{"id":"https://openalex.org/W2917292587","doi":"https://doi.org/10.1109/tcds.2019.2925890","title":"Autonomous Identification and Goal-Directed Invocation of Event-Predictive Behavioral Primitives","display_name":"Autonomous Identification and Goal-Directed Invocation of Event-Predictive Behavioral Primitives","publication_year":2019,"publication_date":"2019-10-03","ids":{"openalex":"https://openalex.org/W2917292587","doi":"https://doi.org/10.1109/tcds.2019.2925890","mag":"2917292587"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2019.2925890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2019.2925890","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1902.09948","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090767927","display_name":"Christian Gumbsch","orcid":"https://orcid.org/0000-0003-2741-6551"},"institutions":[{"id":"https://openalex.org/I149899117","display_name":"Max Planck Society","ror":"https://ror.org/01hhn8329","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I149899117"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Gumbsch","raw_affiliation_strings":["Autonomous Learning Group, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","Cognitive Modeling Group, University of T\u00fcbingen, T\u00fcbingen, Germany","Max-Planck-Society"],"raw_orcid":"https://orcid.org/0000-0003-2741-6551","affiliations":[{"raw_affiliation_string":"Autonomous Learning Group, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Cognitive Modeling Group, University of T\u00fcbingen, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"Max-Planck-Society","institution_ids":["https://openalex.org/I149899117"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075919503","display_name":"Martin V. Butz","orcid":"https://orcid.org/0000-0002-8120-8537"},"institutions":[{"id":"https://openalex.org/I8087733","display_name":"University of T\u00fcbingen","ror":"https://ror.org/03a1kwz48","country_code":"DE","type":"education","lineage":["https://openalex.org/I8087733"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin V. Butz","raw_affiliation_strings":["Cognitive Modeling Group, University of T\u00fcbingen, T\u00fcbingen, Germany","University of T\u00fcbingen"],"raw_orcid":"https://orcid.org/0000-0002-8120-8537","affiliations":[{"raw_affiliation_string":"Cognitive Modeling Group, University of T\u00fcbingen, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I8087733"]},{"raw_affiliation_string":"University of T\u00fcbingen","institution_ids":["https://openalex.org/I8087733"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001474340","display_name":"Georg Martius","orcid":"https://orcid.org/0000-0002-8963-7627"},"institutions":[{"id":"https://openalex.org/I149899117","display_name":"Max Planck Society","ror":"https://ror.org/01hhn8329","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I149899117"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georg Martius","raw_affiliation_strings":["Autonomous Learning Group, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","Max-Planck-Society"],"raw_orcid":"https://orcid.org/0000-0002-8963-7627","affiliations":[{"raw_affiliation_string":"Autonomous Learning Group, Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Max-Planck-Society","institution_ids":["https://openalex.org/I149899117"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4787,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.73056072,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"13","issue":"2","first_page":"298","last_page":"311"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.996399998664856,"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":0.996399998664856,"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/T10581","display_name":"Neural dynamics and brain function","score":0.9957000017166138,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9936000108718872,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7570326328277588},{"id":"https://openalex.org/keywords/surprise","display_name":"Surprise","score":0.7068678736686707},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5833575129508972},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5517662167549133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5339644551277161},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4360886812210083},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4265674650669098},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3534787893295288},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.19000911712646484},{"id":"https://openalex.org/keywords/communication","display_name":"Communication","score":0.11833202838897705},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.0983763039112091}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7570326328277588},{"id":"https://openalex.org/C2780343955","wikidata":"https://www.wikidata.org/wiki/Q333173","display_name":"Surprise","level":2,"score":0.7068678736686707},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5833575129508972},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5517662167549133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5339644551277161},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4360886812210083},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4265674650669098},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3534787893295288},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.19000911712646484},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.11833202838897705},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0983763039112091},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tcds.2019.2925890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2019.2925890","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:arXiv.org:1902.09948","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1902.09948","pdf_url":"https://arxiv.org/pdf/1902.09948","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"doi:10.48550/arxiv.1902.09