{"id":"https://openalex.org/W3012750387","doi":"https://doi.org/10.1109/case49439.2021.9551558","title":"Modelling and Learning Dynamics for Robotic Food-Cutting","display_name":"Modelling and Learning Dynamics for Robotic Food-Cutting","publication_year":2021,"publication_date":"2021-08-23","ids":{"openalex":"https://openalex.org/W3012750387","doi":"https://doi.org/10.1109/case49439.2021.9551558","mag":"3012750387"},"language":"en","primary_location":{"id":"doi:10.1109/case49439.2021.9551558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2003.09179","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016328286","display_name":"Ioanna Mitsioni","orcid":"https://orcid.org/0000-0003-4933-1778"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Ioanna Mitsioni","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics, Perception and Learning (RPL), CAS, EECS,Stockholm,Sweden","Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics, Perception and Learning (RPL), CAS, EECS,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066684950","display_name":"Yiannis Karayiannidis","orcid":"https://orcid.org/0000-0001-5129-342X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]},{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yiannis Karayiannidis","raw_affiliation_strings":["Chalmers University of Technology,Division of Systems and Control,Dept. of Electrical Engineering,Gothenburg,Sweden","Royal Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Division of Systems and Control,Dept. of Electrical Engineering,Gothenburg,Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Royal Institute of Technology","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["KTH Royal Institute of Technology,Division of Robotics, Perception and Learning (RPL), CAS, EECS,Stockholm,Sweden","Chalmers University of Technology"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Division of Robotics, Perception and Learning (RPL), CAS, EECS,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"Chalmers University of Technology","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016328286"],"corresponding_institution_ids":["https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.26566582,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50939432,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1194","last_page":"1200"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9968000054359436,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9855999946594238,"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/model-predictive-control","display_name":"Model predictive control","score":0.7026286721229553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.64485764503479},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6250244379043579},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6049177646636963},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5852178335189819},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5261618494987488},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5161386728286743},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.4750778079032898},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4608904719352722},{"id":"https://openalex.org/keywords/contact-dynamics","display_name":"Contact dynamics","score":0.4477859437465668},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4386701285839081},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4255828559398651},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4102098047733307},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3676537871360779},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32209187746047974},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20401525497436523},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.11436530947685242},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11234503984451294}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7026286721229553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.64485764503479},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6250244379043579},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6049177646636963},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5852178335189819},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5261618494987488},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5161386728286743},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.4750778079032898},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4608904719352722},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.4477859437465668},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4386701285839081},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4255828559398651},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4102098047733307},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3676537871360779},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32209187746047974},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20401525497436523},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.11436530947685242},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11234503984451294},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/case49439.2021.9551558","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49439.2021.9551558","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.09179","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.09179","pdf_url":"https://arxiv.org/pdf/2003.09179","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"","raw_type":"text"},{"id":"mag:3012750387","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/2003.09179.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:DiVA.org:kth-305257","is_oa":true,"landing_page_url":"http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-305257","pdf_url":null,"source":{"id":"https://openalex.org/S4306401559","display_name":"KTH Publication Database DiVA (KTH Royal Institute of Technology)","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:research.chalmers.se:526676","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/526676","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"doi:10.48550/arxiv.2003.09179","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.09179","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2003.09179","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.09179","pdf_url":"https://arxiv.org/pdf/2003.09179","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","score":0.6600000262260437,"display_name":"Zero hunger"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1851340573","https://openalex.org/W1924770834","https://openalex.org/W1978023077","https://openalex.org/W2016958754","https://openalex.org/W2051205761","https://openalex.org/W2064173399","https://openalex.org/W2095560465","https://openalex.org/W2102736617","https://openalex.org/W2121229926","https://openalex.org/W2124183405","https://openalex.org/W2127524524","https://openalex.org/W2155182058","https://openalex.org/W2166211466","https://openalex.org/W2187089797","https://openalex.org/W2277152661","https://openalex.org/W2281096776","https://openalex.org/W2284780761","https://openalex.org/W2296073425","https://openalex.org/W2567137345","https://openalex.org/W2589515277","https://openalex.org/W2619484182","https://openalex.org/W2804860342","https://openalex.org/W2895268904","https://openalex.org/W2931290872","https://openalex.org/W2955035422","https://openalex.org/W2963248296","https://openalex.org/W2963414638","https://openalex.org/W2964055695","https://openalex.org/W2964121744","https://openalex.org/W2967092886","https://openalex.org/W2967129319","https://openalex.org/W2967727187","https://openalex.org/W3157497384"],"related_works":["https://openalex.org/W3202686998","https://openalex.org/W2554684686","https://openalex.org/W3158338937","https://openalex.org/W3020255553","https://openalex.org/W2940081677","https://openalex.org/W2604726708","https://openalex.org/W3003152535","https://openalex.org/W3156947959","https://openalex.org/W3003125667","https://openalex.org/W2809584400","https://openalex.org/W3023002804","https://openalex.org/W2949390046","https://openalex.org/W3206216308","https://openalex.org/W2980820015","https://openalex.org/W2788694620","https://openalex.org/W2917939519","https://openalex.org/W3080412179","https://openalex.org/W3201489224","https://openalex.org/W2561541975","https://openalex.org/W2952102529"],"abstract_inverted_index":{"Data-driven":[0],"approaches":[1],"for":[2,47,83,89],"modelling":[3],"contact-rich":[4,49],"tasks":[5],"address":[6],"many":[7],"of":[8,29,51,120],"the":[9,18,22,30,48,63,121],"difficulties":[10],"that":[11,40,96],"analytical":[12],"models":[13],"bear.":[14],"For":[15],"real-world":[16],"scenarios,":[17],"hardware":[19],"capabilities":[20],"constrain":[21],"available":[23],"measurements":[24],"and":[25,111,115],"consequently,":[26],"every":[27],"step":[28],"problem's":[31],"formulation.":[32],"In":[33],"this":[34,55],"work,":[35],"we":[36,57],"propose":[37],"a":[38,44,66,72,99,117],"formulation":[39],"encapsulates":[41],"knowledge":[42],"from":[43],"baseline":[45],"controller":[46],"task":[50],"food-cutting.":[52],"Based":[53],"on":[54,76,109],"formulation,":[56],"employ":[58],"deep":[59],"networks":[60],"to":[61],"model":[62,67,103],"dynamics":[64],"within":[65],"predictive":[68,107],"controller.":[69],"We":[70],"design":[71],"training":[73,78],"process":[74],"based":[75],"curriculum":[77],"with":[79,98],"learning":[80],"rate":[81],"decay":[82],"multi-step":[84],"predictions,":[85],"which":[86],"are":[87],"essential":[88],"receding":[90],"horizon":[91],"control.":[92],"Experimental":[93],"results":[94],"demonstrate":[95],"even":[97],"simple":[100],"architecture,":[101],"our":[102],"achieves":[104],"consistently":[105],"good":[106,118],"performance":[108],"known":[110],"unknown":[112],"object":[113],"classes":[114],"exhibits":[116],"understanding":[119],"long":[122],"term":[123],"dynamics.":[124]},"counts_by_year":[{"year":2021,"cited_by_count":2}],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}