{"id":"https://openalex.org/W4213296359","doi":"https://doi.org/10.1109/tcds.2022.3152081","title":"C-GRAIL: Autonomous Reinforcement Learning of Multiple and Context-Dependent Goals","display_name":"C-GRAIL: Autonomous Reinforcement Learning of Multiple and Context-Dependent Goals","publication_year":2022,"publication_date":"2022-02-16","ids":{"openalex":"https://openalex.org/W4213296359","doi":"https://doi.org/10.1109/tcds.2022.3152081"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2022.3152081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3152081","pdf_url":"https://ieeexplore.ieee.org/ielx7/7274989/10061504/09714489.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7274989/10061504/09714489.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012368267","display_name":"Vieri Giuliano Santucci","orcid":"https://orcid.org/0000-0002-8748-9632"},"institutions":[{"id":"https://openalex.org/I4210166865","display_name":"Institute of Cognitive Sciences and Technologies","ror":"https://ror.org/05w9g2j85","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210155236","https://openalex.org/I4210166865"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vieri Giuliano Santucci","raw_affiliation_strings":["Istituto di Scienze e Tecnologie della Cognizione, Consiglio Nazionale delle Ricerce, Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8748-9632","affiliations":[{"raw_affiliation_string":"Istituto di Scienze e Tecnologie della Cognizione, Consiglio Nazionale delle Ricerce, Rome, Italy","institution_ids":["https://openalex.org/I4210166865"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089887777","display_name":"Davide Montella","orcid":"https://orcid.org/0009-0008-4915-0380"},"institutions":[{"id":"https://openalex.org/I4210166865","display_name":"Institute of Cognitive Sciences and Technologies","ror":"https://ror.org/05w9g2j85","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210155236","https://openalex.org/I4210166865"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Davide Montella","raw_affiliation_strings":["Istituto di Scienze e Tecnologie della Cognizione, Consiglio Nazionale delle Ricerce, Rome, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto di Scienze e Tecnologie della Cognizione, Consiglio Nazionale delle Ricerce, Rome, Italy","institution_ids":["https://openalex.org/I4210166865"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076711458","display_name":"Gianluca Baldassarre","orcid":"https://orcid.org/0000-0002-1277-4447"},"institutions":[{"id":"https://openalex.org/I4210166865","display_name":"Institute of Cognitive Sciences and Technologies","ror":"https://ror.org/05w9g2j85","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210155236","https://openalex.org/I4210166865"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Baldassarre","raw_affiliation_strings":["Istituto di Scienze e Tecnologie della Cognizione, Consiglio Nazionale delle Ricerce, Rome, Italy"],"raw_orcid":"https://orcid.org/0000-0002-1277-4447","affiliations":[{"raw_affiliation_string":"Istituto di Scienze e Tecnologie della Cognizione, Consiglio Nazionale delle Ricerce, Rome, Italy","institution_ids":["https://openalex.org/I4210166865"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210166865"],"apc_list":null,"apc_paid":null,"fwci":0.393,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.64615934,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"15","issue":"1","first_page":"210","last_page":"222"},"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/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9955999851226807,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9883999824523926,"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":0.8430212140083313},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7451653480529785},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.623292863368988},{"id":"https://openalex.org/keywords/holy-grail","display_name":"Holy Grail","score":0.6202510595321655},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6015073657035828},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5826255679130554},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5443778038024902},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5435320138931274},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4931158721446991},{"id":"https://openalex.org/keywords/world-wide-web","display_name":"World Wide Web","score":0.13080757856369019}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8430212140083313},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7451653480529785},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.623292863368988},{"id":"https://openalex.org/C2781270358","wikidata":"https://www.wikidata.org/wiki/Q5885594","display_name":"Holy Grail","level":2,"score":0.6202510595321655},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6015073657035828},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5826255679130554},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5443778038024902},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5435320138931274},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4931158721446991},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.13080757856369019},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcds.2022.3152081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3152081","pdf_url":"https://ieeexplore.ieee.org/ielx7/7274989/10061504/09714489.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":{"id":"doi:10.1109/tcds.2022.3152081","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3152081","pdf_url":"https://ieeexplore.ieee.org/ielx7/7274989/10061504/09714489.