{"id":"https://openalex.org/W4412856173","doi":"https://doi.org/10.3389/frobt.2025.1598968","title":"The power of combined modalities in interactive robot learning","display_name":"The power of combined modalities in interactive robot learning","publication_year":2025,"publication_date":"2025-07-17","ids":{"openalex":"https://openalex.org/W4412856173","doi":"https://doi.org/10.3389/frobt.2025.1598968","pmid":"https://pubmed.ncbi.nlm.nih.gov/40747445"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2025.1598968","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1598968","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.2025.1598968","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031947483","display_name":"Helen Beierling","orcid":"https://orcid.org/0000-0003-4159-6608"},"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":"Helen Beierling","raw_affiliation_strings":["Interactive Robotics in Medicine and Care, Medical School OWL, Bielefeld University, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Robotics in Medicine and Care, Medical School OWL, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119164910","display_name":"Robin Beierling","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":false,"raw_author_name":"Robin Beierling","raw_affiliation_strings":["Interactive Robotics in Medicine and Care, Medical School OWL, Bielefeld University, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Robotics in Medicine and Care, Medical School OWL, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044783914","display_name":"Anna-Lisa Vollmer","orcid":"https://orcid.org/0000-0002-9378-7249"},"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":"Anna-Lisa Vollmer","raw_affiliation_strings":["Interactive Robotics in Medicine and Care, Medical School OWL, Bielefeld University, Bielefeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Interactive Robotics in Medicine and Care, Medical School OWL, Bielefeld University, Bielefeld, Germany","institution_ids":["https://openalex.org/I20121455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5031947483"],"corresponding_institution_ids":["https://openalex.org/I20121455"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":2245,"currency":"EUR","value_usd":2421},"fwci":2.0776,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.89228249,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"1598968","last_page":"1598968"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9966999888420105,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9966999888420105,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9847999811172485,"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/T12128","display_name":"AI in Service Interactions","score":0.9032999873161316,"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/modalities","display_name":"Modalities","score":0.9405021667480469},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.8000296354293823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.742997944355011},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5931711792945862},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5536452531814575},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5016539096832275},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4870210289955139},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.47431015968322754},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.4198117256164551}],"concepts":[{"id":"https://openalex.org/C2779903281","wikidata":"https://www.wikidata.org/wiki/Q6888026","display_name":"Modalities","level":2,"score":0.9405021667480469},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.8000296354293823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.742997944355011},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5931711792945862},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5536452531814575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5016539096832275},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4870210289955139},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47431015968322754},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.4198117256164551},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/frobt.2025.1598968","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1598968","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:40747445","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40747445","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:doaj.org/article:041264879dd140948adfd4ec3174fae2","is_oa":true,"landing_page_url":"https://doaj.org/article/041264879dd140948adfd4ec3174fae2","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 12 (2025)","raw_type":"article"},{"id":"pmh:oai:europepmc.org:11125252","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/12312635","pdf_url":null,"source":{"id":"https://openalex.org/S4306400806","display_name":"Europe PMC (PubMed Central)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1303153112","host_organization_name":"European Bioinformatics