{"id":"https://openalex.org/W2116226448","doi":"https://doi.org/10.1109/tro.2010.2065430","title":"Task-Specific Generalization of Discrete and Periodic Dynamic Movement Primitives","display_name":"Task-Specific Generalization of Discrete and Periodic Dynamic Movement Primitives","publication_year":2010,"publication_date":"2010-09-22","ids":{"openalex":"https://openalex.org/W2116226448","doi":"https://doi.org/10.1109/tro.2010.2065430","mag":"2116226448"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2010.2065430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2065430","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5019399129","display_name":"Ale\u0161 Ude","orcid":"https://orcid.org/0000-0003-3677-3972"},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":true,"raw_author_name":"Ale\u0161 Ude","raw_affiliation_strings":["Department of Automatics, Biocybernetics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","Dept. of Automatics, Biocybernetics, & Robot., Jozef Stefan Inst., Ljubljana, Slovenia"],"affiliations":[{"raw_affiliation_string":"Department of Automatics, Biocybernetics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Dept. of Automatics, Biocybernetics, & Robot., Jozef Stefan Inst., Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028393702","display_name":"Andrej Gams","orcid":"https://orcid.org/0000-0002-9803-3593"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]},{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["JP","SI"],"is_corresponding":false,"raw_author_name":"Andrej Gams","raw_affiliation_strings":["Department of Automatics, Biocybernetics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","Visiting Researcher at Comput. Neurosci. Labs., Adv. Telecommun. Res. Inst. Int., Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Automatics, Biocybernetics, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Visiting Researcher at Comput. Neurosci. Labs., Adv. Telecommun. Res. Inst. Int., Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I102335020","display_name":"Karlsruhe Institute of Technology","ror":"https://ror.org/04t3en479","country_code":"DE","type":"education","lineage":["https://openalex.org/I102335020","https://openalex.org/I1305996414"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tamim Asfour","raw_affiliation_strings":["Institute of Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany","[Institute for Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany]"],"affiliations":[{"raw_affiliation_string":"Institute of Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I102335020"]},{"raw_affiliation_string":"[Institute for Anthropomatics, Karlsruhe Institute of Technology, Karlsruhe, Germany]","institution_ids":["https://openalex.org/I102335020"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025458882","display_name":"Jun Morimoto","orcid":"https://orcid.org/0000-0002-4115-1919"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Morimoto","raw_affiliation_strings":["Computational Neuroscience Laboratories, Advanced Telecommunications Research Institute International, Kyoto, Japan","Comput. Neurosci. Labs., Adv. Telecommun. Res. Inst. Int., Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Computational Neuroscience Laboratories, Advanced Telecommunications Research Institute International, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Comput. Neurosci. Labs., Adv. Telecommun. Res. Inst. Int., Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019399129"],"corresponding_institution_ids":["https://openalex.org/I3006985408"],"apc_list":null,"apc_paid":null,"fwci":40.7723,"has_fulltext":false,"cited_by_count":357,"citation_normalized_percentile":{"value":0.99823594,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"26","issue":"5","first_page":"800","last_page":"815"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.743811845779419},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.7323974370956421},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7196730971336365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6478014588356018},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5751537084579468},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5635477900505066},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5040051341056824},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4851892590522766},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.47607654333114624},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4273589253425598},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39952951669692993},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09778279066085815},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08744794130325317}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.743811845779419},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.7323974370956421},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7196730971336365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6478014588356018},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5751537084579468},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5635477900505066},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5040051341056824},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4851892590522766},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.47607654333114624},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4273589253425598},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39952951669692993},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09778279066085815},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08744794130325317},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2010.2065430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2065430","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.726.3190","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.726.3190","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://abr.ijs.si/pdf/1348744987-tr10.