{"id":"https://openalex.org/W2783813470","doi":"https://doi.org/10.1109/humanoids.2017.8246965","title":"Learning inverse dynamics models in O(n) time with LSTM networks","display_name":"Learning inverse dynamics models in O(n) time with LSTM networks","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2783813470","doi":"https://doi.org/10.1109/humanoids.2017.8246965","mag":"2783813470"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8246965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246965","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","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/A5037230603","display_name":"Elmar Rueckert","orcid":"https://orcid.org/0000-0003-1221-8253"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Elmar Rueckert","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, Technical University, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, Technical University, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031812909","display_name":"Moritz Nakatenus","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Nakatenus","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, Technical University, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, Technical University, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051476305","display_name":"Samuele Tosatto","orcid":"https://orcid.org/0000-0002-5795-9541"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Samuele Tosatto","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, Technical University, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, Technical University, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Intelligent Autonomous Systems Lab, Technical University, Darmstadt, Germany","Robot Learning Group, Max-Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, Technical University, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Robot Learning Group, Max-Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037230603"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":3.9452,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.95048477,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"811","last_page":"816"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9995999932289124,"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":0.9995999932289124,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9811999797821045,"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/T10320","display_name":"Neural Networks and Applications","score":0.963100016117096,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6987580060958862},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.6229896545410156},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6042000651359558},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5614686608314514},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5029987692832947},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.47908908128738403},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4630143344402313},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4441550672054291},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.4386788010597229},{"id":"https://openalex.org/keywords/gaussian-noise","display_name":"Gaussian noise","score":0.43335282802581787},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4239910840988159},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.41250404715538025}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6987580060958862},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6229896545410156},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6042000651359558},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5614686608314514},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5029987692832947},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.47908908128738403},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4630143344402313},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4441550672054291},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.4386788010597229},{"id":"https://openalex.org/C4199805","wikidata":"https://www.wikidata.org/wiki/Q2725903","display_name":"Gaussian noise","level":2,"score":0.43335282802581787},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4239910840988159},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.41250404715538025},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2017.8246965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246965","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:escidoc.org:escidoc:2577712","is_oa":false,"landing_page_url":"http://hdl.handle.net/21.11116/0000-0001-256D-C","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":[],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W582134693","https://openalex.org/W1513084430","https://openalex.org/W1571870753","https://openalex.org/W1597173708","https://openalex.org/W1606738297","https://openalex.org/W1674799117","https://openalex.org/W1746819321","https://openalex.org/W1974849157","https://openalex.org/W1976207411","https://openalex.org/W1997543377","https://openalex.org/W2008026620","https://openalex.org/W2026430219","https://openalex.org/W2063182199","https://openalex.org/W2063741856","https://openalex.org/W2064675550","https://openalex.org/W2076063813","https://openalex.org/W2098949458","https://openalex.org/W2120062331","https://openalex.org/W2130031702","https://openalex.org/W2143612262","https://openalex.org/W2146502635","https://openalex.org/W2161767008","https://openalex.org/W2172114485","https://openalex.org/W2270470215","https://openalex.org/W2283674326","https://openalex.org/W2402144811","https://openalex.org/W2622604310","https://openalex.org/W2735615928","https://openalex.org/W2953384591","https://openalex.org/W2964059111","https://openalex.org/W4211049957","https://openalex.org/W4241649586","https://openalex.org/W6617145748","https://openalex.org/W6637157234","https://openalex.org/W6674660115","https://openalex.org/W6679512965","https://openalex.org/W6681435938","https://openalex.org/W6683852811","https://openalex.org/W6713134421","https://openalex.org/W6738980247","https://openalex.org/W6992466950"],"related_works":["https://openalex.org/W2468279273","https://openalex.org/W2354198838","https://openalex.org/W1989130879","https://openalex.org/W400207537","https://openalex.org/W1487930919","https://openalex.org/W1974966543","https://openalex.org/W2550974801","https://openalex.org/W4205272379","https://openalex.org/W1519970984","https://openalex.org/W2184783674"],"abstract_inverted_index":{"Inverse":[0],"dynamics":[1,16,76],"model":[2,54,77],"learning":[3,55,78,165],"is":[4],"crucial":[5],"for":[6,153],"modern":[7],"robots":[8],"where":[9],"analytic":[10],"models":[11,30],"cannot":[12,66],"capture":[13],"the":[14,52,64,94,147,157],"complex":[15],"of":[17,36,45,51,90,152],"compliant":[18],"actuators,":[19],"elasticities,":[20],"mechanical":[21],"inaccuracies,":[22],"frictional":[23],"effects":[24],"or":[25],"sensor":[26],"noise.":[27],"However,":[28],"such":[29],"are":[31,38],"highly":[32],"nonlinear":[33],"and":[34,126],"millions":[35],"samples":[37,139],"needed":[39],"to":[40,114,146],"encode":[41],"a":[42,82,87,97,112,141],"large":[43,133],"number":[44],"motor":[46],"skills.":[47],"Thus,":[48],"current":[49],"state":[50],"art":[53],"approaches":[56],"like":[57],"Gaussian":[58,115],"Processes":[59,116],"which":[60],"scale":[61],"exponentially":[62],"with":[63,86,108,135],"data":[65],"be":[67,130,160],"applied.":[68],"In":[69,111],"this":[70],"work,":[71],"we":[72,117],"developed":[73],"an":[74],"inverse":[75],"approach":[79,95],"based":[80],"on":[81,96,132],"long-short-term-memory":[83],"(LSTM)":[84],"network":[85,158],"time":[88],"complexity":[89],"O(n).":[91],"We":[92],"evaluated":[93],"KUKA":[98],"robot":[99],"arm":[100],"that":[101,119,127],"was":[102],"used":[103],"in":[104,140,163],"object":[105],"manipulation":[106],"skills":[107],"various":[109],"loads.":[110],"comparison":[113],"show":[118],"LSTM":[120],"networks":[121],"achieve":[122],"better":[123],"prediction":[124],"performances":[125],"they":[128],"can":[129,159],"trained":[131],"datasets":[134],"more":[136],"than":[137],"100,000":[138],"few":[142],"seconds.":[143],"Moreover,":[144],"due":[145],"small":[148],"training":[149],"batch":[150],"size":[151],"example":[154],"128":[155],"samples,":[156],"continuously":[161],"improved":[162],"life-long":[164],"scenarios.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":4}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