948","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1902.09948","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"},{"id":"mag:2917292587","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1902.09948","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1902.09948","pdf_url":"https://arxiv.org/pdf/1902.09948","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2917292587.pdf"},"referenced_works_count":70,"referenced_works":["https://openalex.org/W130216483","https://openalex.org/W593257684","https://openalex.org/W745943941","https://openalex.org/W1498788589","https://openalex.org/W1592847719","https://openalex.org/W1968768508","https://openalex.org/W1975383913","https://openalex.org/W1980788971","https://openalex.org/W1987824107","https://openalex.org/W1997543377","https://openalex.org/W1999151641","https://openalex.org/W2008026620","https://openalex.org/W2009353347","https://openalex.org/W2012392077","https://openalex.org/W2016723506","https://openalex.org/W2023425306","https://openalex.org/W2027972120","https://openalex.org/W2028418738","https://openalex.org/W2043385819","https://openalex.org/W2057650923","https://openalex.org/W2059320470","https://openalex.org/W2060277733","https://openalex.org/W2063978650","https://openalex.org/W2074499097","https://openalex.org/W2089029564","https://openalex.org/W2095802353","https://openalex.org/W2097815751","https://openalex.org/W2097861969","https://openalex.org/W2101143083","https://openalex.org/W2106423795","https://openalex.org/W2106447815","https://openalex.org/W2109910161","https://openalex.org/W2113122939","https://openalex.org/W2116391535","https://openalex.org/W2118836531","https://openalex.org/W2121863487","https://openalex.org/W2132274176","https://openalex.org/W2133105703","https://openalex.org/W2136719407","https://openalex.org/W2141086994","https://openalex.org/W2150884987","https://openalex.org/W2159860885","https://openalex.org/W2168640731","https://openalex.org/W2172968643","https://openalex.org/W2345211079","https://openalex.org/W2470855507","https://openalex.org/W2537349074","https://openalex.org/W2564818995","https://openalex.org/W2744921630","https://openalex.org/W2765401264","https://openalex.org/W2781726626","https://openalex.org/W2786160659","https://openalex.org/W2787257245","https://openalex.org/W2787762357","https://openalex.org/W2901905582","https://openalex.org/W2940539867","https://openalex.org/W2963262099","https://openalex.org/W2963351448","https://openalex.org/W2963387406","https://openalex.org/W2978257781","https://openalex.org/W4246139359","https://openalex.org/W4249441547","https://openalex.org/W4249742433","https://openalex.org/W6622163469","https://openalex.org/W6703271639","https://openalex.org/W6742667875","https://openalex.org/W6747916327","https://openalex.org/W6748301538","https://openalex.org/W6762180116","https://openalex.org/W6768295458"],"related_works":["https://openalex.org/W2968831645","https://openalex.org/W2028496760","https://openalex.org/W2089395219","https://openalex.org/W2192754082","https://openalex.org/W2611477181","https://openalex.org/W2790175808","https://openalex.org/W77389841","https://openalex.org/W3135402566","https://openalex.org/W3093615427","https://openalex.org/W2620139654","https://openalex.org/W2950638751","https://openalex.org/W173799362","https://openalex.org/W2160485254","https://openalex.org/W2167518172","https://openalex.org/W68633954","https://openalex.org/W3119893003","https://openalex.org/W2796093256","https://openalex.org/W3111966849","https://openalex.org/W1996814013","https://openalex.org/W1485758295"],"abstract_inverted_index":{"Voluntary":[0],"behavior":[1,34,70],"of":[2,8,25,33,40,96,120,160],"humans":[3],"appears":[4],"to":[5,35,132,144,156],"be":[6],"composed":[7],"small,":[9],"elementary":[10],"building":[11],"blocks,":[12],"or":[13],"behavioral":[14,62,75,94,137,162],"primitives.":[15,138,163],"While":[16,91],"this":[17],"modular":[18,103],"organization":[19],"seems":[20],"crucial":[21],"for":[22,180],"the":[23,30,38,73,93,100,107,112,123,153,169],"learning":[24,41,57],"complex":[26,161],"motor":[27],"skills":[28],"and":[29,71,110,185,191],"flexible":[31],"adaption":[32],"new":[36],"circumstances,":[37],"problem":[39],"meaningful,":[42],"compositional":[43],"abstractions":[44],"from":[45,78],"sensorimotor":[46,84,108],"experiences":[47],"remains":[48],"an":[49],"open":[50],"challenge.":[51],"Here,":[52],"we":[53],"introduce":[54],"a":[55,87,158],"computational":[56],"architecture,":[58],"termed":[59],"as":[60],"surprise-based":[61],"modularization":[63],"into":[64],"event-predictive":[65],"structures":[66,104],"(SUBMODES)":[67],"that":[68,105],"explores":[69],"identifies":[72],"underlying":[74],"units":[76],"completely":[77,149],"scratch.":[79],"The":[80],"SUBMODES":[81],"architecture":[82],"bootstraps":[83],"exploration":[85,168],"using":[86],"self-organizing":[88],"neural":[89],"controller.":[90],"exploring":[92],"capabilities":[95],"its":[97,173],"own":[98],"body,":[99],"system":[101,124,154,170],"learns":[102],"predict":[106],"dynamics":[109],"generate":[111],"associated":[113],"behavior.":[114],"In":[115],"line":[116],"with":[117,148],"recent":[118],"theories":[119],"event":[121],"perception,":[122],"uses":[125],"unexpected":[126],"prediction":[127],"error":[128],"signals,":[129],"i.e.,":[130],"surprise,":[131],"detect":[133],"transitions":[134],"between":[135],"successive":[136],"We":[139],"show":[140],"that,":[141],"when":[142],"applied":[143],"two":[145],"robotic":[146],"systems":[147],"different":[150,189],"body":[151],"kinematics,":[152],"manages":[155],"learn":[157],"variety":[159],"Moreover,":[164],"after":[165],"initial":[166],"self":[167],"can":[171],"use":[172],"learned":[174],"predictive":[175,183],"models":[176],"progressively":[177],"more":[178],"effectively":[179],"invoking":[181],"model":[182],"planning":[184],"goal-directed":[186],"control":[187],"in":[188],"tasks":[190],"environments.":[192]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