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W204885769","https://openalex.org/W1511110873","https://openalex.org/W1516801383","https://openalex.org/W1521233584","https://openalex.org/W1597173708","https://openalex.org/W1648699388","https://openalex.org/W1689445748","https://openalex.org/W1755933627","https://openalex.org/W1885639605","https://openalex.org/W1967097499","https://openalex.org/W1968907031","https://openalex.org/W1971609423","https://openalex.org/W1975318316","https://openalex.org/W1982486572","https://openalex.org/W1990654347","https://openalex.org/W1995086487","https://openalex.org/W1997650413","https://openalex.org/W2005870832","https://openalex.org/W2007864935","https://openalex.org/W2016054718","https://openalex.org/W2026909109","https://openalex.org/W2028031284","https://openalex.org/W2037461669","https://openalex.org/W2043152589","https://openalex.org/W2059909808","https://openalex.org/W2062940189","https://openalex.org/W2097815751","https://openalex.org/W2097861969","https://openalex.org/W2104171826","https://openalex.org/W2106621510","https://openalex.org/W2108579172","https://openalex.org/W2109026728","https://openalex.org/W2109485196","https://openalex.org/W2110304639","https://openalex.org/W2115817551","https://openalex.org/W2119118019","https://openalex.org/W2119350939","https://openalex.org/W2120591602","https://openalex.org/W2125612430","https://openalex.org/W2126097529","https://openalex.org/W2128677288","https://openalex.org/W2129515556","https://openalex.org/W2132558143","https://openalex.org/W2133779339","https://openalex.org/W2137677974","https://openalex.org/W2144908914","https://openalex.org/W2149192758","https://openalex.org/W2150024155","https://openalex.org/W2151495024","https://openalex.org/W2158346222","https://openalex.org/W2161395589","https://openalex.org/W2163288162","https://openalex.org/W2166302491","https://openalex.org/W2167804690","https://openalex.org/W2168921921","https://openalex.org/W2542908041","https://openalex.org/W3020893685","https://openalex.org/W3148063727","https://openalex.org/W4205362845","https://openalex.org/W4211049957","https://openalex.org/W4248990817","https://openalex.org/W6623453879","https://openalex.org/W6636884601","https://openalex.org/W6676148587","https://openalex.org/W6676348739","https://openalex.org/W6682150299"],"related_works":["https://openalex.org/W2047027848","https://openalex.org/W2938876465","https://openalex.org/W4377293004","https://openalex.org/W4206669594","https://openalex.org/W2101355568","https://openalex.org/W4319083788","https://openalex.org/W2133659586","https://openalex.org/W2746413424","https://openalex.org/W4226314533","https://openalex.org/W2570503960"],"abstract_inverted_index":{"Acquisition":[0],"of":[1,26,37,56,68,77,96,114,118,154],"new":[2],"sensorimotor":[3,59],"knowledge":[4],"by":[5,65,197],"imitation":[6],"is":[7,180],"a":[8,41,50,86,105,115,155],"promising":[9],"paradigm":[10],"for":[11,131,167,196],"robot":[12,42],"learning.":[13],"To":[14],"be":[15,21,147,194],"effective,":[16],"action":[17,79],"learning":[18],"should":[19],"not":[20],"limited":[22],"to":[23,84,124,129,163,184],"direct":[24],"replication":[25],"movements":[27],"obtained":[28],"during":[29],"training":[30],"but":[31],"must":[32],"also":[33,140],"enable":[34],"the":[35,54,57,66,72,93,97,112,126,143,185,198],"generation":[36,113],"actions":[38,62],"in":[39],"situations":[40],"has":[43],"never":[44],"encountered":[45],"before.":[46],"This":[47],"paper":[48,139],"describes":[49],"methodology":[51,145],"that":[52,142,190],"enables":[53,111],"generalization":[55],"available":[58],"knowledge.":[60],"New":[61],"are":[63,80,102,161],"synthesized":[64],"application":[67],"statistical":[69,168],"methods,":[70],"where":[71],"goal":[73],"and":[74,135],"other":[75],"characteristics":[76],"an":[78,122,150],"utilized":[81],"as":[82,104],"queries":[83],"create":[85],"suitable":[87],"control":[88],"policy,":[89],"taking":[90],"into":[91],"account":[92,130],"current":[94],"state":[95],"world.":[98],"Nonlinear":[99],"dynamic":[100],"systems":[101,179],"employed":[103],"motor":[106],"representation.":[107],"The":[108,138],"proposed":[109,144,199],"approach":[110],"wide":[116],"range":[117],"policies":[119],"without":[120],"requiring":[121],"expert":[123],"modify":[125],"underlying":[127],"representations":[128],"different":[132],"task-specific":[133],"features":[134],"perceptual":[136],"feedback.":[137],"demonstrates":[141],"can":[146,193],"integrated":[148],"with":[149,176],"active":[151],"vision":[152,159,172],"system":[153],"humanoid":[156,174],"robot.":[157],"3-D":[158,171],"data":[160],"used":[162],"provide":[164],"query":[165],"points":[166],"generalization.":[169],"While":[170],"on":[173],"robots":[175],"complex":[177],"oculomotor":[178],"often":[181],"difficult":[182],"due":[183],"modeling":[186],"uncertainties,":[187],"we":[188],"show":[189],"these":[191],"uncertainties":[192],"accounted":[195],"approach.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":30},{"year":2020,"cited_by_count":22},{"year":2019,"cited_by_count":28},{"year":2018,"cited_by_count":27},{"year":2017,"cited_by_count":26},{"year":2016,"cited_by_count":24},{"year":2015,"cited_by_count":28},{"year":2014,"cited_by_count":37},{"year":2013,"cited_by_count":27},{"year":2012,"cited_by_count":12}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