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cognitive and Developmental Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5880680131","display_name":"Goal-based Open-ended Autonomous Learning Robots","funder_award_id":"713010","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6853295587","display_name":null,"funder_award_id":"713010","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4213296359.pdf","grobid_xml":"https://content.openalex.org/works/W4213296359.grobid-xml"},"referenced_works_count":76,"referenced_works":["https://openalex.org/W26690283","https://openalex.org/W326419249","https://openalex.org/W355724390","https://openalex.org/W1556695557","https://openalex.org/W1959608418","https://openalex.org/W2004303440","https://openalex.org/W2007813200","https://openalex.org/W2022163520","https://openalex.org/W2034806191","https://openalex.org/W2074499097","https://openalex.org/W2075670547","https://openalex.org/W2085754318","https://openalex.org/W2097381042","https://openalex.org/W2111927824","https://openalex.org/W2113501460","https://openalex.org/W2115524942","https://openalex.org/W2132905014","https://openalex.org/W2139612737","https://openalex.org/W2151083897","https://openalex.org/W2153630869","https://openalex.org/W2165698076","https://openalex.org/W2167340365","https://openalex.org/W2170899200","https://openalex.org/W2334036380","https://openalex.org/W2401657790","https://openalex.org/W2417786368","https://openalex.org/W2465543067","https://openalex.org/W2515384477","https://openalex.org/W2562000796","https://openalex.org/W2575705757","https://openalex.org/W2616430965","https://openalex.org/W2744921630","https://openalex.org/W2768314414","https://openalex.org/W2793412206","https://openalex.org/W2795463920","https://openalex.org/W2894069784","https://openalex.org/W2904861519","https://openalex.org/W2943927637","https://openalex.org/W2963276097","https://openalex.org/W2966178287","https://openalex.org/W2971254941","https://openalex.org/W2972635287","https://openalex.org/W2972758308","https://openalex.org/W2979165213","https://openalex.org/W2981300409","https://openalex.org/W2991873963","https://openalex.org/W2998875866","https://openalex.org/W2999091228","https://openalex.org/W3032977088","https://openalex.org/W3091588918","https://openalex.org/W3098683774","https://openalex.org/W3100911534","https://openalex.org/W3105665640","https://openalex.org/W3113343317","https://openalex.org/W3116147072","https://openalex.org/W3122691925","https://openalex.org/W3197023061","https://openalex.org/W4214717370","https://openalex.org/W4233071312","https://openalex.org/W4297795006","https://openalex.org/W4298018319","https://openalex.org/W6640963894","https://openalex.org/W6674600207","https://openalex.org/W6716474083","https://openalex.org/W6717230150","https://openalex.org/W6736021936","https://openalex.org/W6737937804","https://openalex.org/W6742667875","https://openalex.org/W6743822824","https://openalex.org/W6749450216","https://openalex.org/W6757223306","https://openalex.org/W6762868464","https://openalex.org/W6764537672","https://openalex.org/W6783973235","https://openalex.org/W6787573956","https://openalex.org/W6788329992"],"related_works":["https://openalex.org/W4312105976","https://openalex.org/W2764165883","https://openalex.org/W2000941318","https://openalex.org/W2808427145","https://openalex.org/W4233172816","https://openalex.org/W2942573342","https://openalex.org/W2037520198","https://openalex.org/W658818609","https://openalex.org/W2786180709","https://openalex.org/W1970216038"],"abstract_inverted_index":{"When":[0],"facing":[1],"the":[2,32,51,59,64,68,72,97,103,140,143,146,158,191],"problem":[3],"of":[4,142,145,193],"autonomously":[5,130,181],"learning":[6,87,166],"to":[7,39,57,66,129,185],"achieve":[8],"multiple":[9,194],"goals,":[10],"researchers":[11],"typically":[12],"focus":[13],"on":[14,96,139,164],"problems":[15],"where":[16,89],"each":[17],"goal":[18,34,70],"can":[19,106,155],"be":[20,40],"solved":[21],"using":[22],"just":[23],"one":[24],"policy.":[25],"However,":[26],"in":[27,71,121,172,190],"environments":[28],"presenting":[29],"different":[30,37,55,198],"contexts,":[31],"same":[33,69],"might":[35],"need":[36,54],"skills":[38],"solved.":[41],"These":[42,76],"situations":[43],"pose":[44],"two":[45,77],"challenges:":[46],"1)":[47],"recognize":[48],"which":[49],"are":[50,79],"contexts":[52,134,162],"that":[53,117,180],"policies":[56,65,159],"perform":[58],"goals":[60,104],"and":[61,135,183],"2)":[62],"learn":[63,157],"accomplish":[67],"identified":[73],"relevant":[74,133,187],"contexts.":[75,199],"challenges":[78,120],"even":[80,101],"harder":[81],"if":[82],"faced":[83],"within":[84],"an":[85,91,122],"open-ended":[86],"framework":[88],"potentially":[90],"agent":[92],"has":[93],"no":[94],"information":[95],"environment,":[98],"possibly":[99],"not":[100],"about":[102],"it":[105],"pursue.":[107],"We":[108],"propose":[109],"a":[110,150,173,178],"novel":[111],"robotic":[112,175],"architecture,":[113],"contextual":[114],"GRAIL":[115],"(C-GRAIL),":[116],"solves":[118],"these":[119],"integrated":[123],"fashion.":[124],"The":[125,168],"architecture":[126,169],"is":[127,170],"able":[128],"detect":[131],"new":[132,161],"ignore":[136],"irrelevant":[137],"ones,":[138],"basis":[141],"decrease":[144],"expected":[147],"performance":[148],"for":[149,160],"given":[151],"goal.":[152],"Moreover,":[153],"C-GRAIL":[154],"quickly":[156],"leveraging":[163],"transfer":[165],"techniques.":[167],"tested":[171],"simulated":[174],"environment":[176],"involving":[177],"robot":[179],"discovers":[182],"learns":[184],"reach":[186],"target":[188],"objects":[189],"presence":[192],"obstacles":[195],"generating":[196],"several":[197]},"counts_by_year":[{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}
