# From Scratch to Sketch: Deep Decoupled Hierarchical Reinforcement Learning for Robotic Sketching Agent

> Research article (2022 International Conference on Robotics and Automation (ICRA), 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4285102604](https://www.wikidata.org/wiki/openalex:W4285102604)  
**Source**: https://4ort.xyz/entity/from-scratch-to-sketch-deep-decoupled-hierarchical-reinforcement-learning-for-robotic-sketching-agent