{"id":"https://openalex.org/W4404485248","doi":"https://doi.org/10.3389/frobt.2024.1450097","title":"Embodied intelligence for drumming; a reinforcement learning approach to drumming robots","display_name":"Embodied intelligence for drumming; a reinforcement learning approach to drumming robots","publication_year":2024,"publication_date":"2024-11-18","ids":{"openalex":"https://openalex.org/W4404485248","doi":"https://doi.org/10.3389/frobt.2024.1450097","pmid":"https://pubmed.ncbi.nlm.nih.gov/39624262"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2024.1450097","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1450097","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3389/frobt.2024.1450097","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000112280","display_name":"Seyed Mojtaba Karbasi","orcid":null},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":true,"raw_author_name":"Seyed Mojtaba Karbasi","raw_affiliation_strings":["Department of Informatics, University of Oslo, Oslo, Norway","RITMO Centre for Interdisciplinary Studies in Rhythm, Time and Motion, University of Oslo, Oslo, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]},{"raw_affiliation_string":"RITMO Centre for Interdisciplinary Studies in Rhythm, Time and Motion, University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074207804","display_name":"Alexander Refsum Jensenius","orcid":"https://orcid.org/0000-0001-6171-8743"},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Alexander Refsum Jensenius","raw_affiliation_strings":["Department of Musicology, University of Oslo, Oslo, Norway","RITMO Centre for Interdisciplinary Studies in Rhythm, Time and Motion, University of Oslo, Oslo, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Musicology, University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]},{"raw_affiliation_string":"RITMO Centre for Interdisciplinary Studies in Rhythm, Time and Motion, University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112229424","display_name":"Rolf Inge God\u00f8y","orcid":null},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Rolf Inge God\u00f8y","raw_affiliation_strings":["Department of Musicology, University of Oslo, Oslo, Norway","RITMO Centre for Interdisciplinary Studies in Rhythm, Time and Motion, University of Oslo, Oslo, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Musicology, University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]},{"raw_affiliation_string":"RITMO Centre for Interdisciplinary Studies in Rhythm, Time and Motion, University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071144214","display_name":"Jim T\u00f8rresen","orcid":"https://orcid.org/0000-0003-0556-0288"},"institutions":[{"id":"https://openalex.org/I184942183","display_name":"University of Oslo","ror":"https://ror.org/01xtthb56","country_code":"NO","type":"education","lineage":["https://openalex.org/I184942183"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Jim Torresen","raw_affiliation_strings":["Department of Informatics, University of Oslo, Oslo, Norway","RITMO Centre for Interdisciplinary Studies in Rhythm, Time and Motion, University of Oslo, Oslo, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Informatics, University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]},{"raw_affiliation_string":"RITMO Centre for Interdisciplinary Studies in Rhythm, Time and Motion, University of Oslo, Oslo, Norway","institution_ids":["https://openalex.org/I184942183"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5000112280"],"corresponding_institution_ids":["https://openalex.org/I184942183"],"apc_list":{"value":2125,"currency":"USD","value_usd":2125},"apc_paid":{"value":2125,"currency":"USD","value_usd":2125},"fwci":0.1643,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4550918,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"11","issue":null,"first_page":"1450097","last_page":"1450097"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11349","display_name":"Music Technology and Sound Studies","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11349","display_name":"Music Technology and Sound Studies","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9900000095367432,"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/T11309","display_name":"Music and Audio Processing","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8128376007080078},{"id":"https://openalex.org/keywords/midi","display_name":"MIDI","score":0.7356034517288208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7303539514541626},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.7194032669067383},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7173217535018921},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6003665924072266},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4838358461856842},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4568340480327606}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8128376007080078},{"id":"https://openalex.org/C8112396","wikidata":"https://www.wikidata.org/wiki/Q80535","display_name":"MIDI","level":2,"score":0.7356034517288208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7303539514541626},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