{"id":"https://openalex.org/W4380993155","doi":"https://doi.org/10.48550/arxiv.2306.08205","title":"Agile Catching with Whole-Body MPC and Blackbox Policy Learning","display_name":"Agile Catching with Whole-Body MPC and Blackbox Policy Learning","publication_year":2023,"publication_date":"2023-06-14","ids":{"openalex":"https://openalex.org/W4380993155","doi":"https://doi.org/10.48550/arxiv.2306.08205"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2306.08205","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2306.08205","pdf_url":"https://arxiv.org/pdf/2306.08205","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"volume":null,"type":"preprint","is_traditional":true,"indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2306.08205","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011850830","display_name":"Saminda W. Abeyruwan","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abeyruwan, Saminda","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043765267","display_name":"Alex Bewley","orcid":"https://orcid.org/0000-0002-8428-9264","observed_orcids":["https://orcid.org/0000-0002-8428-9264"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bewley, Alex","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054972412","display_name":"Nicholas M. Boffi","orcid":"https://orcid.org/0000-0003-1336-7568","observed_orcids":["https://orcid.org/0000-0003-1336-7568"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Boffi, Nicholas M.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031842812","display_name":"Krzysztof Choroma\u0144ski","orcid":"https://orcid.org/0000-0003-3626-414X","observed_orcids":["https://orcid.org/0000-0003-3626-414X"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Choromanski, Krzysztof","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"D'Ambrosio, David","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"D'Ambrosio, David","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016687983","display_name":"Deepali Jain","orcid":"https://orcid.org/0000-0001-5315-9814","observed_orcids":["https://orcid.org/0000-0001-5315-9814"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jain, Deepali","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064611781","display_name":"Pannag Sanketi","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sanketi, Pannag","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039532136","display_name":"Anish Shankar","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shankar, Anish","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058073838","display_name":"Vikas Sindhwani","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sindhwani, Vikas","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101898346","display_name":"Sumeet Singh","orcid":"https://orcid.org/0000-0003-4510-5853","observed_orcids":["https://orcid.org/0000-0003-4510-5853"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Singh, Sumeet","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044026747","display_name":"Jean-Jacques E. Slotine","orcid":"https://orcid.org/0000-0002-7161-7812","observed_orcids":["https://orcid.org/0000-0002-7161-7812"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Slotine, Jean-Jacques","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5047090527","display_name":"Stephen Tu","orcid":"https://orcid.org/0000-0001-5178-8326","observed_orcids":["https://orcid.org/0000-0001-5178-8326"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tu, Stephen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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":0.8827999830245972,"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":0.8827999830245972,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.03869999945163727,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.029100000858306885,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/derivative-free-optimization","display_name":"derivative-free optimization","score":0.7570000290870667},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"reinforcement learning","score":0.4959999918937683},{"id":"https://openalex.org/keywords/sim-to-real-transfer","display_name":"sim-to-real transfer","score":0.7599999904632568},{"id":"https://openalex.org/keywords/distribution-shift-robustness","display_name":"distribution shift robustness","score":0.9350000023841858},{"id":"https://openalex.org/keywords/sample-efficiency","display_name":"sample efficiency","score":0.8009999990463257},{"id":"https://openalex.org/keywords/visual-tracking","display_name":"visual object tracking","score":0.40400001406669617},{"id":"https://openalex.org/keywords/human-robot-interaction","display_name":"human-robot interaction","score":0.6259999871253967}],"concepts":[{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.8240018486976624},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6837266683578491},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6273110508918762},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5658941268920898},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5604044198989868},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4790416955947876},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47407570481300354},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.47013503313064575},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.469693660736084},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4514327943325043},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44443055987358093},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1942392885684967},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.12020781636238098},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0768861472606659},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2306.08205","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2306.08205","pdf_url":"https://arxiv.org/pdf/2306.08205","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"doi:10.48550/arxiv.2306.08205","doi":"https://doi.org/10.48550/arxiv.2306.08205","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2306.08205","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2306.08205","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2306.08205","pdf_url":"https://arxiv.org/pdf/2306.08205","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4380993155.pdf","grobid_xml":"https://content.openalex.org/works/W4380993155.grobid-xml"},"referenced_works_count":2,"referenced_works":["https://openalex.org/W3130089828","https://openalex.org/W4285597472"],"related_works":["https://openalex.org/W7164867668","https://openalex.org/W4413945049","https://openalex.org/W7221537515","https://openalex.org/W6928725768","https://openalex.org/W4390494915","https://openalex.org/W4404519995","https://openalex.org/W7162817757","https://openalex.org/W3033852677","https://openalex.org/W7100274860","https://openalex.org/W2018020788"],"abstract_inverted_index":{"We":[0,50,77,100],"address":[1],"a":[2,15,24,45,48],"benchmark":[3],"task":[4,17],"in":[5],"agile":[6,111],"robotics:":[7],"catching":[8],"objects":[9],"thrown":[10,25],"at":[11,121],"high-speed.":[12],"This":[13],"is":[14],"challenging":[16],"that":[18],"involves":[19],"tracking,":[20],"intercepting,":[21],"and":[22,36,70,93,107],"cradling":[23],"object":[26,35],"with":[27,102],"access":[28],"only":[29],"to":[30,90],"visual":[31],"observations":[32],"of":[33,40,47,55,115],"the":[34,37,41,52],"proprioceptive":[38],"state":[39],"robot,":[42],"all":[43],"within":[44],"fraction":[46],"second.":[49],"present":[51],"relative":[53],"merits":[54],"two":[56],"fundamentally":[57],"different":[58],"solution":[59],"strategies:":[60],"(i)":[61],"Model":[62],"Predictive":[63],"Control":[64],"using":[65,74],"accelerated":[66],"constrained":[67],"trajectory":[68],"optimization,":[69],"(ii)":[71],"Reinforcement":[72],"Learning":[73],"zeroth-order":[75],"optimization.":[76],"provide":[78],"insights":[79],"into":[80],"various":[81],"performance":[82],"trade-offs":[83],"including":[84],"sample":[85],"efficiency,":[86],"sim-to-real":[87],"transfer,":[88],"robustness":[89],"distribution":[91],"shifts,":[92],"whole-body":[94],"multimodality":[95],"via":[96],"extensive":[97],"on-hardware":[98],"experiments.":[99],"conclude":[101],"proposals":[103],"on":[104],"fusing":[105],"\"classical\"":[106],"\"learning-based\"":[108],"techniques":[109],"for":[110],"robot":[112],"control.":[113],"Videos":[114],"our":[116],"experiments":[117],"may":[118],"be":[119],"found":[120],"https://sites.google.com/view/agile-catching":[122]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2023-06-17T00:00:00"}
