{"id":"https://openalex.org/W2155029419","doi":"https://doi.org/10.1109/adprl.2009.4927526","title":"Coupling perception and action using minimax optimal control","display_name":"Coupling perception and action using minimax optimal control","publication_year":2009,"publication_date":"2009-03-01","ids":{"openalex":"https://openalex.org/W2155029419","doi":"https://doi.org/10.1109/adprl.2009.4927526","mag":"2155029419"},"language":"en","primary_location":{"id":"doi:10.1109/adprl.2009.4927526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/adprl.2009.4927526","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/A5080897805","display_name":"Tom Erez","orcid":null},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tom Erez","raw_affiliation_strings":["Washington University, Saint Louis, MO, USA"],"affiliations":[{"raw_affiliation_string":"Washington University, Saint Louis, MO, USA","institution_ids":["https://openalex.org/I204465549"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026622322","display_name":"William D. Smart","orcid":"https://orcid.org/0000-0001-6867-5125"},"institutions":[{"id":"https://openalex.org/I204465549","display_name":"Washington University in St. Louis","ror":"https://ror.org/01yc7t268","country_code":"US","type":"education","lineage":["https://openalex.org/I204465549"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William D. Smart","raw_affiliation_strings":["Washington University, Saint Louis, MO, USA"],"affiliations":[{"raw_affiliation_string":"Washington University, Saint Louis, MO, USA","institution_ids":["https://openalex.org/I204465549"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5080897805"],"corresponding_institution_ids":["https://openalex.org/I204465549"],"apc_list":null,"apc_paid":null,"fwci":3.1614,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.92485493,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"14","issue":null,"first_page":"58","last_page":"65"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6485398411750793},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.5305997133255005},{"id":"https://openalex.org/keywords/minimax","display_name":"Minimax","score":0.4631710648536682},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.45799949765205383},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41978222131729126},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4067881107330322},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28136688470840454},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2810285687446594},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18911466002464294}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6485398411750793},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.5305997133255005},{"id":"https://openalex.org/C149728462","wikidata":"https://www.wikidata.org/wiki/Q751319","display_name":"Minimax","level":2,"score":0.4631710648536682},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.45799949765205383},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41978222131729126},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4067881107330322},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28136688470840454},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2810285687446594},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18911466002464294},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/adprl.2009.4927526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/adprl.2009.4927526","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:10.1.1.144.9330","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.144.9330","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cse.wustl.edu/~etom/adprl09.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":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W658381347","https://openalex.org/W1485283426","https://openalex.org/W1589395967","https://openalex.org/W2025752438","https://openalex.org/W2109944946","https://openalex.org/W2111999018","https://openalex.org/W2113617958","https://openalex.org/W2116907593","https://openalex.org/W2168359464","https://openalex.org/W2171578145","https://openalex.org/W2798944292","https://openalex.org/W6628876229","https://openalex.org/W6676444349","https://openalex.org/W6676801769"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2967463586","https://openalex.org/W2765830098","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W3157641275","https://openalex.org/W4312300846","https://openalex.org/W2615757685","https://openalex.org/W2098782634","https://openalex.org/W3000546688"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,59,71,74,86,128,179,187,217],"novel":[4],"approach":[5],"for":[6,100,234,249],"coupling":[7,182],"perception":[8,134],"and":[9,35,108,135,190,241,260],"action":[10,136],"through":[11,212],"minimax":[12,213],"dynamic":[13,215],"programming.":[14],"We":[15,54,126,173],"tackle":[16],"domains":[17],"where":[18,62],"the":[19,25,30,40,83,93,97,103,110,121,141,167,175,183,193,202,225,235,239,242,245,250],"agent":[20,64,80],"has":[21],"some":[22,33],"control":[23,46,119,144,237],"over":[24],"observation":[26,98],"process":[27],"(e.g.":[28],"via":[29],"manipulation":[31],"of":[32,85,92,102,112,120,140,148,170,201,227,238,252],"sensors),":[34],"show":[36],"how":[37],"to":[38,70,89,161,166,178,196,224,232],"transform":[39,174],"system":[41,177,208],"so":[42,191],"that":[43,106,131,220],"an":[44,63,157,198],"optimal":[45,143,236],"solution":[47],"can":[48,81],"be":[49],"sought":[50],"with":[51,77,186],"standard":[52],"algorithms.":[53],"demonstrate":[55],"our":[56],"method":[57,219],"in":[58,73,105],"toy":[60],"domain,":[61],"guides":[65],"two":[66],"point":[67],"masses":[68],"(ldquohandsrdquo)":[69],"target":[72],"2D":[75],"scene":[76,104],"obstacles.":[78],"The":[79,146,206],"direct":[82],"gaze":[84],"virtual":[87],"ldquoeyerdquo":[88],"different":[90],"parts":[91],"scene,":[94],"thereby":[95],"reducing":[96],"noise":[99],"elements":[101],"vicinity":[107],"improving":[109],"quality":[111],"feedback":[113],"control.":[114],"In":[115],"this":[116],"manner,":[117],"motor":[118],"eye":[122,243],"allots":[123],"attentional":[124],"resources.":[125],"propose":[127],"unified":[129],"framework":[130],"treats":[132],"both":[133],"as":[137,256],"interdependent":[138],"components":[139],"same":[142,246],"task.":[145],"implications":[147],"uncertainty":[149],"on":[150],"task":[151],"performance":[152],"are":[153,230],"uncovered":[154],"by":[155,181],"deploying":[156],"adversary":[158],"whose":[159],"strength":[160],"do":[162],"harm":[163],"is":[164,209,221],"proportional":[165],"instantaneous":[168,203],"level":[169],"state":[171,184,194,204],"uncertainty.":[172,205],"partially-observable":[176],"fully-observable":[180],"dynamics":[185],"state-estimation":[188],"filter,":[189],"augment":[192],"space":[195],"include":[197],"explicit":[199],"representation":[200],"augmented":[207],"high-dimensional,":[210],"but":[211],"differential":[214],"programming,":[216],"local":[218],"less":[222],"susceptible":[223],"curse":[226],"dimensionality,":[228],"we":[229],"able":[231],"solve":[233],"hands":[240],"at":[244],"time,":[247],"allowing":[248],"emergence":[251],"interesting":[253],"phenomena":[254],"such":[255],"hand-eye":[257],"coordination,":[258],"saccades":[259],"smooth":[261],"pursuit.":[262]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}