{"id":"https://openalex.org/W2599719672","doi":"https://doi.org/10.1109/cdc.2017.8264425","title":"Goal-driven dynamics learning via Bayesian optimization","display_name":"Goal-driven dynamics learning via Bayesian optimization","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2599719672","doi":"https://doi.org/10.1109/cdc.2017.8264425","mag":"2599719672"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2017.8264425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8264425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","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/A5059176959","display_name":"Somil Bansal","orcid":"https://orcid.org/0000-0002-5826-7686"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]},{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Somil Bansal","raw_affiliation_strings":["School of Engineering and Information Technology, The University of New South Wales, Canberra, ACT, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, The University of New South Wales, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002235575","display_name":"Roberto Calandra","orcid":"https://orcid.org/0000-0001-9430-8433"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Roberto Calandra","raw_affiliation_strings":["School of Engineering and Information Technology, The University of New South Wales, Canberra, ACT, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, The University of New South Wales, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008219421","display_name":"Ted Xiao","orcid":null},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ted Xiao","raw_affiliation_strings":["School of Engineering and Information Technology, The University of New South Wales, Canberra, ACT, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, The University of New South Wales, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026322200","display_name":"Sergey Levine","orcid":"https://orcid.org/0000-0001-6764-2743"},"institutions":[{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]},{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Sergey Levine","raw_affiliation_strings":["School of Engineering and Information Technology, The University of New South Wales, Canberra, ACT, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, The University of New South Wales, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I31746571","display_name":"UNSW Sydney","ror":"https://ror.org/03r8z3t63","country_code":"AU","type":"education","lineage":["https://openalex.org/I31746571"]},{"id":"https://openalex.org/I188329596","display_name":"University of Canberra","ror":"https://ror.org/04s1nv328","country_code":"AU","type":"education","lineage":["https://openalex.org/I188329596"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Claire J. Tomlin","raw_affiliation_strings":["School of Engineering and Information Technology, The University of New South Wales, Canberra, ACT, Australia"],"affiliations":[{"raw_affiliation_string":"School of Engineering and Information Technology, The University of New South Wales, Canberra, ACT, Australia","institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5059176959"],"corresponding_institution_ids":["https://openalex.org/I188329596","https://openalex.org/I31746571"],"apc_list":null,"apc_paid":null,"fwci":7.4107,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.9765914,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5168","last_page":"5173"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.996399998664856,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.996399998664856,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9944999814033508,"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/T11236","display_name":"Control Systems and Identification","score":0.9930999875068665,"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":0.7978772521018982},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.7973895072937012},{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.774604856967926},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7080860137939453},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.6054033637046814},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5169781446456909},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.499985933303833},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4926193356513977},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.47551804780960083},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44347214698791504},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4316995143890381},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3853396475315094},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09417986869812012}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7978772521018982},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.7973895072937012},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.774604856967926},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7080860137939453},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.6054033637046814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5169781446456909},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.499985933303833},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4926193356513977},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.47551804780960083},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44347214698791504},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4316995143890381},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3853396475315094},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09417986869812012},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2017.8264425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8264425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W770013183","https://openalex.org/W1746819321","https://openalex.org/W1972870800","https://openalex.org/W1997543377","https://openalex.org/W2002428251","https://openalex.org/W2012758201","https://openalex.org/W2018691083","https://openalex.org/W2018705428","https://openalex.org/W2047993072","https://openalex.org/W2125370735","https://openalex.org/W2136213019","https://openalex.org/W2192203593","https://openalex.org/W2346505884","https://openalex.org/W2536620281","https://openalex.org/W2597344944","https://openalex.org/W2599719672","https://openalex.org/W2962822327","https://openalex.org/W3105904426","https://openalex.org/W4211049957","https://openalex.org/W6651202162","https://openalex.org/W6728664312","https://openalex.org/W6735088135","https://openalex.org/W6981926866"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2152313554","https://openalex.org/W2064303750","https://openalex.org/W3048672182","https://openalex.org/W1509300825","https://openalex.org/W3092582874","https://openalex.org/W2065450024"],"abstract_inverted_index":{"Real-world":[0],"robots":[1],"are":[2],"becoming":[3],"increasingly":[4],"complex":[5],"and":[6,90,143],"commonly":[7],"act":[8],"in":[9,69,92,117,123],"poorly":[10],"understood":[11],"environments":[12],"where":[13,74],"it":[14,26],"is":[15,38,80,109,131],"extremely":[16],"challenging":[17],"to":[18,30,98],"model":[19,44,79,108],"or":[20],"learn":[21],"their":[22],"true":[23,60],"dynamics.":[24,61],"Therefore,":[25],"might":[27],"be":[28],"desirable":[29],"take":[31],"a":[32,75,101,104,128,147],"task-specific":[33],"approach,":[34],"wherein":[35],"the":[36,42,47,52,59,83,87,114,120,135,138],"focus":[37],"on":[39,113,119,146],"explicitly":[40],"learning":[41,58,72],"dynamics":[43,78],"which":[45],"achieves":[46],"best":[48],"control":[49,88,96],"performance":[50,115,130],"for":[51,103],"task":[53],"at":[54],"hand,":[55],"rather":[56],"than":[57],"In":[62],"this":[63],"work,":[64],"we":[65],"use":[66],"Bayesian":[67],"optimization":[68],"an":[70,124],"active":[71],"framework":[73],"locally":[76],"linear":[77],"learned":[81],"with":[82,94],"intent":[84],"of":[85,137],"maximizing":[86],"performance,":[89],"used":[91],"conjunction":[93],"optimal":[95],"schemes":[97],"efficiently":[99],"design":[100],"controller":[102],"given":[105],"task.":[106],"This":[107],"updated":[110],"directly":[111],"based":[112],"observed":[116],"experiments":[118,145],"physical":[121],"system":[122],"iterative":[125],"manner":[126],"until":[127],"desired":[129],"achieved.":[132],"We":[133],"demonstrate":[134],"efficacy":[136],"proposed":[139],"approach":[140],"through":[141],"simulations":[142],"real":[144],"quadrotor":[148],"testbed.":[149]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}