{"id":"https://openalex.org/W2152621765","doi":"https://doi.org/10.1142/s021984361250017x","title":"AUTONOMOUS ONLINE LEARNING OF REACHING BEHAVIOR IN A HUMANOID ROBOT","display_name":"AUTONOMOUS ONLINE LEARNING OF REACHING BEHAVIOR IN A HUMANOID ROBOT","publication_year":2012,"publication_date":"2012-08-31","ids":{"openalex":"https://openalex.org/W2152621765","doi":"https://doi.org/10.1142/s021984361250017x","mag":"2152621765"},"language":"en","primary_location":{"id":"doi:10.1142/s021984361250017x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984361250017x","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/A5064713691","display_name":"Lorenzo Jamone","orcid":"https://orcid.org/0000-0002-1521-6168"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"LORENZO JAMONE","raw_affiliation_strings":["Department of Robotics Brain and Cognitive Sciences, Italian Institute of Technology, Via Morego 30, Genoa, 16163, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Brain and Cognitive Sciences, Italian Institute of Technology, Via Morego 30, Genoa, 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009034971","display_name":"Lorenzo Natale","orcid":"https://orcid.org/0000-0002-8777-5233"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"LORENZO NATALE","raw_affiliation_strings":["Department of Robotics Brain and Cognitive Sciences, Italian Institute of Technology, Via Morego 30, Genoa, 16163, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Brain and Cognitive Sciences, Italian Institute of Technology, Via Morego 30, Genoa, 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063532849","display_name":"Francesco Nori","orcid":"https://orcid.org/0000-0003-3763-6873"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"FRANCESCO NORI","raw_affiliation_strings":["Department of Robotics Brain and Cognitive Sciences, Italian Institute of Technology, Via Morego 30, Genoa, 16163, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics Brain and Cognitive Sciences, Italian Institute of Technology, Via Morego 30, Genoa, 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"GIORGIO METTA","raw_affiliation_strings":["DIST, University of Genoa Viale Causa 13, Genoa, 16145, Italy","Department of Robotics Brain and Cognitive Sciences, Italian Institute of Technology Via Morego 30, Genoa, 16163, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIST, University of Genoa Viale Causa 13, Genoa, 16145, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Robotics Brain and Cognitive Sciences, Italian Institute of Technology Via Morego 30, Genoa, 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002153617","display_name":"Giulio Sandini","orcid":"https://orcid.org/0000-0003-3324-985X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"GIULIO SANDINI","raw_affiliation_strings":["DIST, University of Genoa Viale Causa 13, Genoa, 16145, Italy","Department of Robotics Brain and Cognitive Sciences, Italian Institute of Technology Via Morego 30, Genoa, 16163, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DIST, University of Genoa Viale Causa 13, Genoa, 16145, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Robotics Brain and Cognitive Sciences, Italian Institute of Technology Via Morego 30, Genoa, 16163, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.9128,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.98693802,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"09","issue":"03","first_page":"1250017","last_page":"1250017"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9976000189781189,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8599914908409119},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.810275673866272},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6374011635780334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6055676341056824},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5452888011932373},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4894825220108032},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.48111647367477417},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.46792104840278625},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.4590645432472229},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.434231698513031},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41635096073150635},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4147648215293884},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20167484879493713}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8599914908409119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.810275673866272},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6374011635780334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6055676341056824},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5452888011932373},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4894825220108032},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48111647367477417},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.46792104840278625},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.4590645432472229},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.434231698513031},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41635096073150635},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4147648215293884},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20167484879493713},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"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/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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s021984361250017x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984361250017x","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:iris.unige.it:11567/583924","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/583924","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":56,"referenced_works":["https://openalex.org/W31475157","https://openalex.org/W163645253","https://openalex.org/W1498980749","https://openalex.org/W1533869956","https://openalex.org/W1581334392","https://openalex.org/W1602991810","https://openalex.org/W1851410152","https://openalex.org/W1889541222","https://openalex.org/W1939248332","https://openalex.org/W1967265872","https://openalex.org/W1993994691","https://openalex.org/W2001737341","https://openalex.org/W2007864935","https://openalex.org/W2014750496","https://openalex.org/W2032045505","https://openalex.org/W2035380930","https://openalex.org/W2040182782","https://openalex.org/W2050139274","https://openalex.org/W2058408366","https://openalex.org/W2059937495","https://openalex.org/W2062868579","https://openalex.org/W2066691972","https://openalex.org/W2087185089","https://openalex.org/W2093656143","https://openalex.org/W2095064203","https://openalex.org/W2099869876","https://openalex.org/W2100119371","https://openalex.org/W2100998525","https://openalex.org/W2101227360","https://openalex.org/W2114872772","https://openalex.org/W2120211971","https://openalex.org/W2123871098","https://openalex.org/W2129395477","https://openalex.org/W2129553141","https://openalex.org/W2134970101","https://openalex.org/W2136411537","https://openalex.org/W2140876054","https://openalex.org/W2144913215","https://openalex.org/W2150012741","https://openalex.org/W2153756422","https://openalex.org/W2154284891","https://openalex.org/W2163910628","https://openalex.org/W2165015855","https://openalex.org/W2165745738","https://openalex.org/W2167501464","https://openalex.org/W2167804690","https://openalex.org/W2168921921","https://openalex.org/W2263344904","https://openalex.org/W2539838946","https://openalex.org/W2540364312","https://openalex.org/W2622604310","https://openalex.org/W3088063282","https://openalex.org/W4206428659","https://openalex.org/W4239877614","https://openalex.org/W4256491851","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2651794802","https://openalex.org/W2090619052","https://openalex.org/W1996912299","https://openalex.org/W2051357145","https://openalex.org/W2169547041","https://openalex.org/W2164593921","https://openalex.org/W2568232068","https://openalex.org/W2098857032","https://openalex.org/W2152851068","https://openalex.org/W2160422000"],"abstract_inverted_index":{"In":[0],"this":[1,57],"paper":[2],"we":[3],"describe":[4],"an":[5,114],"autonomous":[6],"strategy":[7],"which":[8],"enables":[9],"a":[10,19,30,76,98],"humanoid":[11,33],"robot":[12,28,42,61,108],"to":[13,16,50,62,112],"learn":[14,63],"how":[15],"reach":[17],"for":[18,68],"visually":[20],"identified":[21],"object":[22],"in":[23],"the":[24,52,55,60,102,105,107],"3D":[25],"space.":[26,120],"The":[27,41,70],"is":[29,43,86,109],"22-DOF":[31],"upper-body":[32],"with":[34,45,54],"moving":[35],"eyes,":[36],"neck,":[37],"arm":[38],"and":[39,75,95],"hand.":[40],"bootstrapped":[44],"limited":[46],"a-priori":[47],"knowledge,":[48],"sufficient":[49],"start":[51],"interaction":[53,58],"environment;":[56],"allows":[59],"different":[64],"sensorimotor":[65],"mappings,":[66],"required":[67],"reaching.":[69],"arm-head":[71],"forward":[72],"kinematic":[73],"model":[74,79],"visuo-motor":[77],"inverse":[78],"are":[80],"learned":[81],"from":[82],"sensory":[83],"experience.":[84],"Learning":[85],"performed":[87],"purely":[88],"online":[89],"(without":[90],"any":[91],"separation":[92],"between":[93],"training":[94],"execution)":[96],"through":[97],"goal-directed":[99],"exploration":[100],"of":[101,117],"environment.":[103],"During":[104],"learning":[106],"also":[110],"able":[111],"build":[113],"internal":[115],"representation":[116],"its":[118],"reachable":[119]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
