{"id":"https://openalex.org/W4285165559","doi":"https://doi.org/10.1109/tcds.2022.3177691","title":"Concurrent Skill Composition Using Ensemble of Primitive Skills","display_name":"Concurrent Skill Composition Using Ensemble of Primitive Skills","publication_year":2022,"publication_date":"2022-05-25","ids":{"openalex":"https://openalex.org/W4285165559","doi":"https://doi.org/10.1109/tcds.2022.3177691"},"language":"en","primary_location":{"id":"doi:10.1109/tcds.2022.3177691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3177691","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://pure.ulster.ac.uk/ws/files/105885068/Concurrent_Skill_Composition_using_Ensemble_of_Primitive_Skills.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090244141","display_name":"Paresh Dhakan","orcid":"https://orcid.org/0000-0003-4348-9937"},"institutions":[{"id":"https://openalex.org/I138801177","display_name":"University of Ulster","ror":"https://ror.org/01yp9g959","country_code":"GB","type":"education","lineage":["https://openalex.org/I138801177"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Paresh Dhakan","raw_affiliation_strings":["Intelligent Systems Research Centre, University of Ulster, Londonderry, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4348-9937","affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Centre, University of Ulster, Londonderry, U.K","institution_ids":["https://openalex.org/I138801177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047705901","display_name":"Kathryn Kasmarik","orcid":"https://orcid.org/0000-0001-7187-0474"},"institutions":[{"id":"https://openalex.org/I40053085","display_name":"Australian Defence Force Academy","ror":"https://ror.org/02j5s7g39","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571","https://openalex.org/I40053085","https://openalex.org/I4394709116"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kathryn Kasmarik","raw_affiliation_strings":["Australian Defence Force Academy, University of New South Wales at Canberra, Canberra, ACT, Australia"],"raw_orcid":"https://orcid.org/0000-0001-7187-0474","affiliations":[{"raw_affiliation_string":"Australian Defence Force Academy, University of New South Wales at Canberra, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I40053085"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088195602","display_name":"Philip Vance","orcid":"https://orcid.org/0000-0002-2189-3608"},"institutions":[{"id":"https://openalex.org/I138801177","display_name":"University of Ulster","ror":"https://ror.org/01yp9g959","country_code":"GB","type":"education","lineage":["https://openalex.org/I138801177"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Philip Vance","raw_affiliation_strings":["Intelligent Systems Research Centre, University of Ulster, Londonderry, U.K"],"raw_orcid":"https://orcid.org/0000-0002-2189-3608","affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Centre, University of Ulster, Londonderry, U.K","institution_ids":["https://openalex.org/I138801177"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074968710","display_name":"I\u00f1aki Ra\u00f1\u00f3","orcid":"https://orcid.org/0000-0002-0461-0258"},"institutions":[{"id":"https://openalex.org/I177969490","display_name":"University of Southern Denmark","ror":"https://ror.org/03yrrjy16","country_code":"DK","type":"education","lineage":["https://openalex.org/I177969490"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"I\u00f1aki Ra\u00f1\u00f3","raw_affiliation_strings":["Department of M&#x00E6;rsk Mc Kinney M&#x00F8;ller, University of Southern Denmark, Odense, Denmark"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of M&#x00E6;rsk Mc Kinney M&#x00F8;ller, University of Southern Denmark, Odense, Denmark","institution_ids":["https://openalex.org/I177969490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012890130","display_name":"Nazmul Siddique","orcid":"https://orcid.org/0000-0002-0642-2357"},"institutions":[{"id":"https://openalex.org/I138801177","display_name":"University of Ulster","ror":"https://ror.org/01yp9g959","country_code":"GB","type":"education","lineage":["https://openalex.org/I138801177"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Nazmul Siddique","raw_affiliation_strings":["Intelligent Systems Research Centre, University of