{"id":"https://openalex.org/W3119315021","doi":"https://doi.org/10.1109/tsmc.2020.3018325","title":"Deep Learning in Robotics: Survey on Model Structures and Training Strategies","display_name":"Deep Learning in Robotics: Survey on Model Structures and Training Strategies","publication_year":2020,"publication_date":"2020-09-17","ids":{"openalex":"https://openalex.org/W3119315021","doi":"https://doi.org/10.1109/tsmc.2020.3018325","mag":"3119315021"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2020.3018325","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2020.3018325","pdf_url":"https://ieeexplore.ieee.org/ielx7/6221021/9321226/09199280.pdf","source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/6221021/9321226/09199280.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5056828566","display_name":"Art\u00far I. K\u00e1roly","orcid":"https://orcid.org/0000-0002-2902-7253"},"institutions":[{"id":"https://openalex.org/I103356709","display_name":"Obuda University","ror":"https://ror.org/00ax71d21","country_code":"HU","type":"education","lineage":["https://openalex.org/I103356709"]}],"countries":["HU"],"is_corresponding":true,"raw_author_name":"Artur Istvan Karoly","raw_affiliation_strings":["Antal Bejczy Center for Intelligent Robotics, \u00d3buda University, Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Antal Bejczy Center for Intelligent Robotics, \u00d3buda University, Budapest, Hungary","institution_ids":["https://openalex.org/I103356709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068637872","display_name":"P\u00e9ter Galambos","orcid":"https://orcid.org/0000-0002-2319-0551"},"institutions":[{"id":"https://openalex.org/I103356709","display_name":"Obuda University","ror":"https://ror.org/00ax71d21","country_code":"HU","type":"education","lineage":["https://openalex.org/I103356709"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Peter Galambos","raw_affiliation_strings":["Antal Bejczy Center for Intelligent Robotics, \u00d3buda University, Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Antal Bejczy Center for Intelligent Robotics, \u00d3buda University, Budapest, Hungary","institution_ids":["https://openalex.org/I103356709"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002698601","display_name":"J\u00f3zsef Kuti","orcid":"https://orcid.org/0000-0003-2795-9783"},"institutions":[{"id":"https://openalex.org/I103356709","display_name":"Obuda University","ror":"https://ror.org/00ax71d21","country_code":"HU","type":"education","lineage":["https://openalex.org/I103356709"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Jozsef Kuti","raw_affiliation_strings":["Antal Bejczy Center for Intelligent Robotics, \u00d3buda University, Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Antal Bejczy Center for Intelligent Robotics, \u00d3buda University, Budapest, Hungary","institution_ids":["https://openalex.org/I103356709"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010869153","display_name":"Imre J. Rudas","orcid":"https://orcid.org/0000-0002-2067-8578"},"institutions":[{"id":"https://openalex.org/I103356709","display_name":"Obuda University","ror":"https://ror.org/00ax71d21","country_code":"HU","type":"education","lineage":["https://openalex.org/I103356709"]}],"countries":["HU"],"is_corresponding":false,"raw_author_name":"Imre J. Rudas","raw_affiliation_strings":["Antal Bejczy Center for Intelligent Robotics, \u00d3buda University, Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Antal Bejczy Center for Intelligent Robotics, \u00d3buda University, Budapest, Hungary","institution_ids":["https://openalex.org/I103356709"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5056828566"],"corresponding_institution_ids":["https://openalex.org/I103356709"],"apc_list":null,"apc_paid":null,"fwci":10.4126,"has_fulltext":true,"cited_by_count":138,"citation_normalized_percentile":{"value":0.98832272,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"51","issue":"1","first_page":"266","last_page":"279"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9983000159263611,"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":0.9983000159263611,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9948999881744385,"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/T11948","display_name":"Machine Learning in Materials