{"id":"https://openalex.org/W2060329955","doi":"https://doi.org/10.1109/adprl.2009.4927524","title":"Real-time motor control using recurrent neural networks","display_name":"Real-time motor control using recurrent neural networks","publication_year":2009,"publication_date":"2009-03-01","ids":{"openalex":"https://openalex.org/W2060329955","doi":"https://doi.org/10.1109/adprl.2009.4927524","mag":"2060329955"},"language":"en","primary_location":{"id":"doi:10.1109/adprl.2009.4927524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/adprl.2009.4927524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"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/A5069747261","display_name":"Dongsung Huh","orcid":null},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dongsung HuH","raw_affiliation_strings":["University of California, San Diego, CA, USA","University of California, San Diego - La Jolla, 92093, USA"],"affiliations":[{"raw_affiliation_string":"University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"University of California, San Diego - La Jolla, 92093, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108520754","display_name":"Emanuel Todorov","orcid":null},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California, San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emanuel Todorov","raw_affiliation_strings":["University of California, San Diego, CA, USA","University of California, San Diego - La Jolla, 92093, USA"],"affiliations":[{"raw_affiliation_string":"University of California, San Diego, CA, USA","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"University of California, San Diego - La Jolla, 92093, USA","institution_ids":["https://openalex.org/I36258959"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5069747261"],"corresponding_institution_ids":["https://openalex.org/I36258959"],"apc_list":null,"apc_paid":null,"fwci":0.1407,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.5137703,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"42","last_page":"49"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10581","display_name":"Neural dynamics and brain function","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.992900013923645,"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":0.6502525806427002},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6225509643554688},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.5621839761734009},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5172505974769592},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.497130423784256},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4955555200576782},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3531346917152405},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26189613342285156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24297085404396057},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1455269753932953}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6502525806427002},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6225509643554688},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.5621839761734009},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5172505974769592},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.497130423784256},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4955555200576782},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3531346917152405},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26189613342285156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24297085404396057},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1455269753932953},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/adprl.2009.4927524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/adprl.2009.4927524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.296.7538","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.296.7538","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://homes.cs.washington.edu/~todorov/papers/network_ADPRL.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W138885771","https://openalex.org/W1572161815","https://openalex.org/W1601974704","https://openalex.org/W1904024272","https://openalex.org/W1980440818","https://openalex.org/W2006206079","https://openalex.org/W2010193707","https://openalex.org/W2029058516","https://openalex.org/W2029776687","https://openalex.org/W2033766378","https://openalex.org/W2096035449","https://openalex.org/W2105398397","https://openalex.org/W2145597386","https://openalex.org/W6605522417"],"related_works":["https://openalex.org/W4225394202","https://openalex.org/W4298287631","https://openalex.org/W2953061907","https://openalex.org/W3032952384","https://openalex.org/W3034302643","https://openalex.org/W1847088711","https://openalex.org/W3036642985","https://openalex.org/W2964335273","https://openalex.org/W1889624880","https://openalex.org/W2229372569"],"abstract_inverted_index":{"Currently,":[0],"the":[1,33,70,76,111,131,150],"field":[2],"of":[3,15,94,110,146,149,158],"sensory-motor":[4,34],"neuroscience":[5],"lacks":[6],"a":[7,39,61,84,102,166,171],"computational":[8],"model":[9,32],"that":[10,141],"can":[11,142],"replicate":[12],"real-time":[13],"control":[14,47,73],"biological":[16],"brain.":[17],"Due":[18],"to":[19,31],"incomplete":[20],"neural":[21,26,63],"and":[22,79,122,137,170],"anatomical":[23],"data,":[24],"traditional":[25],"network":[27,64],"training":[28],"methods":[29],"fail":[30],"systems.":[35],"Here":[36],"we":[37,100,133],"introduce":[38,101],"novel":[40],"modeling":[41],"method":[42,119],"based":[43,169,173],"on":[44],"stochastic":[45],"optimal":[46,71],"framework":[48],"which":[49,107,152],"is":[50,58,68,124],"well":[51],"suited":[52],"for":[53,75,92,120],"this":[54],"purpose.":[55],"Our":[56],"controller":[57],"implemented":[59],"with":[60],"recurrent":[62],"(RNN)":[65],"whose":[66],"goal":[67],"approximating":[69],"global":[72],"law":[74],"given":[77],"plant":[78],"cost":[80],"function.":[81],"We":[82,114,161],"employ":[83],"risk-sensitive":[85],"objective":[86],"function":[87],"proposed":[88,154],"by":[89],"Jacobson":[90],"(1973)":[91],"robustness":[93],"controller.":[95],"For":[96],"maximum":[97,128],"optimization":[98,112],"efficiency,":[99],"step":[103],"response":[104],"sampling":[105],"method,":[106],"minimizes":[108],"complexity":[109],"problem.":[113],"use":[115],"conjugate":[116],"gradient":[117,123],"descent":[118],"optimization,":[121],"calculated":[125],"via":[126],"Pontryagin's":[127],"principle.":[129],"In":[130],"end,":[132],"obtain":[134],"highly":[135],"stable":[136],"robust":[138],"RNN":[139],"controllers":[140],"generate":[143],"infinite":[144],"varieties":[145],"attractor":[147,168],"dynamics":[148],"plant,":[151],"are":[153],"as":[155],"building":[156],"blocks":[157],"movement":[159],"generation.":[160],"show":[162],"two":[163],"such":[164],"examples,":[165],"point":[167],"limit-cycle":[172],"dynamics.":[174]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
