{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T18:24:30Z","timestamp":1779906270126,"version":"3.53.1"},"reference-count":30,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"3","license":[{"start":{"date-parts":[[2024,7,1]],"date-time":"2024-07-01T00:00:00Z","timestamp":1719792000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2024,7,1]],"date-time":"2024-07-01T00:00:00Z","timestamp":1719792000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,7,1]],"date-time":"2024-07-01T00:00:00Z","timestamp":1719792000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62103334"],"award-info":[{"award-number":["62103334"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62273280"],"award-info":[{"award-number":["62273280"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Automat. Sci. Eng."],"published-print":{"date-parts":[[2024,7]]},"DOI":"10.1109\/tase.2023.3288037","type":"journal-article","created":{"date-parts":[[2023,7,17]],"date-time":"2023-07-17T18:00:34Z","timestamp":1689616834000},"page":"3852-3862","source":"Crossref","is-referenced-by-count":26,"title":["Hierarchical Reinforcement Learning Integrating With Human Knowledge for Practical Robot Skill Learning in Complex Multi-Stage Manipulation"],"prefix":"10.1109","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5327-4908","authenticated-orcid":false,"given":"Xing","family":"Liu","sequence":"first","affiliation":[{"name":"Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-4184-0903","authenticated-orcid":false,"given":"Gaozhao","family":"Wang","sequence":"additional","affiliation":[{"name":"Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zihao","family":"Liu","sequence":"additional","affiliation":[{"name":"Beijing Institute of Tracking and Telecommunications Technology (BITTT), Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2550-928X","authenticated-orcid":false,"given":"Yu","family":"Liu","sequence":"additional","affiliation":[{"name":"Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9427-4066","authenticated-orcid":false,"given":"Zhengxiong","family":"Liu","sequence":"additional","affiliation":[{"name":"Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5132-9602","authenticated-orcid":false,"given":"Panfeng","family":"Huang","sequence":"additional","affiliation":[{"name":"Research Center for Intelligent Robotics and the National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi’an, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2022.104224"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2022.3157075"},{"key":"ref3","first-page":"757","article-title":"Efficient hierarchical robot motion planning under uncertainty and hybrid dynamics","volume-title":"Proc. Conf. Robot Learn.","author":"Jain"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1145\/3357236.3395525"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202133"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793789"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2021.3119405"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2022.3219673"},{"issue":"3","key":"ref9","first-page":"458","article-title":"Survey on robot manipulation skills learning methods","volume":"45","author":"Nai-Jun","year":"2019","journal-title":"Acta Automatica Sinica"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2019.01.087"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7138994"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2021.3059912"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.24963\/ijcai.2018\/820"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139389"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2020.3038072"},{"key":"ref16","first-page":"1","article-title":"Sub-policy adaptation for hierarchical reinforcement learning","volume-title":"Proc. Int. Conf. Learn. Represent.","author":"Li"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1609\/icaps.v30i1.6750"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc3164"},{"key":"ref20","first-page":"1162","article-title":"Active domain randomization","volume-title":"Proc. Conf. Robot Learn.","author":"Mehta"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3052391"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981319"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196540"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561569"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793542"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2830405"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2020.103568"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1162\/NECO_a_00452"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2021.3139096"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2021.102306"}],"container-title":["IEEE Transactions on Automation Science and Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8856\/10631742\/10184998.pdf?arnumber=10184998","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,10]],"date-time":"2024-08-10T06:23:54Z","timestamp":1723271034000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10184998\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,7]]},"references-count":30,"journal-issue":{"issue":"3"},"URL":"https:\/\/doi.org\/10.1109\/tase.2023.3288037","relation":{},"ISSN":["1545-5955","1558-3783"],"issn-type":[{"value":"1545-5955","type":"print"},{"value":"1558-3783","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,7]]}}}