Science","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7777333855628967},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6916161775588989},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6695161461830139},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6522558927536011},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5839743614196777},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5469279289245605},{"id":"https://openalex.org/keywords/categorization","display_name":"Categorization","score":0.5305241346359253},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.528652012348175},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.5248261094093323},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5240417122840881},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4103427231311798}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7777333855628967},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6916161775588989},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6695161461830139},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6522558927536011},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5839743614196777},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5469279289245605},{"id":"https://openalex.org/C94124525","wikidata":"https://www.wikidata.org/wiki/Q912550","display_name":"Categorization","level":2,"score":0.5305241346359253},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.528652012348175},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5248261094093323},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5240417122840881},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4103427231311798},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2020.3018325","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2020.3018325","pdf_url":"https://ieeexplore.ieee.org/ielx7/6221021/9321226/09199280.pdf","source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/tsmc.2020.3018325","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2020.3018325","pdf_url":"https://ieeexplore.ieee.org/ielx7/6221021/9321226/09199280.pdf","source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G293724983","display_name":null,"funder_award_id":"EFOP-3.6.1-16-2016-00010","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8051717526","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G8854761416","display_name":null,"funder_award_id":"EFOP-3.6.1","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3119315021.pdf","grobid_xml":"https://content.openalex.org/works/W3119315021.grobid-xml"},"referenced_works_count":158,"referenced_works":["https://openalex.org/W22861983","https://openalex.org/W44815768","https://openalex.org/W160252641","https://openalex.org/W639708223","https://openalex.org/W1483870316","https://openalex.org/W1516488188","https://openalex.org/W1536680647","https://openalex.org/W1546771929","https://openalex.org/W1573897183","https://openalex.org/W1593727536","https://openalex.org/W1644641054","https://openalex.org/W1686810756","https://openalex.org/W1878590289","https://openalex.org/W1892339738","https://openalex.org/W1928278792","https://openalex.org/W1966007450","https://openalex.org/W1968438204","https://openalex.org/W1977655452","https://openalex.org/W1985797324","https://openalex.org/W1986014385","https://openalex.org/W1996640396","https://openalex.org/W1999156278","https://openalex.org/W2005824379","https://openalex.org/W2012638612","https://openalex.org/W2018860673","https://openalex.org/W2022508996","https://openalex.org/W2041376653","https://openalex.org/W2061562262","https://openalex.org/W2061983716","https://openalex.org/W2068882612","https://openalex.org/W2091432990","https://openalex.org/W2095757353","https://openalex.org/W2097381042","https://openalex.org/W2102605133","https://openalex.org/W2108598243","https://openalex.org/W2109992539","https://openalex.org/W2117130368","https://openalex.org/W2122761880","https://openalex.org/W2133233905","https://openalex.org/W2133993682","https://openalex.org/W2140717964","https://openalex.org/W2143612262","https://openalex.org/W2144824356","https://openalex.org/W2145287260","https://openalex.org/W2150341604","https://openalex.org/W2153920246","https://openalex.org/W2155007355","https://openalex.org/W2160815625","https://openalex.org/W2163605009","https://openalex.org/W2165698076","https://openalex.org/W2166302491","https://openalex.org/W2168231600","https://openalex.org/W2171455680","https://openalex.org/W2181347294","https://openalex.org/W2183341477","https://openalex.org/W2218761850","https://openalex.org/W2251939518","https://openalex.org/W2254252455","https://openalex.org/W2261310161","https://openalex.org/W2290577462","https://openalex.org/W2293467699","https://openalex.org/W2295582178","https://openalex.org/W2338684808","https://openalex.org/W2342840547","https://openalex.org/W2414685554","https://openalex.org/W2510153535","https://openalex.org/W2519453022","https://openalex.org/W2521863123","https://openalex.org/W2524455559","https://openalex.org/W2527631814","https://openalex.org/W2528489519","https://openalex.org/W2554243884