{"id":"https://openalex.org/W2209864095","doi":"https://doi.org/10.1109/urai.2015.7358908","title":"Optimization of fish-like locomotion using hierarchical reinforcement learning","display_name":"Optimization of fish-like locomotion using hierarchical reinforcement learning","publication_year":2015,"publication_date":"2015-10-01","ids":{"openalex":"https://openalex.org/W2209864095","doi":"https://doi.org/10.1109/urai.2015.7358908","mag":"2209864095"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2015.7358908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358908","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-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/A5063823674","display_name":"Jeonghyeon Wang","orcid":"https://orcid.org/0000-0002-4053-2306"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jeonghyeon Wang","raw_affiliation_strings":["Robotics Program, Ocean Robotics & Intelligence (ORIN) Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Program, Ocean Robotics & Intelligence (ORIN) Laboratory","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054727482","display_name":"Jinwhan Kim","orcid":"https://orcid.org/0000-0001-6886-2449"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jinwhan Kim","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, Daejeon, Korea","Robotics Program, Ocean Robotics & Intelligence (ORIN) Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Robotics Program, Ocean Robotics & Intelligence (ORIN) Laboratory","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.4204,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.97495163,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"13","issue":null,"first_page":"465","last_page":"469"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987999796867371,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9825999736785889,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/flapping","display_name":"Flapping","score":0.9144003391265869},{"id":"https://openalex.org/keywords/fish-locomotion","display_name":"Fish locomotion","score":0.9120650291442871},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7285340428352356},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6026774048805237},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.5972585678100586},{"id":"https://openalex.org/keywords/fin","display_name":"Fin","score":0.5852041840553284},{"id":"https://openalex.org/keywords/fish-actinopterygii","display_name":"Fish <Actinopterygii>","score":0.5152392983436584},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.45266398787498474},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.44232454895973206},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4364425837993622},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.4256516396999359},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3501036465167999},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.199235737323761},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19839170575141907},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.16146636009216309},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10934710502624512},{"id":"https://openalex.org/keywords/wing","display_name":"Wing","score":0.10071051120758057},{"id":"https://openalex.org/keywords/fishery","display_name":"Fishery","score":0.08925476670265198},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.07782775163650513}],"concepts":[{"id":"https://openalex.org/C2780444116","wikidata":"https://www.wikidata.org/wiki/Q6057443","display_name":"Flapping","level":3,"score":0.9144003391265869},{"id":"https://openalex.org/C63460653","wikidata":"https://www.wikidata.org/wiki/Q5454646","display_name":"Fish locomotion","level":3,"score":0.9120650291442871},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7285340428352356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6026774048805237},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.5972585678100586},{"id":"https://openalex.org/C91721477","wikidata":"https://www.wikidata.org/wiki/Q778612","display_name":"Fin","level":2,"score":0.5852041840553284},{"id":"https://openalex.org/C2909208804","wikidata":"https://www.wikidata.org/wiki/Q127282","display_name":"Fish <Actinopterygii>","level":2,"score":0.5152392983436584},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.45266398787498474},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.44232454895973206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4364425837993622},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.4256516396999359},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3501036465167999},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.199235737323761},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19839170575141907},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.16146636009216309},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10934710502624512},{"id":"https://openalex.org/C97257150","wikidata":"https://www.wikidata.org/wiki/Q161358","display_name":"Wing","level":2,"score":0.10071051120758057},{"id":"https://openalex.org/C505870484","wikidata":"https://www.wikidata.org/wiki/Q180538","display_name":"Fishery","level":1,"score":0.08925476670265198},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.07782775163650513},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2015.7358908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358908","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.8399999737739563,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W122502465","https://openalex.org/W1494114146","https://openalex.org/W2014546372","https://openalex.org/W2102984755","https://openalex.org/W2109910161","https://openalex.org/W2121517924","https://openalex.org/W2158548602","https://openalex.org/W3011120880","https://openalex.org/W6629438869","https://openalex.org/W6683443546","https://openalex.org/W6775686901"],"related_works":["https://openalex.org/W2765694635","https://openalex.org/W2312393411","https://openalex.org/W2578325696","https://openalex.org/W2209864095","https://openalex.org/W2131296515","https://openalex.org/W4387106897","https://openalex.org/W2043673192","https://openalex.org/W2094476460","https://openalex.org/W2046566731","https://openalex.org/W1986222652"],"abstract_inverted_index":{"With":[0],"an":[1],"interest":[2],"in":[3,74,94,108],"advanced":[4],"marine":[5],"propulsion":[6],"systems,":[7],"much":[8],"research":[9],"has":[10],"been":[11],"done":[12],"on":[13,32],"mimicking":[14],"fish-like":[15,29],"locomotion":[16,30],"using":[17],"flapping":[18,59,78,85],"fins.":[19],"This":[20],"study":[21],"aims":[22],"to":[23,52],"optimize":[24],"the":[25,54,60,66,77,84,96,101],"swimming":[26,68],"pattern":[27,69],"of":[28,65,76,88],"based":[31],"hierarchical":[33,102],"reinforcement":[34,103],"learning.":[35],"A":[36],"simplified":[37],"carangiform":[38],"fish":[39],"model":[40],"is":[41,48,70,92,106],"employed":[42],"and":[43,72,100],"a":[44,110,114],"segmented":[45],"tail":[46,61],"motion":[47],"learned":[49],"by":[50,58],"Q-learning":[51],"maximize":[53],"average":[55],"forward":[56,97],"velocity":[57,99],"fin.":[62],"The":[63,80],"performance":[64],"self-learned":[67],"verified":[71],"analyzed":[73],"terms":[75],"efficiency.":[79],"results":[81],"show":[82],"that":[83],"angle":[86],"limit":[87],"approximately":[89],"35":[90],"degrees":[91],"best":[93],"maximizing":[95],"moving":[98],"learning":[104],"approach":[105],"effective":[107],"providing":[109],"reasonable":[111],"solution":[112],"for":[113],"large-scale":[115],"problem.":[116]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}