{"id":"https://openalex.org/W2050176043","doi":"https://doi.org/10.1515/pjbr-2015-0002","title":"Open-source benchmarking for learned reaching motion generation in robotics","display_name":"Open-source benchmarking for learned reaching motion generation in robotics","publication_year":2015,"publication_date":"2015-01-10","ids":{"openalex":"https://openalex.org/W2050176043","doi":"https://doi.org/10.1515/pjbr-2015-0002","mag":"2050176043"},"language":"en","primary_location":{"id":"doi:10.1515/pjbr-2015-0002","is_oa":true,"landing_page_url":"https://doi.org/10.1515/pjbr-2015-0002","pdf_url":"https://www.degruyter.com/document/doi/10.1515/pjbr-2015-0002/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.degruyter.com/document/doi/10.1515/pjbr-2015-0002/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013590754","display_name":"Andre Lemme","orcid":null},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"A. Lemme","raw_affiliation_strings":["Research Institute for Cognition and Robotics (CoR-Lab), Bielefeld University - Germany"],"affiliations":[{"raw_affiliation_string":"Research Institute for Cognition and Robotics (CoR-Lab), Bielefeld University - Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016876498","display_name":"Yaron Meirovitch","orcid":"https://orcid.org/0000-0002-1946-8012"},"institutions":[{"id":"https://openalex.org/I53964585","display_name":"Weizmann Institute of Science","ror":"https://ror.org/0316ej306","country_code":"IL","type":"education","lineage":["https://openalex.org/I53964585"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Y. Meirovitch","raw_affiliation_strings":["Weizmann Institute of Science (WIS), Israel"],"affiliations":[{"raw_affiliation_string":"Weizmann Institute of Science (WIS), Israel","institution_ids":["https://openalex.org/I53964585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056990702","display_name":"Mohammad S. M. Khansari-Zadeh","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"M. Khansari-Zadeh","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012529469","display_name":"Tamar Flash","orcid":"https://orcid.org/0000-0002-5142-8942"},"institutions":[{"id":"https://openalex.org/I53964585","display_name":"Weizmann Institute of Science","ror":"https://ror.org/0316ej306","country_code":"IL","type":"education","lineage":["https://openalex.org/I53964585"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"T. Flash","raw_affiliation_strings":["Weizmann Institute of Science (WIS), Israel"],"affiliations":[{"raw_affiliation_string":"Weizmann Institute of Science (WIS), Israel","institution_ids":["https://openalex.org/I53964585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"A. Billard","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland"],"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085055595","display_name":"Jochen J. Steil","orcid":"https://orcid.org/0000-0002-6738-9933"},"institutions":[{"id":"https://openalex.org/I20121455","display_name":"Bielefeld University","ror":"https://ror.org/02hpadn98","country_code":"DE","type":"education","lineage":["https://openalex.org/I20121455"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J. J. Steil","raw_affiliation_strings":["Research Institute for Cognition and Robotics (CoR-Lab), Bielefeld University - Germany"],"affiliations":[{"raw_affiliation_string":"Research Institute for Cognition and Robotics (CoR-Lab), Bielefeld University - Germany","institution_ids":["https://openalex.org/I20121455"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5013590754"],"corresponding_institution_ids":["https://openalex.org/I20121455"],"apc_list":{"value":1000,"currency":"EUR","value_usd":1078},"apc_paid":{"value":1000,"currency":"EUR","value_usd":1078},"fwci":2.6928,"has_fulltext":true,"cited_by_count":33,"citation_normalized_percentile":{"value":0.90630165,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"6","issue":"1","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":0.9995999932289124,"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":0.9995999932289124,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9966999888420105,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9771000146865845,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.7811640501022339},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.705314040184021},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6947000026702881},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6820269227027893},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5797264575958252},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5583109855651855},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5182666778564453},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5164504051208496},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5029239058494568},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4340658187866211},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38110417127609253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10351923108100891},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.06498470902442932}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.7811640501022339},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.705314040184021},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6947000026702881},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6820269227027893},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5797264575958252},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5583109855651855},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5182666778564453},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5164504051208496},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5029239058494568},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4340658187866211},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38110417127609253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10351923108100891},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.06498470902442932},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1515/pjbr-2015-0002","is_oa":true,"landing_page_url":"https://doi.org/10.1515/pjbr-2015-0002","pdf_url":"https://www.degruyter.com/document/doi/10.1515/pjbr-2015-0002/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:db6bf670bf2c439a845de1584d69ffd6","is_oa":true,"landing_page_url":"https://doaj.org/article/db6bf670bf2c439a845de1584d69ffd6","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Paladyn, Vol 