{"id":"https://openalex.org/W4393387647","doi":"https://doi.org/10.3390/robotics13040058","title":"Exploring Saliency for Learning Sensory-Motor Contingencies in Loco-Manipulation Tasks","display_name":"Exploring Saliency for Learning Sensory-Motor Contingencies in Loco-Manipulation Tasks","publication_year":2024,"publication_date":"2024-04-01","ids":{"openalex":"https://openalex.org/W4393387647","doi":"https://doi.org/10.3390/robotics13040058"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13040058","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13040058","pdf_url":"https://www.mdpi.com/2218-6581/13/4/58/pdf?version=1711951143","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/13/4/58/pdf?version=1711951143","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086461038","display_name":"Elisa Stefanini","orcid":"https://orcid.org/0000-0003-0033-314X"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"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":"Elisa Stefanini","raw_affiliation_strings":["Centro di Ricerca \u201cE. Piaggio\u201d, Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e1 di Pisa, Largo L. Lazzarino 1, 56122 Pisa, Italy","Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0033-314X","affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE. Piaggio\u201d, Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e1 di Pisa, Largo L. Lazzarino 1, 56122 Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068604924","display_name":"Gianluca Lentini","orcid":"https://orcid.org/0000-0001-9604-9519"},"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":"Gianluca Lentini","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079017232","display_name":"Giorgio Grioli","orcid":"https://orcid.org/0000-0002-5310-2997"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"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":true,"raw_author_name":"Giorgio Grioli","raw_affiliation_strings":["Centro di Ricerca \u201cE. Piaggio\u201d, Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e1 di Pisa, Largo L. Lazzarino 1, 56122 Pisa, Italy","Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE. Piaggio\u201d, Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e1 di Pisa, Largo L. Lazzarino 1, 56122 Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"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":"Manuel Giuseppe Catalano","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"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":"Antonio Bicchi","raw_affiliation_strings":["Centro di Ricerca \u201cE. Piaggio\u201d, Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e1 di Pisa, Largo L. Lazzarino 1, 56122 Pisa, Italy","Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca \u201cE. Piaggio\u201d, Dipartimento di Ingegneria dell\u2019Informazione, Universit\u00e1 di Pisa, Largo L. Lazzarino 1, 56122 Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079017232"],"corresponding_institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238","https://openalex.org/I30771326"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02893691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":"4","first_page":"58","last_page":"58"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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":0.9987999796867371,"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/T11431","display_name":"Action Observation and Synchronization","score":0.9941999912261963,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T11883","display_name":"Embodied and Extended Cognition","score":0.991100013256073,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sensory-system","display_name":"Sensory system","score":0.6791146993637085},{"id":"https://openalex.org/keywords/motor-learning","display_name":"Motor learning","score":0.5570147633552551},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.5413112640380859},{"id":"https://openalex.org/keywords/cognitive-psychology","display_name":"Cognitive psychology","score":0.49785923957824707},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.44739168882369995},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44366610050201416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3683302402496338},{"id":"https://openalex.org/keywords/communication","display_name":"Communication","score":0.3488873243331909},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.26219767332077026}],"concepts":[{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.6791146993637085},{"id":"https://openalex.org/C107690735","wikidata":"https://www.wikidata.org/wiki/Q852461","display_name":"Motor learning","level":2,"score":0.5570147633552551},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.5413112640380859},{"id":"https://openalex.org/C180747234","wikidata":"https://www.wikidata.org/wiki/Q23373","display_name":"Cognitive