,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"10","issue":"1","first_page":"102","last_page":"119"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9995999932289124,"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/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.9916999936103821,"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":0.7831394672393799},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7343298196792603},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6829773187637329},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6146860718727112},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.614210307598114},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6061214804649353},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5483279824256897},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4945234954357147},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4728819727897644},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.46600398421287537},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4602690041065216},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.43778759241104126},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.42001405358314514},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4162132740020752},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18332815170288086},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12670624256134033}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7831394672393799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7343298196792603},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6829773187637329},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6146860718727112},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.614210307598114},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6061214804649353},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5483279824256897},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4945234954357147},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4728819727897644},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.46600398421287537},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4602690041065216},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.43778759241104126},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.42001405358314514},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4162132740020752},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18332815170288086},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12670624256134033},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcds.2016.2628817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2016.2628817","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"},{"id":"pmh:oai:HAL:hal-01494744v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01494744","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE Transactions on Cognitive and Developmental Systems, 2017, ⟨10.1109/TCDS.2016.2628817⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01494744v1","is_oa":true,"landing_page_url":"https://hal.science/hal-01494744","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"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":"IEEE Transactions on Cognitive and Developmental Systems, 2017, ⟨10.1109/TCDS.2016.2628817⟩","raw_type":"Journal articles"},"sustainable_development_goals":[{"score":0.5600000023841858,"id":"https://metadata.un.org/sdg/1","display_name":"No poverty"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320313934","display_name":"Institut national de recherche en informatique et en automatique (INRIA)","ror":"https://ror.org/02kvxyf05"},{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320322892","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":95,"referenced_works":["https://openalex.org/W59183349","https://openalex.org/W166862392","https://openalex.org/W355724390","https://openalex.org/W1492014007","https://openalex.org/W1608391772","https://openalex.org/W1738827650","https://openalex.org/W1863227302","https://openalex.org/W1965568826","https://openalex.org/W1977090665","https://openalex.org/W1977655452","https://openalex.org/W1981303711","https://openalex.org/W1986984619","https://openalex.org/W1991564165","https://openalex.org/W1995450389","https://openalex.org/W1996818689","https://openalex.org/W2000514530","https://openalex.org/W2003117097","https://openalex.org/W2012392077","https://openalex.org/W2015630562","https://openalex.org/W2017611213","https://openalex.org/W2020573190","https://openalex.org/W2021027064","https://openalex.org/W2028145673","https://openalex.org/W2037680255","https://openalex.org/W2041812416","https://openalex.org/W2046888025","https://openalex.org/W2063471043","https://openalex.org