{"id":"https://openalex.org/W3036760152","doi":"https://doi.org/10.3390/robotics9020045","title":"Learning Sequential Force Interaction Skills","display_name":"Learning Sequential Force Interaction Skills","publication_year":2020,"publication_date":"2020-06-17","ids":{"openalex":"https://openalex.org/W3036760152","doi":"https://doi.org/10.3390/robotics9020045","mag":"3036760152"},"language":"en","primary_location":{"id":"doi:10.3390/robotics9020045","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9020045","pdf_url":"https://www.mdpi.com/2218-6581/9/2/45/pdf?version=1593519677","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/2218-6581/9/2/45/pdf?version=1593519677","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068848089","display_name":"Simon Manschitz","orcid":"https://orcid.org/0000-0001-6419-8157"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Simon Manschitz","raw_affiliation_strings":["Honda Research Institute Europe, 63073 Offenbach, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6419-8157","affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe, 63073 Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025560073","display_name":"Michael Gienger","orcid":"https://orcid.org/0000-0001-8036-2519"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Gienger","raw_affiliation_strings":["Honda Research Institute Europe, 63073 Offenbach, Germany"],"raw_orcid":"https://orcid.org/0000-0001-8036-2519","affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe, 63073 Offenbach, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035229829","display_name":"Jens Kober","orcid":"https://orcid.org/0000-0001-7257-5434"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Jens Kober","raw_affiliation_strings":["Cognitive Robotics Department, Delft University of Technology, 2628 CD Delft, The Netherlands"],"raw_orcid":"https://orcid.org/0000-0001-7257-5434","affiliations":[{"raw_affiliation_string":"Cognitive Robotics Department, Delft University of Technology, 2628 CD Delft, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Institute for Intelligent Autonomous Systems, Technische Universit\u00e4t Darmstadt, 64289 Darmstadt, Germany","Max Planck Institute for Intelligent Systems, 72076 T\u00fcbingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-5266-8091","affiliations":[{"raw_affiliation_string":"Institute for Intelligent Autonomous Systems, Technische Universit\u00e4t Darmstadt, 64289 Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, 72076 T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5068848089"],"corresponding_institution_ids":["https://openalex.org/I4210112253"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.9427,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.72630993,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"9","issue":"2","first_page":"45","last_page":"45"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":1.0,"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":1.0,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9897000193595886,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9829000234603882,"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/task","display_name":"Task (project management)","score":0.6834417581558228},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6723504066467285},{"id":"https://openalex.org/keywords/kinesthetic-learning","display_name":"Kinesthetic learning","score":0.6348329782485962},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6001121401786804},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.5705117583274841},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5552218556404114},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.538030207157135},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4444206655025482},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37561073899269104},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12087449431419373},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10238498449325562}],"concepts":[{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6834417581558228},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6723504066467285},{"id":"https://openalex.org/C55457006","wikidata":"https://www.wikidata.org/wiki/Q3647098","display_name":"Kinesthetic learning","level":2,"score":0.6348329782485962},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6001121401786804},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.5705117583274841},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5552218556404114},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.538030207157135},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4444206655025482},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37561073899269104},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12087449431419373},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10238498449325562},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"score":0.0},{"id":"https://openalex.org/C145420912","wikidata":"https://www.wikidata.org/wiki/Q853077","display_name":"Mathematics