{"id":"https://openalex.org/W7124159008","doi":"https://doi.org/10.1109/codit66093.2025.11321790","title":"Model Identification Adaptive Control with \u03c1-POMDP Planning","display_name":"Model Identification Adaptive Control with \u03c1-POMDP Planning","publication_year":2025,"publication_date":"2025-07-15","ids":{"openalex":"https://openalex.org/W7124159008","doi":"https://doi.org/10.1109/codit66093.2025.11321790"},"language":null,"primary_location":{"id":"doi:10.1109/codit66093.2025.11321790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit66093.2025.11321790","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5012122237","display_name":"Michelle Ho","orcid":"https://orcid.org/0000-0002-1513-8016"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michelle Ho","raw_affiliation_strings":["Stanford University,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003610417","display_name":"Arec Jamgochian","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arec Jamgochian","raw_affiliation_strings":["Stanford University,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068326377","display_name":"Mykel J. Kochenderfer","orcid":"https://orcid.org/0000-0002-7238-9663"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mykel J. Kochenderfer","raw_affiliation_strings":["Stanford University,Stanford,CA,USA,94305"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University,Stanford,CA,USA,94305","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1981","last_page":"1986"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.18870000541210175,"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/T11236","display_name":"Control Systems and Identification","score":0.18870000541210175,"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/T12125","display_name":"Aerospace and Aviation Technology","score":0.1826000064611435,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10791","display_name":"Advanced Control Systems Optimization","score":0.11860000342130661,"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/control-theory","display_name":"Control theory (sociology)","score":0.6344000101089478},{"id":"https://openalex.org/keywords/observable","display_name":"Observable","score":0.6212999820709229},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6043000221252441},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5976999998092651},{"id":"https://openalex.org/keywords/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.5135999917984009},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.478300005197525},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4415000081062317},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.43779999017715454},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.43779999017715454},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.4325000047683716}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6344000101089478},{"id":"https://openalex.org/C32848918","wikidata":"https://www.wikidata.org/wiki/Q845789","display_name":"Observable","level":2,"score":0.6212999820709229},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6043000221252441},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5976999998092651},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5153999924659729},{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.5135999917984009},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.478300005197525},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4415000081062317},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.43779999017715454},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.43779999017715454},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.4325000047683716},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4214000105857849},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4129999876022339},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.3993000090122223},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.39660000801086426},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.38769999146461487},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.3869999945163727},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3785000145435333},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35370001196861267},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.35190001130104065},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3416999876499176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32760000228881836},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.32510000467300415},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.32429999113082886},{"id":"https://openalex.org/C52970973","wikidata":"https://www.wikidata.org/wiki/Q2497134","display_name":"Adaptive system","level":2,"score":0.32359999418258667},{"id":"https://openalex.org/C129537906","wikidata":"https://www.wikidata.org/wiki/Q7603913","display_name":"State variable","level":2,"score":0.3215999901294708},{"id":"https://openalex.org/C79610928","wikidata":"https://www.wikidata.org/wiki/Q1656743","display_name":"Parameter identification problem","level":3,"score":0.31690001487731934},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.29829999804496765},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.296099990606308},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2937000095844269},{"id":"https://openalex.org/C8171440","wikidata":"https://www.wikidata.org/wiki/Q903414","display_name":"Steady state (chemistry)","level":2,"score":0.2800000011920929},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.27970001101493835},{"id":"https://openalex.org/C52918065","wikidata":"https://www.wikidata.org/wiki/Q230945","display_name":"State-space representation","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C107645828","wikidata":"https://www.wikidata.org/wiki/Q12070446","display_name":"System model","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C163175372","wikidata":"https://www.wikidata.org/wiki/Q3339222","display_name":"Linear model","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C28901747","wikidata":"https://www.wikidata.org/wiki/Q177571","display_name":"Decision theory","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.25220000743865967}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit66093.2025.11321790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit66093.2025.11321790","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 11th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W138489189","https://openalex.org/W1529817735","https://openalex.org/W1971109124","https://openalex.org/W1972663949","https://openalex.org/W2011418219","https://openalex.org/W2017729175","https://openalex.org/W2020331823","https://openalex.org/W2086699924","https://openalex.org/W2091565802","https://openalex.org/W2095318871","https://openalex.org/W2100101211","https://openalex.org/W2963360571","https://openalex.org/W2968021105","https://openalex.org/W3092979862","https://openalex.org/W3125570363","https://openalex.org/W3201337335","https://openalex.org/W4240691156","https://openalex.org/W4255985591","https://openalex.org/W4383066579"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"system":[1,53,115],"modeling":[2],"is":[3],"crucial":[4],"for":[5,90],"safe,":[6],"effective":[7],"control,":[8],"as":[9,35,41,55,102],"misidentification":[10],"can":[11],"lead":[12],"to":[13,114],"accumulated":[14],"errors,":[15],"especially":[16],"under":[17,111],"partial":[18],"observability.":[19],"We":[20,51,68,81],"address":[21],"this":[22,70],"problem":[23,71],"by":[24],"formulating":[25],"informative":[26],"input":[27],"design":[28],"and":[29,86,92,105],"model":[30],"identification":[31],"adaptive":[32],"control":[33,108],"(MIAC)":[34],"belief":[36],"space":[37],"planning":[38],"problems,":[39],"modeled":[40],"partially":[42,87],"observable":[43,88],"Markov":[44],"decision":[45],"processes":[46],"with":[47,72],"belief-dependent":[48],"rewards":[49],"(\u03c1-POMDPs).":[50],"treat":[52],"parameters":[54],"hidden":[56],"state":[57],"variables":[58],"that":[59],"must":[60],"be":[61],"localized":[62],"while":[63],"simultaneously":[64],"controlling":[65],"the":[66],"system.":[67],"solve":[69],"an":[73],"adapted":[74],"belief-space":[75],"iterative":[76],"Linear":[77],"Quadratic":[78],"Regulator":[79],"(BiLQR).":[80],"demonstrate":[82],"it":[83],"on":[84],"fully":[85],"tasks":[89],"cart-pole":[91],"steady":[93],"aircraft":[94],"flight":[95],"domains.":[96],"Our":[97],"method":[98],"outperforms":[99],"baselines":[100],"such":[101],"regression,":[103],"filtering,":[104],"local":[106],"optimal":[107],"methods,":[109],"even":[110],"instantaneous":[112],"disturbances":[113],"parameters.":[116]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2026-01-15T00:00:00"}