Ulster, Londonderry, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0642-2357","affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Centre, University of Ulster, Londonderry, U.K","institution_ids":["https://openalex.org/I138801177"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5090244141"],"corresponding_institution_ids":["https://openalex.org/I138801177"],"apc_list":null,"apc_paid":null,"fwci":0.5549,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71747773,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"15","issue":"4","first_page":"1879","last_page":"1890"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9939000010490417,"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":0.9939000010490417,"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":0.9930999875068665,"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/T11902","display_name":"Intelligent Tutoring Systems and Adaptive Learning","score":0.9902999997138977,"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":0.7869420051574707},{"id":"https://openalex.org/keywords/composition","display_name":"Composition (language)","score":0.554222583770752}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7869420051574707},{"id":"https://openalex.org/C40231798","wikidata":"https://www.wikidata.org/wiki/Q1333743","display_name":"Composition (language)","level":2,"score":0.554222583770752},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tcds.2022.3177691","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcds.2022.3177691","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:sdu.dk:publications/69487964-145f-4ae6-808f-ab3bd226be2e","is_oa":false,"landing_page_url":"https://portal.findresearcher.sdu.dk/da/publications/69487964-145f-4ae6-808f-ab3bd226be2e","pdf_url":null,"source":{"id":"https://openalex.org/S4306400423","display_name":"University of Southern Denmark Research Portal (University of Southern Denmark)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177969490","host_organization_name":"University of Southern Denmark","host_organization_lineage":["https://openalex.org/I177969490"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Dhakan, P, Kasmarik, K, Vance, P, Rano, I & Siddique, N 2023, 'Concurrent Skill Composition Using Ensemble of Primitive Skills', IEEE Transactions on Cognitive and Developmental Systems, vol. 15, no. 4, pp. 1879-1890. https://doi.org/10.1109/TCDS.2022.3177691","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.atira.dk:openaire/9beca141-f05f-41bd-bf73-3dc05ef47712","is_oa":true,"landing_page_url":"https://pure.ulster.ac.uk/en/publications/9beca141-f05f-41bd-bf73-3dc05ef47712","pdf_url":"https://pure.ulster.ac.uk/ws/files/105885068/Concurrent_Skill_Composition_using_Ensemble_of_Primitive_Skills.pdf","source":{"id":"https://openalex.org/S4306402454","display_name":"Ulster University Research Portal (Ulster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138801177","host_organization_name":"University of Ulster","host_organization_lineage":["https://openalex.org/I138801177"],"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":"Dhakan, P, Kasmarik, K, Vance, P, Rano, I & Siddique, N 2023, 'Concurrent Skill Composition using Ensemble of Primitive Skills', IEEE Transactions on Cognitive and Developmental Systems, vol. 15, no. 4, pp. 1879-1890. https://doi.org/10.1109/TCDS.2022.3177691","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:pure.atira.dk:openaire/9beca141-f05f-41bd-bf73-3dc05ef47712","is_oa":true,"landing_page_url":"https://pure.ulster.ac.uk/en/publications/9beca141-f05f-41bd-bf73-3dc05ef47712","pdf_url":"https://pure.ulster.ac.uk/ws/files/105885068/Concurrent_Skill_Composition_using_Ensemble_of_Primitive_Skills.pdf","source":{"id":"https://openalex.org/S4306402454","display_name":"Ulster University Research Portal (Ulster University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I138801177","host_organization_name":"University of Ulster","host_organization_lineage":["https://openalex.org/I138801177"],"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":"Dhakan, P, Kasmarik, K, Vance, P, Rano, I & Siddique, N 2023, 'Concurrent Skill Composition using Ensemble of Primitive Skills', IEEE Transactions on Cognitive and Developmental Systems, vol. 15, no. 4, pp. 