{"id":"https://openalex.org/W2786748610","doi":null,"title":"Derivative-Free Failure Avoidance Control for Manipulation using Learned Support Constraints.","display_name":"Derivative-Free Failure Avoidance Control for Manipulation using Learned Support Constraints.","publication_year":2018,"publication_date":"2018-01-31","ids":{"openalex":"https://openalex.org/W2786748610","mag":"2786748610"},"language":"en","primary_location":{"id":"mag:2786748610","doi":null,"is_oa":false,"landing_page_url":"https://dblp.uni-trier.de/db/journals/corr/corr1801.html#abs-1801-10321","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null},"volume":null,"type":"article","is_traditional":true,"indexed_in":[],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100348028","display_name":"Jonathan Lee","orcid":"https://orcid.org/0000-0002-1828-1707","observed_orcids":["https://orcid.org/0000-0002-1828-1707"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jonathan Lee","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-1828-1707","affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052716347","display_name":"Michael Laskey","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael Laskey","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073588383","display_name":"Roy Fox","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roy Fox","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5050342525","display_name":"Ken Y. Goldberg","orcid":"https://orcid.org/0000-0002-2661-4524","observed_orcids":["https://orcid.org/0000-0002-2661-4524"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ken Goldberg","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-2661-4524","affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.242,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.59010695,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":93},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6563000082969666,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6563000082969666,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.33250001072883606,"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/T10868","display_name":"Soft Robotics and Applications","score":0.0017000000225380063,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/robotic-manipulation","display_name":"robotic manipulation","score":0.6159999966621399},{"id":"https://openalex.org/keywords/support-estimation","display_name":"support estimation","score":0.7580000162124634},{"id":"https://openalex.org/keywords/implicit-constraints","display_name":"implicit constraints","score":0.5730000138282776},{"id":"https://openalex.org/keywords/switching-strategy","display_name":"switching strategy","score":0.7329999804496765},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"collision avoidance","score":0.4519999921321869},{"id":"https://openalex.org/keywords/da-vinci-surgical-robot","display_name":"da Vinci surgical robot","score":0.7409999966621399},{"id":"https://openalex.org/keywords/surgical-robotics","display_name":"surgical robotics","score":0.4429999887943268},{"id":"https://openalex.org/keywords/imitation-learning","display_name":"imitation learning","score":0.5220000147819519},{"id":"https://openalex.org/keywords/pushing-tasks","display_name":"pushing tasks","score":0.5920000076293945},{"id":"https://openalex.org/keywords/line-tracking","display_name":"line tracking","score":0.9319999814033508}],"concepts":[{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.825661301612854},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.69740891456604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.642596960067749},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5808436870574951},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4867841899394989},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.47725531458854675},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.4736396372318268},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.47352075576782227},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.460527241230011},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.4292179346084595},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3904649615287781},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34110695123672485},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17865535616874695},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.1334679126739502},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11121273040771484},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09519210457801819},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.0813843309879303},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"mag:2786748610","doi":null,"is_oa":false,"landing_page_url":"https://dblp.uni-trier.de/db/journals/corr/corr1801.html#abs-1801-10321","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1560724230","https://openalex.org/W1684361744","https://openalex.org/W1771410628","https://openalex.org/W1931877416","https://openalex.org/W1963790880","https://openalex.org/W2053572490","https://openalex.org/W2118858375","https://openalex.org/W2132870739","https://openalex.org/W2135043890","https://openalex.org/W2158607953","https://openalex.org/W2158782408","https://openalex.org/W2160960847","https://openalex.org/W2164479831","https://openalex.org/W2409942531","https://openalex.org/W2618170641","https://openalex.org/W2735049119","https://openalex.org/W2736750746","https://openalex.org/W2738190501","https://openalex.org/W2962803570","https://openalex.org/W6960125083"],"related_works":["https://openalex.org/W2898067520","https://openalex.org/W3099500498","https://openalex.org/W7156691941","https://openalex.org/W4294890002","https://openalex.org/W4366460430","https://openalex.org/W2895420887","https://openalex.org/W7099214494","https://openalex.org/W2474696542","https://openalex.org/W4312757239","https://openalex.org/W3023096123"],"abstract_inverted_index":{"Learning":[0],"to":[1,24,34,109,117,132,153,194,207],"accomplish":[2],"tasks":[3,85],"such":[4],"as":[5],"driving,":[6],"grasping":[7],"or":[8],"surgery":[9],"from":[10,80,122,157],"supervisor":[11,107],"demonstrations":[12,81,108],"can":[13,59,232],"be":[14,60,208],"risky":[15],"when":[16,43],"the":[17,20,44,56,93,99,123,133,145,155,162,169,173,180,192,195,198,216],"execution":[18,54],"of":[19,55,95,106,161,172,197,241],"learned":[21,57,182],"policy":[22,58,120,152,177,183,189,214],"leads":[23],"col-":[25],"lisions":[26],"and":[27,184,228],"other":[28],"costly":[29],"failures.":[30],"Adding":[31],"explicit":[32],"constraints":[33,52,112,204],"stay":[35],"within":[36],"safe":[37,78,159],"zones":[38],"is":[39,218],"often":[40],"not":[41,67],"possible":[42],"state":[45,89,163],"representations":[46],"are":[47,66,90,205],"complex.":[48],"Furthermore,":[49],"enforcing":[50],"these":[51],"during":[53,165],"difficult":[61],"in":[62,82,88,115],"environments":[63],"where":[64,86],"dynamics":[65],"known.":[68],"In":[69,98,144],"this":[70,211],"paper,":[71],"we":[72,102,148],"propose":[73,128],"a":[74,119,129,150,185,244,249],"two-phase":[75],"method":[76],"for":[77,138],"control":[79,96,231,256],"robotic":[83],"manipulation":[84],"changes":[87],"limited":[91],"by":[92,235,259],"magnitude":[94],"applied.":[97],"first":[100],"phase,":[101,147],"use":[103],"support":[104,134,217,226],"estimation":[105,135,140,227],"infer":[110],"implicit":[111],"on":[113,141,191],"states":[114],"addition":[116],"learning":[118],"directly":[121],"observed":[124],"controls.":[125],"We":[126,200],"also":[127],"time-varying":[130],"modification":[131],"problem":[136],"allowing":[137],"accurate":[139],"sequential":[142],"tasks.":[143],"second":[146],"present":[149],"switching":[151],"prevent":[154],"robot":[156],"leaving":[158],"regions":[160],"space":[164],"run":[166],"time":[167],"using":[168,210,248],"decision":[170],"function":[171],"estimated":[174],"support.":[175,199],"The":[176],"switches":[178],"between":[179],"robot's":[181],"novel":[186],"failure":[187,212,229,254],"avoidance":[188,213,230,255],"depending":[190],"distance":[193],"boundary":[196],"prove":[201],"that":[202,225],"inferred":[203],"guaranteed":[206],"enforced":[209],"if":[215],"well-estimated.":[219],"A":[220],"simulated":[221],"pushing":[222],"task":[223,247],"suggests":[224],"reduce":[233],"failures":[234,258],"87%":[236],"while":[237],"sacrificing":[238],"only":[239],"40%":[240],"performance.":[242],"On":[243],"line":[245],"tracking":[246],"da":[250],"Vinci":[251],"Surgical":[252],"Robot,":[253],"reduced":[257],"84%.":[260]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2018-02-23T00:00:00"}