{"id":"https://openalex.org/W2134970101","doi":"https://doi.org/10.1142/s0219843605000569","title":"A FAST AND EFFICIENT MODEL FOR LEARNING TO REACH","display_name":"A FAST AND EFFICIENT MODEL FOR LEARNING TO REACH","publication_year":2005,"publication_date":"2005-12-01","ids":{"openalex":"https://openalex.org/W2134970101","doi":"https://doi.org/10.1142/s0219843605000569","mag":"2134970101"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843605000569","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843605000569","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid 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/A5031058944","display_name":"Ganghua Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"GANGHUA SUN","raw_affiliation_strings":["Computer Science Department, Yale University, New Haven, Connecticut 06511, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Yale University, New Haven, Connecticut 06511, USA","institution_ids":["https://openalex.org/I32971472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027635705","display_name":"Brian Scassellati","orcid":"https://orcid.org/0000-0002-7671-7759"},"institutions":[{"id":"https://openalex.org/I32971472","display_name":"Yale University","ror":"https://ror.org/03v76x132","country_code":"US","type":"education","lineage":["https://openalex.org/I32971472"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"BRIAN SCASSELLATI","raw_affiliation_strings":["Computer Science Department, Yale University, New Haven, Connecticut 06511, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Yale University, New Haven, Connecticut 06511, USA","institution_ids":["https://openalex.org/I32971472"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5031058944"],"corresponding_institution_ids":["https://openalex.org/I32971472"],"apc_list":null,"apc_paid":null,"fwci":1.2898,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.78868436,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"02","issue":"04","first_page":"391","last_page":"413"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9889000058174133,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9718000292778015,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8804894685745239},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6507137417793274},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.636101484298706},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6125183701515198},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.568077027797699},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.5487953424453735},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4653775095939636},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3897787928581238}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8804894685745239},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6507137417793274},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.636101484298706},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6125183701515198},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.568077027797699},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.5487953424453735},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4653775095939636},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3897787928581238},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s0219843605000569","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843605000569","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.132.2437","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.132.2437","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.yale.edu/~scaz/papers/IJHR-05-Sun.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8299999833106995}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1482458494","https://openalex.org/W1554663460","https://openalex.org/W1571121358","https://openalex.org/W1885639605","https://openalex.org/W1892385946","https://openalex.org/W1898014694","https://openalex.org/W1956636948","https://openalex.org/W1967121925","https://openalex.org/W1981025032","https://openalex.org/W1982442957","https://openalex.org/W2003664523","https://openalex.org/W2015003349","https://openalex.org/W2029776687","https://openalex.org/W2033618917","https://openalex.org/W2043968544","https://openalex.org/W2049800937","https://openalex.org/W2059003347","https://openalex.org/W2064527819","https://openalex.org/W2067440245","https://openalex.org/W2070653320","https://openalex.org/W2081817157","https://openalex.org/W2087629825","https://openalex.org/W2089745666","https://openalex.org/W2100790457","https://openalex.org/W2102305335","https://openalex.org/W2113442785","https://openalex.org/W2117451014","https://openalex.org/W2124776405","https://openalex.org/W2132558143","https://openalex.org/W2137069749","https://openalex.org/W2143956139","https://openalex.org/W2148223111","https://openalex.org/W2150012741","https://openalex.org/W2155399784","https://openalex.org/W2156909104","https://openalex.org/W2179427518","https://openalex.org/W2233184987","https://openalex.org/W2286812955","https://openalex.org/W2315591806","https://openalex.org/W2317215606","https://openalex.org/W2539916161","https://openalex.org/W2611684114","https://openalex.org/W2737153679","https://openalex.org/W3088063282","https://openalex.org/W4205686602","https://openalex.org/W4210890186","https://openalex.org/W4230674625","https://openalex.org/W4239127880","https://openalex.org/W4388249735"],"related_works":["https://openalex.org/W2097280758","https://openalex.org/W2148560196","https://openalex.org/W2100946774","https://openalex.org/W2124193644","https://openalex.org/W2961085424","https://openalex.org/W2090619052","https://openalex.org/W2034272775","https://openalex.org/W2203976765","https://openalex.org/W2386983245","https://openalex.org/W1937273724"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,8,26,65],"self-supervised":[4],"model":[5,29,38,75,89],"which":[6],"enables":[7,48],"humanoid":[9],"robot":[10],"to":[11,13,15,24,78],"learn":[12,25],"reach":[14],"visual":[16],"targets.":[17],"Only":[18],"400":[19],"training":[20],"samples":[21],"are":[22],"used":[23],"forward":[27,37],"kinematic":[28],"of":[30,68,73,87],"the":[31,61,74,83,88],"six":[32],"degree-of-freedom":[33],"(DOF)":[34],"arm.":[35],"The":[36,85],"is":[39,76,95],"represented":[40],"compactly":[41],"with":[42,90],"just":[43],"150":[44],"hidden":[45],"neurons":[46],"and":[47,64,92],"high":[49],"accuracy":[50],"reaching":[51,69],"in":[52,82],"real":[53],"time.":[54],"We":[55],"provide":[56],"an":[57],"optimization":[58],"process":[59],"for":[60],"learning":[62],"parameters":[63],"careful":[66],"analysis":[67],"errors.":[70],"An":[71],"extension":[72],"presented":[77],"address":[79],"additional":[80],"DOFs":[81],"neck.":[84],"consistency":[86],"physiological":[91],"psychological":[93],"observations":[94],"elaborated.":[96]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
