{"id":"https://openalex.org/W2126218832","doi":"https://doi.org/10.1109/cira.1997.613848","title":"Prior structure for online learning","display_name":"Prior structure for online learning","publication_year":2002,"publication_date":"2002-11-22","ids":{"openalex":"https://openalex.org/W2126218832","doi":"https://doi.org/10.1109/cira.1997.613848","mag":"2126218832"},"language":"en","primary_location":{"id":"doi:10.1109/cira.1997.613848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.1997.613848","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'","raw_type":"proceedings-article"},"type":"conference-paper","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/A5047174917","display_name":"Manfred Huber","orcid":"https://orcid.org/0009-0007-0294-9147"},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Huber","raw_affiliation_strings":["Laboratory for Perceptual Robotics, Department of Computer Science, University of Massachusetts, Amherst, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Perceptual Robotics, Department of Computer Science, University of Massachusetts, Amherst, MA, USA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111628193","display_name":"Roderic A. Grupen","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R.A. Grupen","raw_affiliation_strings":["Laboratory for Perceptual Robotics, Department of Computer Science, University of Massachusetts, Amherst, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Perceptual Robotics, Department of Computer Science, University of Massachusetts, Amherst, MA, USA","institution_ids":["https://openalex.org/I24603500"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I24603500"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"124","last_page":"129"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9988999962806702,"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"}},"topics":[{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T11125","display_name":"Petri Nets in System Modeling","score":0.9951000213623047,"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"}},{"id":"https://openalex.org/T11450","display_name":"Model-Driven Software Engineering Techniques","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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":0.7839885950088501},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.6195223331451416},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5531609058380127},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5174649357795715},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5017378330230713},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4725323021411896},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4437797963619232},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.43465298414230347},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.4333811402320862},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.416610985994339},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40374937653541565},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09362763166427612}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7839885950088501},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.6195223331451416},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5531609058380127},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5174649357795715},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5017378330230713},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4725323021411896},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4437797963619232},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.43465298414230347},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.4333811402320862},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.416610985994339},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40374937653541565},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09362763166427612},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/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/cira.1997.613848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cira.1997.613848","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W111598635","https://openalex.org/W185726777","https://openalex.org/W206396706","https://openalex.org/W1507591516","https://openalex.org/W1514137706","https://openalex.org/W1595483645","https://openalex.org/W1979071892","https://openalex.org/W2039651830","https://openalex.org/W2048226872","https://openalex.org/W2059057465","https://openalex.org/W2091565802","https://openalex.org/W2097771979","https://openalex.org/W2097856935","https://openalex.org/W2101543479","https://openalex.org/W2115329200","https://openalex.org/W2117341272","https://openalex.org/W2127290018","https://openalex.org/W2131736589","https://openalex.org/W2149276032","https://openalex.org/W2149398074","https://openalex.org/W2164596469","https://openalex.org/W2419990545","https://openalex.org/W2622020362","https://openalex.org/W3011120880","https://openalex.org/W4212774754","https://openalex.org/W4237637693","https://openalex.org/W4245108548","https://openalex.org/W4299507991","https://openalex.org/W6681745991","https://openalex.org/W6682178038"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W2024136090","https://openalex.org/W2586732548","https://openalex.org/W3049728571","https://openalex.org/W2964765435","https://openalex.org/W20361778"],"abstract_inverted_index":{"Online":[0],"learning":[1,30,44,133],"and":[2,16,25,67,123,139],"adaptation":[3],"capabilities":[4],"are":[5],"important":[6],"for":[7,42,116],"robot":[8],"systems":[9],"which":[10,59,91,126],"operate":[11],"in":[12,22,45,108],"the":[13,23,26,52,62,65,79,103,109,117,144],"real":[14],"world":[15],"have":[17],"to":[18,20,130,140],"react":[19],"changes":[21],"environment":[24],"task":[27],"requirements.":[28],"Such":[29],"schemes,":[31],"however":[32],"often":[33],"suffer":[34],"from":[35,72],"problems":[36],"of":[37,64,75,98,106,111,120,146],"complexity,":[38],"rendering":[39],"them":[40],"intractable":[41],"online":[43],"complex":[46],"domains.":[47],"To":[48,135],"address":[49],"these":[50],"problems,":[51],"approach":[53],"presented":[54],"here":[55],"introduces":[56],"prior":[57],"structure":[58,138],"drastically":[60],"reduces":[61],"size":[63],"state":[66],"action":[68],"spaces.":[69],"Deriving":[70],"control":[71,77],"a":[73,86,114,147,151],"set":[74],"predictable":[76],"laws,":[78],"system":[80,90,95],"is":[81,155],"modeled":[82],"more":[83],"abstractly":[84],"as":[85],"discrete":[87],"event":[88],"dynamic":[89],"represents":[92],"all":[93],"possible":[94],"behavior.":[96],"Use":[97],"this":[99,137],"framework":[100],"also":[101],"permits":[102],"automatic":[104],"incorporation":[105],"knowledge":[107],"form":[110],"constraints,":[112],"providing":[113],"basis":[115],"explicit":[118],"representation":[119],"safety":[121],"conditions":[122],"\"maturational\"":[124],"effects":[125],"can":[127],"be":[128],"used":[129],"further":[131],"enhance":[132],"performance.":[134],"illustrate":[136],"show":[141],"its":[142],"applicability,":[143],"acquisition":[145],"rotation":[148],"gait":[149],"on":[150],"four-legged":[152],"walking":[153],"platform":[154],"demonstrated.":[156]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