psychology","level":1,"score":0.49785923957824707},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.44739168882369995},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44366610050201416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3683302402496338},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.3488873243331909},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.26219767332077026}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics13040058","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13040058","pdf_url":"https://www.mdpi.com/2218-6581/13/4/58/pdf?version=1711951143","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1249507","is_oa":false,"landing_page_url":"https://hdl.handle.net/11568/1249507","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"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"},{"id":"pmh:oai:doaj.org/article:eef200d5b45d49a0bae618e8a50868a1","is_oa":true,"landing_page_url":"https://doaj.org/article/eef200d5b45d49a0bae618e8a50868a1","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":"Robotics, Vol 13, Iss 4, p 58 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13040058","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13040058","pdf_url":"https://www.mdpi.com/2218-6581/13/4/58/pdf?version=1711951143","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3057374713","display_name":null,"funder_award_id":"810346","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5113685046","display_name":"Self-reconfiguration of a robotic workcell for the recycling of electronic waste","funder_award_id":"871352","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G5763673210","display_name":"Reconstructing the Past: Artificial Intelligence and Robotics Meet Cultural Heritage","funder_award_id":"964854","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4393387647.pdf"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W39185502","https://openalex.org/W161356478","https://openalex.org/W414567873","https://openalex.org/W1977655452","https://openalex.org/W1981767552","https://openalex.org/W2039541017","https://openalex.org/W2053998570","https://openalex.org/W2054665642","https://openalex.org/W2075715311","https://openalex.org/W2109995759","https://openalex.org/W2128234025","https://openalex.org/W2132905014","https://openalex.org/W2136719407","https://openalex.org/W2139986033","https://openalex.org/W2152575493","https://openalex.org/W2152925862","https://openalex.org/W2164575107","https://openalex.org/W2167340365","https://openalex.org/W2403014006","https://openalex.org/W2739445248","https://openalex.org/W2788239209","https://openalex.org/W2788927107","https://openalex.org/W2806163172","https://openalex.org/W2921050108","https://openalex.org/W2963669336","https://openalex.org/W2963713397","https://openalex.org/W2964068416","https://openalex.org/W2991873963","https://openalex.org/W2994446013","https://openalex.org/W3019913914","https://openalex.org/W3096099141","https://openalex.org/W3121342653","https://openalex.org/W3192229365","https://openalex.org/W3199606227","https://openalex.org/W3199740299","https://openalex.org/W4221139340","https://openalex.org/W4283784806","https://openalex.org/W4301141993","https://openalex.org/W4327653719","https://openalex.org/W4390204223","https://openalex.org/W6601597596"],"related_works":["https://openalex.org/W4319337864","https://openalex.org/W4386770831","https://openalex.org/W1976623005","https://openalex.org/W4246404288","https://openalex.org/W3202461300","https://openalex.org/W3021562414","https://openalex.org/W108673128","https://openalex.org/W2883710523","https://openalex.org/W2273719338","https://openalex.org/W4210683707"],"abstract_inverted_index":{"The":[0,127],"objective":[1],"of":[2,33,55,75,146,178],"this":[3],"paper":[4],"is":[5,69,121],"to":[6,13,39,46,64,72,88,116,123,133,136],"propose":[7],"a":[8,11,27,62,106,143,153,160,166,170],"framework":[9,81],"for":[10,52],"robot":[12,63,91,115,128,154],"learn":[14],"multiple":[15],"Sensory-Motor":[16,24,67,148],"Contingencies":[17,25,68,149],"from":[18,84,86],"human":[19],"demonstrations":[20],"and":[21,35,49,57,77,96,168,176],"reproduce":[22],"them.":[23],"are":[26],"concept":[28],"that":[29,150],"describes":[30],"intelligent":[31],"behavior":[32],"animals":[34],"humans":[36],"in":[37,108,155],"relation":[38],"their":[40],"environment.":[41],"They":[42],"have":[43,89],"been":[44],"used":[45,112],"design":[47],"control":[48,152],"planning":[50],"algorithms":[51],"robots":[53],"capable":[54],"interacting":[56],"adapting":[58],"autonomously.":[59],"However,":[60],"enabling":[61],"autonomously":[65],"develop":[66],"challenging":[70],"due":[71],"the":[73,90,109,114,124,130,137,174,179],"complexity":[74],"action":[76],"perception":[78,110],"signals.":[79],"This":[80,104,140],"leverages":[82],"tools":[83],"Learning":[85],"Demonstrations":[87],"memorize":[92],"various":[93],"sensory":[94],"phases":[95],"corresponding":[97],"motor":[98],"actions":[99,132],"through":[100],"an":[101],"attention":[102],"mechanism.":[103],"generates":[105],"metric":[107],"space,":[111],"by":[113],"determine":[117],"which":[118],"sensory-motor":[119],"memory":[120],"contingent":[122],"current":[125],"context.":[126],"generalizes":[129],"memorized":[131],"adapt":[134],"them":[135],"present":[138],"perception.":[139],"process":[141],"creates":[142],"discrete":[144],"lattice":[145],"continuous":[147],"can":[151],"loco-manipulation":[156],"tasks.":[157],"Experiments":[158],"on":[159,169],"7-dof":[161],"collaborative":[162],"robotic":[163],"arm":[164],"with":[165],"gripper,":[167],"mobile":[171],"manipulator":[172],"demonstrate":[173],"functionality":[175],"versatility":[177],"framework.":[180]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}