education","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/robotics9020045","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9020045","pdf_url":"https://www.mdpi.com/2218-6581/9/2/45/pdf?version=1593519677","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:doaj.org/article:e71141380f164b49832c53e6ecb003a8","is_oa":true,"landing_page_url":"https://doaj.org/article/e71141380f164b49832c53e6ecb003a8","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 9, Iss 2, p 45 (2020)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/9/2/45/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/robotics9020045","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"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":"Robotics","raw_type":"Text"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:145244","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/145244/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Artikel"},{"id":"pmh:oai:tudelft.nl:uuid:de948374-b8a8-47d7-8a53-69ebb2dfe04d","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:de948374-b8a8-47d7-8a53-69ebb2dfe04d","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":{"id":"doi:10.3390/robotics9020045","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics9020045","pdf_url":"https://www.mdpi.com/2218-6581/9/2/45/pdf?version=1593519677","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":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3036760152.pdf","grobid_xml":"https://content.openalex.org/works/W3036760152.grobid-xml"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W187005120","https://openalex.org/W779291494","https://openalex.org/W850624797","https://openalex.org/W979233906","https://openalex.org/W1489248927","https://openalex.org/W1529739011","https://openalex.org/W1963873191","https://openalex.org/W1977013839","https://openalex.org/W1989775540","https://openalex.org/W1994349244","https://openalex.org/W2008662704","https://openalex.org/W2023944350","https://openalex.org/W2031967471","https://openalex.org/W2032277247","https://openalex.org/W2062465628","https://openalex.org/W2063346060","https://openalex.org/W2063471043","https://openalex.org/W2069361969","https://openalex.org/W2105156548","https://openalex.org/W2105777811","https://openalex.org/W2110304639","https://openalex.org/W2121989750","https://openalex.org/W2147880316","https://openalex.org/W2155182058","https://openalex.org/W2163489612","https://openalex.org/W2182585001","https://openalex.org/W2197436471","https://openalex.org/W2199215277","https://openalex.org/W2202457660","https://openalex.org/W2211996086","https://openalex.org/W2296055201","https://openalex.org/W2296332048","https://openalex.org/W2331138946","https://openalex.org/W2516122824","https://openalex.org/W2545050612","https://openalex.org/W2563258752","https://openalex.org/W2736730521","https://openalex.org/W2774328603","https://openalex.org/W2789070477","https://openalex.org/W2793380548","https://openalex.org/W2883140436","https://openalex.org/W2899184737","https://openalex.org/W2913939945","https://openalex.org/W2919658942","https://openalex.org/W2964319110","https://openalex.org/W2971798491","https://openalex.org/W2980318130","https://openalex.org/W6623576839","https://openalex.org/W6636348609"],"related_works":["https://openalex.org/W3111440524","https://openalex.org/W2558272010","https://openalex.org/W2068552404","https://openalex.org/W4392899229","https://openalex.org/W2921166921","https://openalex.org/W4385174651","https://openalex.org/W3162087156","https://openalex.org/W1597792207","https://openalex.org/W4255446267","https://openalex.org/W3213722473"],"abstract_inverted_index":{"Learning":[0],"skills":[1,30],"from":[2,31,85],"kinesthetic":[3],"demonstrations":[4,35],"is":[5,55],"a":[6,39,58,100,129,141,158],"promising":[7],"way":[8],"of":[9,19,41,50,96],"minimizing":[10],"the":[11,46,51,72,86,107,110,115,126,134],"gap":[12],"between":[13],"human":[14],"manipulation":[15],"abilities":[16],"and":[17,82,146,154],"those":[18],"robots.":[20],"We":[21,132],"propose":[22],"an":[23,93],"approach":[24,135],"to":[25,113,121,124],"learn":[26],"sequential":[27,48],"force":[28],"interaction":[29],"such":[32],"demonstrations.":[33,87],"The":[34,53,68],"are":[36,151],"decomposed":[37],"into":[38],"set":[40],"movement":[42,73,97,117],"primitives":[43,98,118],"by":[44],"inferring":[45],"underlying":[47],"structure":[49],"task.":[52],"decomposition":[54],"based":[56],"on":[57,128,136,157],"novel":[59],"probability":[60],"distribution":[61,69],"which":[62],"we":[63],"call":[64],"Directional":[65],"Normal":[66],"Distribution.":[67],"allows":[70],"infering":[71],"primitive\u2019s":[74],"composition,":[75,109],"i.e.,":[76],"its":[77],"coordinate":[78],"frames,":[79],"control":[80],"variables":[81],"target":[83],"coordinates":[84],"In":[88],"addition,":[89],"it":[90],"permits":[91],"determining":[92],"appropriate":[94],"number":[95],"for":[99],"task":[101,127],"via":[102],"model":[103],"selection.":[104],"After":[105],"finding":[106],"task\u2019s":[108],"system":[111],"learns":[112],"sequence":[114],"resulting":[116],"in":[119],"order":[120],"be":[122],"able":[123],"reproduce":[125],"real":[130],"robot.":[131,161],"evaluate":[133],"three":[137],"different":[138],"tasks,":[139],"unscrewing":[140],"light":[142],"bulb,":[143],"box":[144,147],"stacking":[145],"flipping.":[148],"All":[149],"tasks":[150],"kinesthetically":[152],"demonstrated":[153],"then":[155],"reproduced":[156],"Barrett":[159],"WAM":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}