6, Iss 1 (2015)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1515/pjbr-2015-0002","is_oa":true,"landing_page_url":"https://doi.org/10.1515/pjbr-2015-0002","pdf_url":"https://www.degruyter.com/document/doi/10.1515/pjbr-2015-0002/pdf","source":{"id":"https://openalex.org/S4210226531","display_name":"Paladyn Journal of Behavioral Robotics","issn_l":"2081-4836","issn":["2081-4836"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320322","host_organization_name":"De Gruyter Open","host_organization_lineage":["https://openalex.org/P4310320322","https://openalex.org/P4310313990"],"host_organization_lineage_names":["De Gruyter Open","De Gruyter"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Paladyn, Journal of Behavioral Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2050176043.pdf","grobid_xml":"https://content.openalex.org/works/W2050176043.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W1562434331","https://openalex.org/W1851172369","https://openalex.org/W1885639605","https://openalex.org/W1892385946","https://openalex.org/W1922715780","https://openalex.org/W1952489873","https://openalex.org/W1956636948","https://openalex.org/W1965421192","https://openalex.org/W1986014385","https://openalex.org/W1990654347","https://openalex.org/W1991667713","https://openalex.org/W2001709653","https://openalex.org/W2008886640","https://openalex.org/W2024175497","https://openalex.org/W2027457629","https://openalex.org/W2030066185","https://openalex.org/W2041563141","https://openalex.org/W2046028134","https://openalex.org/W2053809049","https://openalex.org/W2059909808","https://openalex.org/W2066202893","https://openalex.org/W2067977053","https://openalex.org/W2083552623","https://openalex.org/W2084402145","https://openalex.org/W2085137800","https://openalex.org/W2085444192","https://openalex.org/W2089745666","https://openalex.org/W2091542197","https://openalex.org/W2101143083","https://openalex.org/W2103038421","https://openalex.org/W2106936397","https://openalex.org/W2107650070","https://openalex.org/W2113698995","https://openalex.org/W2116226448","https://openalex.org/W2129202194","https://openalex.org/W2136719407","https://openalex.org/W2137395451","https://openalex.org/W2140379476","https://openalex.org/W2141341458","https://openalex.org/W2149454052","https://openalex.org/W2153069809","https://openalex.org/W2155339399","https://openalex.org/W2159323809","https://openalex.org/W2161395589","https://openalex.org/W2164007032","https://openalex.org/W2324128844","https://openalex.org/W6638932010","https://openalex.org/W6640909614","https://openalex.org/W6652824112","https://openalex.org/W6671285988","https://openalex.org/W6682687607"],"related_works":["https://openalex.org/W4238897586","https://openalex.org/W435179959","https://openalex.org/W2619091065","https://openalex.org/W2059640416","https://openalex.org/W1490753184","https://openalex.org/W2284465472","https://openalex.org/W2291782699","https://openalex.org/W4399363378","https://openalex.org/W4323323165","https://openalex.org/W2745033168"],"abstract_inverted_index":{"Abstract":[0],"This":[1,78],"paper":[2],"introduces":[3],"a":[4,44,71,111],"benchmark":[5,128],"framework":[6,100],"to":[7,67,82,131,146],"evaluate":[8],"the":[9,54,75,88,92,96,133,142,144,148],"performance":[10,26],"of":[11,49,113,137],"reaching":[12],"motion":[13,63,120],"generation":[14,64,121],"approaches":[15],"that":[16],"learn":[17],"from":[18,95,110],"demonstrated":[19],"examples.":[20],"The":[21,99,127],"system":[22],"implements":[23],"ten":[24],"different":[25,151],"measures":[27],"for":[28],"typical":[29],"generalization":[30,125],"tasks":[31],"in":[32],"robotics":[33],"using":[34],"open":[35],"source":[36],"MATLAB":[37],"software.":[38],"Systematic":[39],"comparisons":[40],"are":[41],"based":[42],"on":[43,102],"default":[45],"training":[46],"data":[47],"set":[48,112],"human":[50],"motions,":[51],"which":[52,104],"specify":[53],"respective":[55],"ground":[56],"truth.":[57],"In":[58],"technical":[59],"terms,":[60],"an":[61],"evaluated":[62],"method":[65,89],"needs":[66],"compute":[68],"velocities,":[69],"given":[70],"state":[72],"provided":[73,97],"by":[74,87,108],"simulation":[76],"system.":[77],"however":[79],"is":[80,85,105],"agnostic":[81],"how":[83,91],"this":[84],"done":[86],"or":[90],"methods":[93],"learns":[94],"demonstrations.":[98],"focuses":[101],"robustness,":[103],"tested":[106],"statistically":[107],"sampling":[109],"perturbation":[114],"scenarios.":[115],"These":[116],"perturbations":[117],"interfere":[118],"with":[119],"and":[122,135],"challenge":[123],"its":[124],"ability.":[126],"thus":[129],"helps":[130],"identify":[132],"strengths":[134],"weaknesses":[136],"competing":[138],"approaches,":[139],"while":[140],"allowing":[141],"user":[143],"opportunity":[145],"configure":[147],"weightings":[149],"between":[150],"measures.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}