{"id":"https://openalex.org/W4392745449","doi":"https://doi.org/10.1109/access.2024.3376739","title":"Learning to Generate All Feasible Actions","display_name":"Learning to Generate All Feasible Actions","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392745449","doi":"https://doi.org/10.1109/access.2024.3376739"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3376739","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3376739","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10380310/10471398.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/10380310/10471398.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001116971","display_name":"Mirco Theile","orcid":"https://orcid.org/0000-0003-1574-8858"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Mirco Theile","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich, Munich, Germany","Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-1574-8858","affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101409490","display_name":"Daniele Bernardini","orcid":"https://orcid.org/0000-0002-9416-9557"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniele Bernardini","raw_affiliation_strings":["TUM School of Computation, Information and Technology, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-9416-9557","affiliations":[{"raw_affiliation_string":"TUM School of Computation, Information and Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049788861","display_name":"Raphael Trumpp","orcid":"https://orcid.org/0000-0003-3902-7916"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Raphael Trumpp","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-3902-7916","affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077271684","display_name":"Cristina Piazza","orcid":"https://orcid.org/0000-0002-0358-8677"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cristina Piazza","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0002-0358-8677","affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060442004","display_name":"Marco Caccamo","orcid":"https://orcid.org/0000-0003-2328-044X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marco Caccamo","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2328-044X","affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088660554","display_name":"Alberto Sangiovanni\u2010Vincentelli","orcid":"https://orcid.org/0000-0003-1298-8389"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alberto L. Sangiovanni-Vincentelli","raw_affiliation_strings":["TUM School of Engineering and Design, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1298-8389","affiliations":[{"raw_affiliation_string":"TUM School of Engineering and Design, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.5557,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.68728567,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"12","issue":null,"first_page":"40668","last_page":"40681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.998199999332428,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.998199999332428,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9976999759674072,"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":0.996999979019165,"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/computer-science","display_name":"Computer science","score":0.7931633591651917},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7393233776092529},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5910302400588989},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5420722365379333},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5384864807128906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.524383008480072},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4945647418498993},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.48771557211875916},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3993428349494934}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7931633591651917},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7393233776092529},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5910302400588989},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5420722365379333},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5384864807128906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.524383008480072},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4945647418498993},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.48771557211875916},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3993428349494934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3376739","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3376739","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10380310/10471398.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ef2417f41bf04b60936960200959b06a","is_oa":true,"landing_page_url":"https://doaj.org/article/ef2417f41bf04b60936960200959b06a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 40668-40681 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3376739","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1109/access.2024.3376739","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/10380310/10471398.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320308269","display_name":"Alexander von Humboldt-Stiftung","ror":"https://ror.org/012kf4317"},{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392745449.pdf","grobid_xml":"https://content.openalex.org/works/W4392745449.grobid-xml"},"referenced_works_count":42,"referenced_works":["https://openalex.org/W1503398984","https://openalex.org/W1516111018","https://openalex.org/W1845972764","https://openalex.org/W2003467109","https://openalex.org/W2070792261","https://openalex.org/W2104067967","https://openalex.org/W2120340025","https://openalex.org/W2125389028","https://openalex.org/W2131940723","https://openalex.org/W2138309709","https://openalex.org/W2147224235","https://openalex.org/W2154867660","https://openalex.org/W2156093990","https://openalex.org/W2194775991","https://openalex.org/W2559655401","https://openalex.org/W2784465508","https://openalex.org/W2887709062","https://openalex.org/W2953669419","https://openalex.org/W2963092423","https://openalex.org/W2963525569","https://openalex.org/W2963575966","https://openalex.org/W2966735560","https://openalex.org/W2968945909","https://openalex.org/W3021784150","https://openalex.org/W3037164854","https://openalex.org/W3088158297","https://openalex.org/W3115737827","https://openalex.org/W3128899300","https://openalex.org/W3130885760","https://openalex.org/W4302434451","https://openalex.org/W4386554612","https://openalex.org/W6610566761","https://openalex.org/W6678815747","https://openalex.org/W6717434760","https://openalex.org/W6747473740","https://openalex.org/W6747790125","https://openalex.org/W6748487558","https://openalex.org/W6754814508","https://openalex.org/W6778153649","https://openalex.org/W6784345087","https://openalex.org/W6784643869","https://openalex.org/W6856740646"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W2964765435"],"abstract_inverted_index":{"Modern":[0],"cyber-physical":[1],"systems":[2,25],"are":[3,26],"becoming":[4],"increasingly":[5],"complex":[6],"to":[7,18,28,38,40,60,72,80,142,211],"model,":[8],"thus":[9],"motivating":[10],"data-driven":[11],"techniques":[12],"such":[13,31],"as":[14,32,162],"reinforcement":[15],"learning":[16,95,100,112,141],"(RL)":[17],"find":[19],"appropriate":[20],"control":[21],"agents.":[22],"However,":[23,83],"most":[24,55],"subject":[27],"hard":[29],"constraints":[30],"safety":[33],"or":[34],"operational":[35],"bounds.":[36],"Typically,":[37],"learn":[39,118],"satisfy":[41],"these":[42,84],"constraints,":[43],"the":[44,75,81,93,99,111,122,128,137,151,156,160,190,203,216,223],"agent":[45,157],"must":[46],"violate":[47],"them":[48],"systematically,":[49],"which":[50],"is":[51,70,230],"computationally":[52],"prohibitive":[53],"in":[54,193],"systems.":[56],"Recent":[57],"efforts":[58,85],"aim":[59],"utilize":[61],"feasibility":[62,119,138,152,204],"models":[63],"that":[64,109,229],"assess":[65],"whether":[66],"a":[67,106,163,178,184],"proposed":[68],"action":[69,78,104,199,220],"feasible":[71,131,145,198],"avoid":[73],"applying":[74],"agent\u2019s":[76,94,191],"infeasible":[77],"proposals":[79],"system.":[82],"focus":[86,212],"on":[87,136,215],"guaranteeing":[88],"constraint":[89],"satisfaction":[90],"rather":[91],"than":[92],"efficiency.":[96],"To":[97],"improve":[98],"process,":[101],"we":[102,188],"introduce":[103],"mapping,":[105,221],"novel":[107],"approach":[108],"divides":[110],"process":[113],"into":[114,127],"two":[115],"steps:":[116],"first":[117],"and":[120,167,183,233],"subsequently,":[121],"objective":[123,217],"by":[124,140,158],"mapping":[125],"actions":[126,146,195],"sets":[129],"of":[130,150,219],"actions.":[132],"This":[133],"paper":[134,207],"focuses":[135],"part":[139,218],"generate":[143],"all":[144],"through":[147],"self-supervised":[148],"querying":[149],"model.":[153],"We":[154],"train":[155],"formulating":[159],"problem":[161,166],"distribution":[164],"matching":[165],"deriving":[168],"gradient":[169],"estimators":[170],"for":[171,225],"different":[172],"divergences.":[173],"Through":[174],"an":[175,226],"illustrative":[176],"example,":[177],"robotic":[179,185],"path":[180],"planning":[181],"scenario,":[182],"grasping":[186],"simulation,":[187],"demonstrate":[189],"proficiency":[192],"generating":[194],"across":[196],"disconnected":[197],"sets.":[200],"By":[201],"addressing":[202],"step,":[205],"this":[206],"makes":[208],"it":[209],"possible":[210],"future":[213],"work":[214],"paving":[222],"way":[224],"RL":[227],"framework":[228],"both":[231],"safe":[232],"efficient.":[234]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