.7194032669067383},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7173217535018921},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6003665924072266},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4838358461856842},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4568340480327606},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2024.1450097","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1450097","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:39624262","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39624262","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":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11609846","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11609846","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:f636229f97f047b4af48f8c35f642da7","is_oa":true,"landing_page_url":"https://doaj.org/article/f636229f97f047b4af48f8c35f642da7","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 11 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2024.1450097","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1450097","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323299","display_name":"Norges Forskningsr\u00e5d","ror":"https://ror.org/00epmv149"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1486707268","https://openalex.org/W1556695557","https://openalex.org/W1996893102","https://openalex.org/W2026684966","https://openalex.org/W2034806191","https://openalex.org/W2061868368","https://openalex.org/W2101524054","https://openalex.org/W2154393540","https://openalex.org/W2520246426","https://openalex.org/W2583908467","https://openalex.org/W2706236604","https://openalex.org/W2894853674","https://openalex.org/W2901736695","https://openalex.org/W2905119925","https://openalex.org/W2920993292","https://openalex.org/W2921579363","https://openalex.org/W2963864421","https://openalex.org/W3017220216","https://openalex.org/W3040408533","https://openalex.org/W3135048994","https://openalex.org/W3147869558","https://openalex.org/W3202717607","https://openalex.org/W3207845222","https://openalex.org/W3208245705","https://openalex.org/W4212793374","https://openalex.org/W4225139335","https://openalex.org/W4245550013","https://openalex.org/W4251857164","https://openalex.org/W4281293136","https://openalex.org/W4282938042","https://openalex.org/W4288289109","https://openalex.org/W4298443378","https://openalex.org/W4310929540","https://openalex.org/W4386761489","https://openalex.org/W6628902087","https://openalex.org/W6649663896","https://openalex.org/W6712094470","https://openalex.org/W6712668835","https://openalex.org/W6713475730","https://openalex.org/W6740305388","https://openalex.org/W6760430134","https://openalex.org/W6769942499","https://openalex.org/W6792852509","https://openalex.org/W6802940903","https://openalex.org/W6810126649","https://openalex.org/W6838122941","https://openalex.org/W6846643104","https://openalex.org/W6930317433","https://openalex.org/W6950293366"],"related_works":["https://openalex.org/W3133630535","https://openalex.org/W2398084541","https://openalex.org/W4242364395","https://openalex.org/W2386555541","https://openalex.org/W3042962886","https://openalex.org/W2920621887","https://openalex.org/W2187442448","https://openalex.org/W889314198","https://openalex.org/W4285031015","https://openalex.org/W2580099843"],"abstract_inverted_index":{"This":[0,146],"paper":[1],"investigates":[2],"the":[3,6,58,73,90,95,119,123,132,138,143,152],"potential":[4,153],"of":[5,67,80,89,97,154],"intrinsically":[7],"motivated":[8],"reinforcement":[9],"learning":[10,133],"(IMRL)":[11],"approach":[12],"for":[13,24,157],"robotic":[14,34],"drumming.":[15],"For":[16],"this":[17],"purpose,":[18],"we":[19],"implemented":[20],"an":[21,31],"IMRL-based":[22],"algorithm":[23,54,134],"a":[25,78],"drumming":[26,125],"robot":[27],"called":[28],"ZRob":[29,40],",":[30],"underactuated":[32],"two-DoF":[33],"arm":[35],"with":[36],"flexible":[37],"grippers.":[38],"Two":[39],"robots":[41,74],"were":[42],"instructed":[43],"to":[44,102,114,118],"play":[45],"rhythmic":[46,105],"patterns":[47,116,126],"derived":[48],"from":[49],"MIDI":[50,120],"files.":[51],"The":[52,87],"RL":[53],"is":[55],"based":[56],"on":[57,70],"deep":[59],"deterministic":[60],"policy":[61],"gradient":[62],"(DDPG)":[63],"method,":[64],"but":[65,135],"instead":[66],"relying":[68],"solely":[69],"extrinsic":[71,82,110],"rewards,":[72],"are":[75,127],"trained":[76],"using":[77,108],"combination":[79],"both":[81],"and":[83,142],"intrinsic":[84,98],"reward":[85,99,111],"signals.":[86],"results":[88],"training":[91],"experiments":[92],"show":[93],"that":[94],"utilization":[96],"can":[100],"lead":[101,113],"meaningful":[103],"novel":[104],"patterns,":[106],"while":[107],"only":[109,130],"would":[112],"predictable":[115],"identical":[117],"inputs.":[121],"Additionally,":[122],"observed":[124],"influenced":[128],"not":[129],"by":[131,137],"also":[136],"robots\u2019":[139],"physical":[140],"dynamics":[141],"drum\u2019s":[144],"constraints.":[145],"work":[147],"suggests":[148],"new":[149],"insights":[150],"into":[151],"embodied":[155],"intelligence":[156],"musical":[158],"performance.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