/W2071810814","https://openalex.org/W2075471234","https://openalex.org/W2077571245","https://openalex.org/W2082940787","https://openalex.org/W2083954950","https://openalex.org/W2085627234","https://openalex.org/W2096001037","https://openalex.org/W2097381042","https://openalex.org/W2101234009","https://openalex.org/W2101524054","https://openalex.org/W2103496339","https://openalex.org/W2103626435","https://openalex.org/W2104641222","https://openalex.org/W2106432400","https://openalex.org/W2107726111","https://openalex.org/W2108535023","https://openalex.org/W2109090232","https://openalex.org/W2109910161","https://openalex.org/W2111935653","https://openalex.org/W2116339921","https://openalex.org/W2119972318","https://openalex.org/W2121863487","https://openalex.org/W2124290836","https://openalex.org/W2126105956","https://openalex.org/W2127412976","https://openalex.org/W2128905965","https://openalex.org/W2135046866","https://openalex.org/W2140219596","https://openalex.org/W2146879413","https://openalex.org/W2151083897","https://openalex.org/W2155921514","https://openalex.org/W2155921792","https://openalex.org/W2159693398","https://openalex.org/W2161563886","https://openalex.org/W2165698076","https://openalex.org/W2167792456","https://openalex.org/W2169209873","https://openalex.org/W2171658832","https://openalex.org/W2173248099","https://openalex.org/W2187105264","https://openalex.org/W2198098822","https://openalex.org/W2341057945","https://openalex.org/W2343637401","https://openalex.org/W2492390819","https://openalex.org/W2510585945","https://openalex.org/W2903477935","https://openalex.org/W2904044574","https://openalex.org/W2963641140","https://openalex.org/W3139377883","https://openalex.org/W4251990921","https://openalex.org/W4367551310","https://openalex.org/W6600033343","https://openalex.org/W6602398033","https://openalex.org/W6629461247","https://openalex.org/W6671356596","https://openalex.org/W6674600207","https://openalex.org/W6675354045","https://openalex.org/W6676557315","https://openalex.org/W6677193802","https://openalex.org/W6679426499","https://openalex.org/W6683030905","https://openalex.org/W6684921986","https://openalex.org/W6685331716","https://openalex.org/W6704571135","https://openalex.org/W6725595221","https://openalex.org/W6756395981","https://openalex.org/W6756686011","https://openalex.org/W6792155000"],"related_works":["https://openalex.org/W4225571923","https://openalex.org/W3212257828","https://openalex.org/W2999580272","https://openalex.org/W2930863966","https://openalex.org/W4297873223","https://openalex.org/W2350784623","https://openalex.org/W3134526803","https://openalex.org/W3153786280","https://openalex.org/W3127551068","https://openalex.org/W2126211886"],"abstract_inverted_index":{"Reinforcement":[0],"learning":[1,103,161,181,189],"(RL)":[2],"problems":[3],"are":[4,27],"hard":[5],"to":[6,57,61,76,115,130,134,142,153,166,194],"solve":[7],"in":[8,24,49,51,83,162],"a":[9,59,63,79,146,163,171,176,179,184],"robotics":[10,25],"context":[11],"as":[12],"classical":[13],"algorithms":[14],"rely":[15],"on":[16],"discrete":[17,30,91,105],"representations":[18],"of":[19,32,93,112,157,170,178],"actions":[20,33,106],"and":[21,34,97,107,140,183,187,197],"states,":[22],"but":[23,39,174],"both":[26,158],"continuous.":[28],"A":[29],"set":[31],"states":[35,94],"can":[36,126],"be":[37,47,131,195],"defined,":[38],"it":[40],"requires":[41],"an":[42,70,191],"expertise":[43],"that":[44],"may":[45],"not":[46],"available,":[48],"particular":[50],"open":[52],"environments.":[53],"It":[54],"is":[55,75,122],"proposed":[56],"define":[58],"process":[60,182],"make":[62],"robot":[64,125],"build":[65],"its":[66],"own":[67],"representation":[68,193],"for":[69],"RL":[71],"algorithm.":[72],"The":[73],"principle":[74],"first":[77,160],"use":[78],"direct":[80,147],"policy":[81,148],"search":[82],"the":[84,101,109,113,117,124,155,168],"sensori-motor":[85],"space,":[86],"i.e.,":[87],"with":[88,190],"no":[89],"predefined":[90],"sets":[92],"nor":[95],"actions,":[96],"then":[98,188],"extract":[99],"from":[100],"corresponding":[102],"traces":[104],"identify":[108],"relevant":[110],"dimensions":[111],"state":[114],"estimate":[116],"value":[118],"function.":[119],"Once":[120],"this":[121],"done,":[123],"apply":[127],"RL:":[128],"1)":[129],"more":[132,198],"robust":[133],"new":[135],"domains":[136],"and,":[137],"if":[138],"required":[139],"2)":[141],"learn":[143],"faster":[144,196],"than":[145],"search.":[149],"This":[150],"approach":[151],"allows":[152],"take":[154],"best":[156],"worlds:":[159],"continuous":[164],"space":[165],"avoid":[167],"need":[169],"specific":[172],"representation,":[173],"at":[175],"price":[177],"long":[180],"poor":[185],"generalization,":[186],"adapted":[192],"robust.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}