","https://openalex.org/W2560609797","https://openalex.org/W2570797809","https://openalex.org/W2573779815","https://openalex.org/W2583528914","https://openalex.org/W2583598337","https://openalex.org/W2600030077","https://openalex.org/W2601322194","https://openalex.org/W2605102758","https://openalex.org/W2605368761","https://openalex.org/W2606508169","https://openalex.org/W2616180702","https://openalex.org/W2735987329","https://openalex.org/W2736506089","https://openalex.org/W2736635938","https://openalex.org/W2738226240","https://openalex.org/W2738996585","https://openalex.org/W2741295441","https://openalex.org/W2742947407","https://openalex.org/W2743381431","https://openalex.org/W2754340109","https://openalex.org/W2756826236","https://openalex.org/W2758237641","https://openalex.org/W2765795464","https://openalex.org/W2787358858","https://openalex.org/W2798255267","https://openalex.org/W2884001105","https://openalex.org/W2892049826","https://openalex.org/W2898945353","https://openalex.org/W2903557836","https://openalex.org/W2910474428","https://openalex.org/W2949600457","https://openalex.org/W2949605076","https://openalex.org/W2949661992","https://openalex.org/W2949667497","https://openalex.org/W2950642167","https://openalex.org/W2950788030","https://openalex.org/W2950789693","https://openalex.org/W2950988471","https://openalex.org/W2951638509","https://openalex.org/W2952606116","https://openalex.org/W2953021746","https://openalex.org/W2953106684","https://openalex.org/W2953202221","https://openalex.org/W2953249127","https://openalex.org/W2962736495","https://openalex.org/W2962872206","https://openalex.org/W2962899390","https://openalex.org/W2962977206","https://openalex.org/W2963033241","https://openalex.org/W2963037989","https://openalex.org/W2963094133","https://openalex.org/W2963099939","https://openalex.org/W2963654998","https://openalex.org/W2963678509","https://openalex.org/W2963722165","https://openalex.org/W2963729424","https://openalex.org/W2963758027","https://openalex.org/W2963826370","https://openalex.org/W2963864421","https://openalex.org/W2963956866","https://openalex.org/W2964036701","https://openalex.org/W2964161785","https://openalex.org/W2967969632","https://openalex.org/W2981030070","https://openalex.org/W3101442004","https://openalex.org/W3106023961","https://openalex.org/W4205947740","https://openalex.org/W4245550013","https://openalex.org/W4293489810","https://openalex.org/W4295224294","https://openalex.org/W4297779075","https://openalex.org/W4299518610","https://openalex.org/W4301383669","https://openalex.org/W6600949241","https://openalex.org/W6632360823","https://openalex.org/W6639371816","https://openalex.org/W6674600207","https://openalex.org/W6676766825","https://openalex.org/W6679847170","https://openalex.org/W6682849425","https://openalex.org/W6684191040","https://openalex.org/W6684859321","https://openalex.org/W6685777803","https://openalex.org/W6691459498","https://openalex.org/W6692729736","https://openalex.org/W6697274609"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W3121791438"],"abstract_inverted_index":{"The":[0],"ever-increasing":[1],"complexity":[2],"of":[3,25,31,38,52,84,100,107],"robot":[4],"applications":[5],"induces":[6],"the":[7,39,56,62,82,85,95],"need":[8],"for":[9,55,81],"methods":[10],"to":[11,27,67,77,118],"approach":[12],"problems":[13],"with":[14],"no":[15],"(viable)":[16],"analytical":[17],"solution.":[18],"Deep":[19],"learning":[20],"(DL)":[21],"provides":[22],"a":[23,36,79,108,115],"set":[24],"tools":[26],"address":[28],"this":[29],"kind":[30],"problems.":[32,58],"This":[33],"survey":[34],"presents":[35],"categorization":[37],"major":[40],"challenges":[41],"in":[42,75],"robotics":[43],"that":[44],"leverage":[45],"DL":[46],"technologies":[47],"and":[48,65,89,98],"introduces":[49],"representative":[50],"examples":[51],"successful":[53],"solutions":[54],"described":[57],"We":[59],"also":[60],"consider":[61],"question":[63],"when":[64],"whether":[66],"use":[68],"modular,":[69],"monolithic":[70],"models":[71],"or":[72],"end-to-end":[73],"DL,":[74],"order":[76],"provide":[78],"guideline":[80],"selection":[83],"correct":[86],"model":[87],"structure":[88],"training":[90],"strategy.":[91],"By":[92],"doing":[93],"so,":[94],"current":[96],"role":[97],"adaptability":[99],"different":[101,104],"techniques":[102],"at":[103],"hierarchical":[105],"levels":[106],"robot-application":[109],"can":[110],"be":[111],"highlighted,":[112],"thus":[113],"providing":[114],"well-structured":[116],"basis":[117],"assist":[119],"future":[120],"approaches.":[121]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":39},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":28},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}