{"id":"https://openalex.org/W3042273483","doi":"https://doi.org/10.5220/0009590602210231","title":"Learning to Close the Gap: Combining Task Frame Formalism and Reinforcement Learning for Compliant Vegetable Cutting","display_name":"Learning to Close the Gap: Combining Task Frame Formalism and Reinforcement Learning for Compliant Vegetable Cutting","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3042273483","doi":"https://doi.org/10.5220/0009590602210231","mag":"3042273483"},"language":"en","primary_location":{"id":"doi:10.5220/0009590602210231","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0009590602210231","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.5220/0009590602210231","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016248595","display_name":"Abhishek Padalkar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210166245","display_name":"Fraunhofer Institute for Communication, Information Processing and Ergonomics","ror":"https://ror.org/05nn0gw40","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210166245","https://openalex.org/I4923324"]},{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Abhishek Padalkar","raw_affiliation_strings":["Cognitive Mobile Systems Group, Fraunhofer Institute for Communication, Information Processing and Ergonomics FKIE, Wachtberg, Germany, Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, St. Augustin, Germany, --- Select a Country ---"],"affiliations":[{"raw_affiliation_string":"Cognitive Mobile Systems Group, Fraunhofer Institute for Communication, Information Processing and Ergonomics FKIE, Wachtberg, Germany, Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, St. Augustin, Germany, --- Select a Country ---","institution_ids":["https://openalex.org/I155417937","https://openalex.org/I4210166245"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012849051","display_name":"Matthias Nieuwenhuisen","orcid":"https://orcid.org/0000-0002-3706-592X"},"institutions":[{"id":"https://openalex.org/I4210166245","display_name":"Fraunhofer Institute for Communication, Information Processing and Ergonomics","ror":"https://ror.org/05nn0gw40","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210166245","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Matthias Nieuwenhuisen","raw_affiliation_strings":["Cognitive Mobile Systems Group, Fraunhofer Institute for Communication, Information Processing and Ergonomics FKIE, Wachtberg, Germany, --- Select a Country ---"],"affiliations":[{"raw_affiliation_string":"Cognitive Mobile Systems Group, Fraunhofer Institute for Communication, Information Processing and Ergonomics FKIE, Wachtberg, Germany, --- Select a Country ---","institution_ids":["https://openalex.org/I4210166245"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102019040","display_name":"Sven Schneider","orcid":"https://orcid.org/0000-0002-1916-5222"},"institutions":[{"id":"https://openalex.org/I155417937","display_name":"Hochschule Bonn-Rhein-Sieg","ror":"https://ror.org/04m2anh63","country_code":"DE","type":"education","lineage":["https://openalex.org/I155417937"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Schneider","raw_affiliation_strings":["Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, St. Augustin, Germany, --- Select a Country ---"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, Bonn-Rhein-Sieg University of Applied Sciences, St. Augustin, Germany, --- Select a Country ---","institution_ids":["https://openalex.org/I155417937"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089014753","display_name":"Dirk Schulz","orcid":"https://orcid.org/0000-0002-6240-9181"},"institutions":[{"id":"https://openalex.org/I4210166245","display_name":"Fraunhofer Institute for Communication, Information Processing and Ergonomics","ror":"https://ror.org/05nn0gw40","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210166245","https://openalex.org/I4923324"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dirk Schulz","raw_affiliation_strings":["Cognitive Mobile Systems Group, Fraunhofer Institute for Communication, Information Processing and Ergonomics FKIE, Wachtberg, Germany, --- Select a Country ---"],"affiliations":[{"raw_affiliation_string":"Cognitive Mobile Systems Group, Fraunhofer Institute for Communication, Information Processing and Ergonomics FKIE, Wachtberg, Germany, --- Select a Country ---","institution_ids":["https://openalex.org/I4210166245"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016248595"],"corresponding_institution_ids":["https://openalex.org/I155417937","https://openalex.org/I4210166245"],"apc_list":null,"apc_paid":null,"fwci":0.5213,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.6623182,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11006","display_name":"BIM and Construction Integration","score":0.8371999859809875,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T11006","display_name":"BIM and Construction Integration","score":0.8371999859809875,"subfield":{"id":"https://openalex.org/subfields/2215","display_name":"Building and Construction"},"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/T12782","display_name":"Assembly Line Balancing