{"id":"https://openalex.org/W3091849757","doi":"https://doi.org/10.1109/case48305.2020.9216963","title":"Survivable Hyper-Redundant Robotic Arm with Bayesian Policy Morphing","display_name":"Survivable Hyper-Redundant Robotic Arm with Bayesian Policy Morphing","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3091849757","doi":"https://doi.org/10.1109/case48305.2020.9216963","mag":"3091849757"},"language":"en","primary_location":{"id":"doi:10.1109/case48305.2020.9216963","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216963","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2010.09964","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Sayyed Jaffar Ali Raza","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sayyed Jaffar Ali Raza","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Apan Dastider","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Apan Dastider","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Mingjie Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mingjie Lin","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":false,"cited_by_count":1,"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":0.9991000294685364,"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":0.9991000294685364,"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":0.9912999868392944,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/grasp","display_name":"GRASP","score":0.6675000190734863},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6628000140190125},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6322000026702881},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.6118000149726868},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.5884000062942505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5112000107765198},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.4650000035762787}],"concepts":[{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6675000190734863},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6628000140190125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6568999886512756},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6322000026702881},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.6118000149726868},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.5884000062942505},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5579000115394592},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5112000107765198},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.4650000035762787},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.39469999074935913},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.3327000141143799},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.30720001459121704},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.2786000072956085},{"id":"https://openalex.org/C52740198","wikidata":"https://www.wikidata.org/wiki/Q1539564","display_name":"Importance sampling","level":3,"score":0.2782999873161316},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.26899999380111694},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2662999927997589},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.263700008392334},{"id":"https://openalex.org/C73602740","wikidata":"https://www.wikidata.org/wiki/Q7795822","display_name":"Thompson sampling","level":3,"score":0.26080000400543213}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case48305.2020.9216963","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case48305.2020.9216963","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 16th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2010.09964","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.09964","pdf_url":"https://arxiv.org/pdf/2010.09964","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,"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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2010.09964","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.09964","pdf_url":"https://arxiv.org/pdf/2010.09964","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,"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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W778742492","https://openalex.org/W1738827650","https://openalex.org/W1977655452","https://openalex.org/W2034284198","https://openalex.org/W2126880773","https://openalex.org/W2159008857","https://openalex.org/W2164569010","https://openalex.org/W2575705757","https://openalex.org/W2967075852","https://openalex.org/W2973843138","https://openalex.org/W3003894547","https://openalex.org/W4205559380","https://openalex.org/W6673207523","https://openalex.org/W6675278435","https://openalex.org/W6680194329","https://openalex.org/W6683195989","https://openalex.org/W6684921986","https://openalex.org/W6692846177","https://openalex.org/W6743825324","https://openalex.org/W6780106213"],"related_works":[],"abstract_inverted_index":{"In":[0],"this":[1,26],"paper":[2],"we":[3,28],"present":[4],"a":[5,39,154],"Bayesian":[6,33],"reinforcement":[7],"learning":[8,92],"framework":[9,31],"that":[10,37,80],"allows":[11],"robotic":[12,106,141],"manipulators":[13],"to":[14,42,63,149],"adaptively":[15],"recover":[16],"from":[17],"random":[18,116],"mechanical":[19],"failures":[20],"autonomously,":[21],"hence":[22],"being":[23],"survivable.":[24],"To":[25],"end,":[27],"formulate":[29],"the":[30,48,84,140],"of":[32,50,96,111],"Policy":[34],"Morphing":[35],"(BPM)":[36],"enables":[38],"robot":[40],"agent":[41],"self-modify":[43],"its":[44,51,147],"learned":[45],"policy":[46,65,73,81],"after":[47],"diminution":[49],"maneuvering":[52],"dimensionality.":[53],"We":[54,78,99],"build":[55],"upon":[56],"existing":[57],"actorcritic":[58],"framework,":[59],"and":[60,128,152],"extend":[61],"it":[62],"perform":[64],"gradient":[66],"updates":[67,74],"as":[68,75],"posterior":[69],"learning,":[70],"taking":[71],"past":[72],"prior":[76,88],"distributions.":[77],"show":[79],"search,":[82],"in":[83,94],"direction":[85],"biased":[86],"by":[87],"experience,":[89],"significantly":[90],"improves":[91],"efficiency":[93],"terms":[95],"sampling":[97],"requirements.":[98],"demonstrate":[100],"our":[101,109],"results":[102,132],"on":[103],"an":[104],"8-DOF":[105],"arm":[107,142],"with":[108,118,137],"algorithm":[110],"BPM,":[112],"while":[113],"intentionally":[114],"disabling":[115],"joints":[117],"different":[119],"damage":[120],"types":[121],"like":[122],"unresponsive":[123],"joints,":[124],"constant":[125],"offset":[126],"errors":[127],"angular":[129],"imprecision.":[130],"Our":[131],"have":[133],"shown":[134],"that,":[135],"even":[136],"physical":[138],"damages,":[139],"can":[143],"still":[144],"successfully":[145],"maintain":[146],"functionality":[148],"accurately":[150],"locate":[151],"grasp":[153],"given":[155],"target":[156],"object.":[157]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2020-10-15T00:00:00"}
