{"id":"https://openalex.org/W2912997088","doi":"https://doi.org/10.1126/scirobotics.aav3123","title":"See, feel, act: Hierarchical learning for complex manipulation skills with multisensory fusion","display_name":"See, feel, act: Hierarchical learning for complex manipulation skills with multisensory fusion","publication_year":2019,"publication_date":"2019-01-30","ids":{"openalex":"https://openalex.org/W2912997088","doi":"https://doi.org/10.1126/scirobotics.aav3123","mag":"2912997088","pmid":"https://pubmed.ncbi.nlm.nih.gov/33137764"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aav3123","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aav3123","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/126656","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031338070","display_name":"Nima Fazeli","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"N. Fazeli","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007730967","display_name":"M. Oller","orcid":"https://orcid.org/0000-0001-7052-1061"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Oller","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100621605","display_name":"Jiajun Wu","orcid":"https://orcid.org/0000-0002-4176-343X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Wu","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002733135","display_name":"Zi\u2010Niu Wu","orcid":"https://orcid.org/0000-0002-4405-0865"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Z. Wu","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071093940","display_name":"Joshua B. Tenenbaum","orcid":"https://orcid.org/0000-0002-1925-2035"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. B. Tenenbaum","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100657503","display_name":"Alberto Rodr\u00edguez","orcid":"https://orcid.org/0000-0002-1119-4512"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Rodriguez","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5031338070"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":11.7926,"has_fulltext":false,"cited_by_count":124,"citation_normalized_percentile":{"value":0.98927283,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"4","issue":"26","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9703999757766724,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9399999976158142,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.5849478840827942},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5319764018058777},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5160248279571533},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.4472351372241974},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44478118419647217}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5849478840827942},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5319764018058777},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5160248279571533},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.4472351372241974},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44478118419647217},{"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/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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1126/scirobotics.aav3123","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aav3123","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:33137764","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/33137764","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null},{"id":"pmh:oai:dspace.mit.edu:1721.1/126656","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/126656","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/JournalArticle"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/126656","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/126656","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/JournalArticle"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3653250810","display_name":null,"funder_award_id":"1637753","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7201050375","display_name":null,"funder_award_id":"1231216","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1969090956","https://openalex.org/W1981578159","https://openalex.org/W2059100041","https://openalex.org/W2074936002","https://openalex.org/W2075673359","https://openalex.org/W2128677288","https://openalex.org/W2155007355","https://openalex.org/W2158782408","https://openalex.org/W2194775991","https://openalex.org/W2398598893","https://openalex.org/W2510159359","https://openalex.org/W2671811403","https://openalex.org/W2745868649","https://openalex.org/W2766398089","https://openalex.org/W2773721443","https://openalex.org/W2789839425","https://openalex.org/W2962736495","https://openalex.org/W2963150697","https://openalex.org/W2963654998","https://openalex.org/W2964161785","https://openalex.org/W3100789280","https://openalex.org/W4251009746","https://openalex.org/W6682849425"],"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":{"Humans":[0],"are":[1,78],"able":[2],"to":[3,13,43,101,113,123,184,207,217],"seamlessly":[4],"integrate":[5],"tactile":[6,59],"and":[7,15,40,84,105,148,158,169,189,212,235],"visual":[8,92,170],"stimuli":[9,77,93],"with":[10,91,142,205],"their":[11,27],"intuitions":[12],"explore":[14],"execute":[16],"complex":[17,117],"manipulation":[18],"skills.":[19],"They":[20],"not":[21,51],"only":[22,79],"see":[23],"but":[24],"also":[25],"feel":[26],"actions.":[28],"Most":[29],"current":[30,210],"robotic":[31,74],"learning":[32,42],"methodologies":[33,49],"exploit":[34,52],"recent":[35],"progress":[36],"in":[37,56,65,73,108,167],"computer":[38],"vision":[39],"deep":[41],"acquire":[44],"data-hungry":[45],"pixel-to-action":[46],"policies.":[47],"These":[48],"do":[50],"intuitive":[53],"latent":[54,156],"structure":[55],"physics":[57],"or":[58],"signatures.":[60],"Tactile":[61,76],"reasoning":[62,104],"is":[63,71,94],"omnipresent":[64],"the":[66,87,159,179,194,200,218,222,226,229,244],"animal":[67],"kingdom,":[68],"yet":[69],"it":[70,192],"underdeveloped":[72],"manipulation.":[75],"acquired":[80],"through":[81,172],"invasive":[82],"interaction,":[83],"interpretation":[85],"of":[86,164,228,243],"data":[88],"stream":[89],"together":[90],"challenging.":[95],"Here,":[96],"we":[97],"propose":[98],"a":[99,109,116,133,137,173,240],"methodology":[100],"emulate":[102],"hierarchical":[103,139],"multisensory":[106],"fusion":[107],"robot":[110,160,180,201],"that":[111,119],"learns":[112],"play":[114,221],"Jenga,":[115],"game":[118,128,214],"requires":[120],"physical":[121],"interaction":[122],"be":[124],"played":[125,193],"effectively.":[126],"The":[127],"mechanics":[129],"were":[130],"formulated":[131],"as":[132,191],"generative":[134],"process":[135],"using":[136],"temporal":[138],"Bayesian":[140],"model,":[141],"representations":[143],"for":[144],"both":[145,208],"behavioral":[146],"archetypes":[147],"noisy":[149],"block":[150,186],"states.":[151],"This":[152],"model":[153],"captured":[154],"descriptive":[155],"structures,":[157],"learned":[161],"probabilistic":[162],"models":[163],"these":[165],"relationships":[166],"force":[168],"domains":[171],"short":[174],"exploration":[175],"phase.":[176],"Once":[177],"learned,":[178],"used":[181],"this":[182],"representation":[183],"infer":[185],"behavior":[187,204],"patterns":[188],"states":[190],"game.":[195,223,245],"Using":[196],"its":[197,203,209,213,237],"inferred":[198],"beliefs,":[199],"adjusted":[202],"respect":[206],"actions":[211],"strategy,":[215],"similar":[216],"way":[219],"humans":[220],"We":[224],"evaluated":[225],"performance":[227],"approach":[230],"against":[231],"three":[232],"standard":[233],"baselines":[234],"show":[236],"fidelity":[238],"on":[239],"real-world":[241],"implementation":[242]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":24},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":8}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}