Optimization","score":0.7305999994277954,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7671412229537964},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.6980865001678467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6301642656326294},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4553561210632324},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44140541553497314},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4114909768104553},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.334218829870224},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19068607687950134},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.06636157631874084},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.059322357177734375}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7671412229537964},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.6980865001678467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6301642656326294},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4553561210632324},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44140541553497314},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4114909768104553},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.334218829870224},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19068607687950134},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.06636157631874084},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.059322357177734375},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.5220/0009590602210231","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0009590602210231","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},{"id":"pmh:oai:fraunhofer.de:N-614842","is_oa":false,"landing_page_url":"http://publica.fraunhofer.de/documents/N-614842.html","pdf_url":null,"source":{"id":"https://openalex.org/S4306400801","display_name":"Publikationsdatenbank der Fraunhofer-Gesellschaft (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Fraunhofer FKIE","raw_type":"Conference Paper"},{"id":"pmh:oai:pub.h-brs.de:4997","is_oa":false,"landing_page_url":"https://pub.h-brs.de/frontdoor/index/index/docId/4997","pdf_url":null,"source":{"id":"https://openalex.org/S4306400385","display_name":"Publication Server of Bonn-Rhein-Sieg University of Applied Sciences (Bonn-Rhein-Sieg University of Applied Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I135140700","host_organization_name":"University of Bonn","host_organization_lineage":["https://openalex.org/I135140700"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2020, July 7-9, 2020","raw_type":"doc-type:conferenceobject"},{"id":"pmh:oai:publica.fraunhofer.de:publica/409357","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/409357","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"conference paper"},{"id":"pmh:oai:publica.fraunhofer.de:publica/501543","is_oa":false,"landing_page_url":"https://publica.fraunhofer.de/handle/publica/501543","pdf_url":null,"source":{"id":"https://openalex.org/S4306400318","display_name":"Fraunhofer-Publica (Fraunhofer-Gesellschaft)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4923324","host_organization_name":"Fraunhofer-Gesellschaft","host_organization_lineage":["https://openalex.org/I4923324"],"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":"conference paper"}],"best_oa_location":{"id":"doi:10.5220/0009590602210231","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0009590602210231","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},"sustainable_development_goals":[{"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4210912933","https://openalex.org/W3209094908","https://openalex.org/W4206669594","https://openalex.org/W3005560120","https://openalex.org/W3037422413","https://openalex.org/W2959276766","https://openalex.org/W3173482257","https://openalex.org/W4295941380","https://openalex.org/W260766989","https://openalex.org/W2774891019"],"abstract_inverted_index":{"Compliant":[0],"manipulation":[1,72,118],"is":[2],"a":[3,47,56,70,83,98,116,121],"crucial":[4],"skill":[5],"for":[6],"robots":[7],"when":[8],"they":[9],"are":[10,25,39],"supposed":[11],"to":[12,42,90,94,130],"act":[13],"as":[14],"helping":[15],"hands":[16],"in":[17],"everyday":[18],"household":[19],"tasks.":[20],"Still,":[21],"nowadays,":[22],"those":[23],"skills":[24],"hand-crafted":[26],"by":[27,53,78,107,114],"experts":[28],"which":[29],"frequently":[30],"requires":[31,55],"labor-intensive,":[32],"manual":[33],"parameter":[34],"tuning.":[35],"Moreover,":[36],"some":[37],"tasks":[38],"too":[40],"complex":[41],"be":[43],"specified":[44],"fully":[45],"using":[46,74,140],"task":[48,84,99,119],"specification.":[49],"Learning":[50],"these":[51],"skills,":[52],"contrast,":[54],"high":[57],"number":[58],"of":[59],"costly":[60],"and":[61],"potentially":[62],"unsafe":[63],"interactions":[64],"with":[65,120],"the":[66,79,92,101,104,112,137],"environment.":[67],"We":[68,110],"present":[69],"compliant":[71,117],"approach":[73,113],"reinforcement":[75,108],"learning":[76],"guided":[77],"Task":[80],"Frame":[81],"Formalism,":[82],"specification":[85],"method.":[86],"This":[87],"allows":[88],"us":[89],"specify":[91],"easy":[93],"model":[95],"knowledge":[96],"about":[97],"while":[100],"robot":[102,127,138],"learns":[103],"unmodeled":[105],"components":[106],"learning.":[109],"evaluate":[111],"performing":[115],"KUKA":[122],"LWR":[123],"4+":[124],"manipulator.":[125],"The":[126],"was":[128],"able":[129],"learn":[131],"force":[132],"control":[133],"policies":[134],"directly":[135],"on":[136],"without":[139],"any":[141],"simulation.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}