Institute","host_organization_lineage":["https://openalex.org/I1303153112"],"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":null,"raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/frobt.2025.1598968","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2025.1598968","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W19399978","https://openalex.org/W1970209023","https://openalex.org/W1995599110","https://openalex.org/W2056559587","https://openalex.org/W2108503630","https://openalex.org/W2110064869","https://openalex.org/W2111362669","https://openalex.org/W2116165953","https://openalex.org/W2118756286","https://openalex.org/W2119410612","https://openalex.org/W2126861176","https://openalex.org/W2135504505","https://openalex.org/W2140801763","https://openalex.org/W2145837161","https://openalex.org/W2154018708","https://openalex.org/W2165391514","https://openalex.org/W2294845706","https://openalex.org/W2529363943","https://openalex.org/W2807366678","https://openalex.org/W2898227854","https://openalex.org/W2914304175","https://openalex.org/W2922867488","https://openalex.org/W2944766483","https://openalex.org/W2991575677","https://openalex.org/W2994446013","https://openalex.org/W3006303816","https://openalex.org/W3018036994","https://openalex.org/W3039116038","https://openalex.org/W3087055389","https://openalex.org/W3129322645","https://openalex.org/W3157893055","https://openalex.org/W3197594072","https://openalex.org/W3205292576","https://openalex.org/W4226069291","https://openalex.org/W4285162787","https://openalex.org/W4312361190","https://openalex.org/W4316662143","https://openalex.org/W4365143376","https://openalex.org/W4378746725","https://openalex.org/W4385436553","https://openalex.org/W4387995700","https://openalex.org/W4390215524","https://openalex.org/W6604963999","https://openalex.org/W6680971464","https://openalex.org/W6697368666","https://openalex.org/W6749138962","https://openalex.org/W6761908843","https://openalex.org/W6774122581","https://openalex.org/W6797024940","https://openalex.org/W6854684922"],"related_works":["https://openalex.org/W73545470","https://openalex.org/W4224266612","https://openalex.org/W2383394264","https://openalex.org/W4320153225","https://openalex.org/W4293261942","https://openalex.org/W3125968744","https://openalex.org/W203959209","https://openalex.org/W2004831463","https://openalex.org/W2110287964","https://openalex.org/W2167701463"],"abstract_inverted_index":{"With":[0],"the":[1,121,131,136,206,213,221,224,252,274],"continuous":[2],"advancement":[3],"of":[4,113,223,276],"Artificial":[5],"intelligence":[6],"(AI),":[7],"robots":[8],"as":[9,67,100],"embodied":[10],"intelligent":[11],"systems":[12,38],"are":[13,32],"increasingly":[14],"becoming":[15],"more":[16,39],"present":[17],"in":[18,24,84,161,197,246,258,280],"daily":[19],"life":[20],"like":[21],"households":[22],"or":[23,70],"elderly":[25],"care.":[26],"As":[27],"a":[28,97,111,155,174,247,263],"result,":[29],"lay":[30],"users":[31,82,90,118,148,219],"required":[33],"to":[34,44,56,103,119,133,272],"interact":[35],"with":[36,149,218,262],"these":[37,187],"frequently":[40],"and":[41,129,200,228,250],"teach":[42],"them":[43],"meet":[45],"individual":[46],"needs.":[47],"Human-in-the-loop":[48],"reinforcement":[49],"learning":[50,75,164,190,205,233,244,260],"(HIL-RL)":[51],"offers":[52],"an":[53,166],"effective":[54],"way":[55],"realize":[57],"this":[58,269],"teaching.":[59],"Studies":[60],"show":[61,195,210],"that":[62,89,106,123,176,211,238],"various":[63],"feedback":[64,115,152,159,179,214,240,278],"modalities,":[65],"such":[66,99],"preference,":[68],"guidance,":[69],"demonstration":[71],"can":[72,242],"significantly":[73],"enhance":[74],"success,":[76],"though":[77],"their":[78,126,140],"suitability":[79],"varies":[80],"among":[81],"expertise":[83],"robotics.":[85],"Research":[86],"also":[87],"indicates":[88],"apply":[91],"different":[92,114],"scaffolding":[93],"strategies":[94],"when":[95],"teaching":[96,127],"robot,":[98],"motivating":[101],"it":[102],"explore":[104],"actions":[105],"promise":[107],"success.":[108,234],"Thus,":[109,268],"providing":[110],"collection":[112],"modalities":[116,160,203,215,225,230,241,279],"allows":[117,130],"choose":[120],"method":[122],"best":[124],"suits":[125],"strategy,":[128],"system":[132],"individually":[134],"support":[135,243],"user":[137,193,266],"based":[138],"on":[139,185,265],"interaction":[141],"behavior.":[142],"However,":[143],"most":[144],"state-of-the-art":[145],"approaches":[146],"provide":[147],"only":[150],"one":[151],"modality":[153],"at":[154],"time.":[156],"Investigating":[157],"combined":[158,177,277],"interactive":[162,281],"robot":[163,259],"remains":[165],"open":[167],"challenge.":[168],"To":[169],"address":[170],"this,":[171],"we":[172],"conducted":[173],"study":[175,236],"common":[178],"modalities.":[180],"Our":[181],"research":[182],"questions":[183],"focused":[184],"whether":[186],"combinations":[188],"improve":[189],"outcomes,":[191],"reveal":[192],"preferences,":[194],"differences":[196],"perceived":[198],"effectiveness,":[199],"identify":[201],"which":[202],"influence":[204],"most.":[207],"The":[208,235],"results":[209],"combining":[212,239],"improves":[216],"learning,":[217],"perceiving":[220],"effectiveness":[222],"vary":[226],"ways,":[227],"certain":[229],"directly":[231],"impacting":[232],"demonstrates":[237],"even":[245],"simplified":[248],"setting":[249],"suggests":[251],"potential":[253],"for":[254],"broader":[255],"applicability,":[256],"especially":[257],"scenarios":[261],"focus":[264],"interaction.":[267],"paper":[270],"aims":[271],"motivate":[273],"use":[275],"imitation":[282],"learning.":[283]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