1879-1890. https://doi.org/10.1109/TCDS.2022.3177691","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"score":0.49000000953674316,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285165559.pdf"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W158722652","https://openalex.org/W175273776","https://openalex.org/W1512908771","https://openalex.org/W1561662057","https://openalex.org/W1586162706","https://openalex.org/W1590744975","https://openalex.org/W1612579644","https://openalex.org/W1748123235","https://openalex.org/W2012036715","https://openalex.org/W2012392077","https://openalex.org/W2045257906","https://openalex.org/W2071841410","https://openalex.org/W2086161653","https://openalex.org/W2097113539","https://openalex.org/W2097381042","https://openalex.org/W2109910161","https://openalex.org/W2145339207","https://openalex.org/W2157236054","https://openalex.org/W2161905760","https://openalex.org/W2164036917","https://openalex.org/W2322704035","https://openalex.org/W2401657790","https://openalex.org/W2503173364","https://openalex.org/W2533806771","https://openalex.org/W2612690371","https://openalex.org/W2897673281","https://openalex.org/W2905567628","https://openalex.org/W2908460759","https://openalex.org/W2920329255","https://openalex.org/W2946694254","https://openalex.org/W2955656278","https://openalex.org/W2963403593","https://openalex.org/W2964118262","https://openalex.org/W2964227312","https://openalex.org/W2979165213","https://openalex.org/W2980712743","https://openalex.org/W2990138404","https://openalex.org/W2999091228","https://openalex.org/W4247678187","https://openalex.org/W6603751605","https://openalex.org/W6630708818","https://openalex.org/W6674600207","https://openalex.org/W6680080562","https://openalex.org/W6683845664","https://openalex.org/W6692846177","https://openalex.org/W6746569681","https://openalex.org/W6747909518","https://openalex.org/W6757645525","https://openalex.org/W6758134627","https://openalex.org/W6762736906","https://openalex.org/W6762868464","https://openalex.org/W6764537672","https://openalex.org/W6841393079"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"One":[0,83],"of":[1,5,54,72,84,87,109,123,158,215],"the":[2,16,52,70,85,113,121,124,181,196,211,228],"key":[3],"characteristics":[4],"an":[6,146],"open-ended":[7],"cumulative":[8],"learning":[9,21,34,66,165],"agent":[10,67,114,197,222],"is":[11,28,40,60,89],"that":[12,101,154,164,223],"it":[13],"should":[14,68],"use":[15],"knowledge":[17,59,137],"gained":[18],"from":[19,38,95],"prior":[20],"to":[22,78,98,116,119,127,135,148,171,183,203],"solve":[23,79,128],"future":[24,81],"tasks.":[25,82,111,160,208],"That":[26,209],"characteristic":[27],"especially":[29],"essential":[30],"in":[31,166],"robotics,":[32],"as":[33,75],"every":[35],"perception-action":[36],"skill":[37],"scratch":[39],"not":[41,47],"only":[42],"time":[43,214],"consuming":[44],"but":[45],"may":[46],"always":[48],"be":[49,117],"feasible.":[50],"In":[51],"case":[53],"reinforcement":[55],"learning,":[56],"this":[57],"learned":[58,73],"called":[61],"a":[62,104,167,220],"policy.":[63],"The":[64],"lifelong":[65],"treat":[69],"policies":[71,122,150],"tasks":[74,88,97,100,126,153],"building":[76],"blocks":[77],"those":[80,200],"categorizations":[86],"based":[90],"on":[91],"its":[92,136],"composition,":[93],"ranging":[94],"primitive":[96,110,125,185,201],"compound":[99,129,152,207],"are":[102,132,155],"either":[103],"sequential":[105],"or":[106],"concurrent":[107,156],"combination":[108],"Thus,":[112],"needs":[115],"able":[118],"combine":[120,199],"tasks,":[130],"which":[131],"then":[133,193],"added":[134],"base.":[138],"Inspired":[139],"by":[140],"modular":[141],"neural":[142],"networks,":[143],"we":[144,162,176],"propose":[145],"approach":[147],"compose":[149],"for":[151,180,187,206],"combinations":[157],"disjoint":[159],"Furthermore,":[161],"hypothesize":[163],"specialized":[168],"environment":[169],"leads":[170],"more":[172],"efficient":[173],"learning;":[174],"hence,":[175],"create":[177],"scaffolded":[178],"environments":[179],"robot":[182],"learn":[184,204],"skills":[186,202,217],"our":[188],"mobile":[189],"robot-based":[190],"experiments.":[191],"We":[192],"show":[194],"how":[195],"can":[198,224],"solutions":[205],"reduces":[210],"overall":[212],"training":[213],"multiple":[216],"and":[218,226],"creates":[219],"versatile":[221],"mix":[225],"match":[227],"skills.":[229]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
