{"id":"https://openalex.org/W4414969744","doi":"https://doi.org/10.1109/humanoids65713.2025.11203075","title":"CPC: Cascaded Predictive Control","display_name":"CPC: Cascaded Predictive Control","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4414969744","doi":"https://doi.org/10.1109/humanoids65713.2025.11203075"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-05070222v1/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002495557","display_name":"Nicola Scianca","orcid":"https://orcid.org/0000-0002-5185-0924"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Scianca","raw_affiliation_strings":["Sapienza Università di Roma,Dipartimento di Ingegneria Informatica, Automatica e Gestionale,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Sapienza Università di Roma,Dipartimento di Ingegneria Informatica, Automatica e Gestionale,Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046447340","display_name":"Enrico Mingo Hoffman","orcid":"https://orcid.org/0000-0003-2063-7490"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210121838","display_name":"Laboratoire Lorrain de Recherche en Informatique et ses Applications","ror":"https://ror.org/02vnf0c38","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I277688954","https://openalex.org/I4210107720","https://openalex.org/I4210121838","https://openalex.org/I4210159245","https://openalex.org/I90183372"]},{"id":"https://openalex.org/I90183372","display_name":"Universit\u00e9 de Lorraine","ror":"https://ror.org/04vfs2w97","country_code":"FR","type":"education","lineage":["https://openalex.org/I90183372"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Enrico Mingo Hoffman","raw_affiliation_strings":["Université de Lorraine,CNRS, Inria LARSEN Team, LORIA,France","LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (Centre Inria de l'Universit\u00e9 de Lorraine , 615 Rue du Jardin-Botanique, 54600 Villers-l\u00e8s-Nancy - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université de Lorraine,CNRS, Inria LARSEN Team, LORIA,France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210121838"]},{"raw_affiliation_string":"LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment (Centre Inria de l'Universit\u00e9 de Lorraine , 615 Rue du Jardin-Botanique, 54600 Villers-l\u00e8s-Nancy - France)","institution_ids":["https://openalex.org/I90183372"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"237","last_page":"244"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.979200005531311,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.979200005531311,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9208999872207642,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.8131999969482422},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7609000205993652},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7398999929428101},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.6873000264167786},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5878000259399414},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4564000070095062},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.44029998779296875},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.3492000102996826},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.3294999897480011}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8131999969482422},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7609000205993652},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7398999929428101},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.6873000264167786},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5878000259399414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5248000025749207},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4564000070095062},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.44029998779296875},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3605000078678131},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.3492000102996826},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.3294999897480011},{"id":"https://openalex.org/C68387754","wikidata":"https://www.wikidata.org/wiki/Q7271585","display_name":"Schedule","level":2,"score":0.3253999948501587},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.3237999975681305},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3215999901294708},{"id":"https://openalex.org/C102540577","wikidata":"https://www.wikidata.org/wiki/Q5300047","display_name":"Double inverted pendulum","level":4,"score":0.3176000118255615},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.31679999828338623},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.3091000020503998},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30160000920295715},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.2996000051498413},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.29420000314712524},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.2874999940395355},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C2779714256","wikidata":"https://www.wikidata.org/wiki/Q25305062","display_name":"Multiple Models","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C28761237","wikidata":"https://www.wikidata.org/wiki/Q7805321","display_name":"Time horizon","level":2,"score":0.266400009393692},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.2660999894142151},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2515999972820282},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.250900000333786},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25029999017715454}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-05070222v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05070222","pdf_url":"https://hal.science/hal-05070222v1/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots, Sep 2025, Seoul, South Korea","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-05070222v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05070222","pdf_url":"https://hal.science/hal-05070222v1/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots, Sep 2025, Seoul, South Korea","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4284468509","display_name":"Multi-limbed Robots empowered by whole-body Loco-manipulation","funder_award_id":"ANR-24-CE33-0753","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G6716121406","display_name":null,"funder_award_id":"PE0000013-FAIR","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G7988484601","display_name":null,"funder_award_id":"ANR-24-CE33-0753-01","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"}],"funders":[{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4414969744.pdf","grobid_xml":"https://content.openalex.org/works/W4414969744.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"Cascaded":[2],"Predictive":[3],"Control":[4],"(CPC),":[5],"a":[6,10,45,50,72,77,97,102,106,110,138],"framework":[7,140],"that":[8,81,134],"decomposes":[9],"model":[11,22],"predictive":[12],"control":[13],"horizon":[14,95],"into":[15],"multiple":[16],"stages,":[17],"each":[18],"solved":[19],"with":[20,109,145],"the":[21,37,40,54,69,93,118,123,128,151],"and":[23,63,86],"method":[24],"best":[25],"suited":[26],"to":[27,91],"its":[28],"accuracy":[29],"requirements.":[30],"CPC":[31,135],"transfers":[32],"information":[33],"across":[34],"stages":[35],"through":[36],"value":[38,111],"function:":[39],"terminal":[41],"cost":[42],"produced":[43],"by":[44,114,149],"downstream":[46],"stage":[47,108],"acts":[48],"as":[49],"boundary":[51],"condition":[52],"for":[53,141],"preceding":[55],"one,":[56],"enabling":[57],"heterogeneous":[58],"combinations":[59],"of":[60,153],"different":[61,154],"techniques":[62],"solvers.":[64],"Two":[65],"proof-of-concept":[66],"studies":[67],"illustrate":[68],"approach.":[70],"First,":[71],"humanoid":[73],"walking":[74],"controller":[75,120],"uses":[76],"double":[78],"DDP":[79,107],"cascade":[80],"schedules":[82],"single":[83],"rigid":[84],"body":[85],"linear":[87],"inverted":[88],"pendulum":[89],"models":[90],"extend":[92],"prediction":[94],"at":[96],"lower":[98],"computational":[99,147],"cost.":[100],"Second,":[101],"cart-pendulum":[103],"swing-up":[104],"couples":[105],"function":[112],"learned":[113],"an":[115],"actor-critic":[116],"policy;":[117],"hybrid":[119],"succeeds":[121],"where":[122],"policy":[124],"alone":[125],"fails.":[126],"Although":[127],"examples":[129],"are":[130],"preliminary,":[131],"they":[132],"indicate":[133],"can":[136],"provide":[137],"flexible":[139],"achieving":[142],"effective":[143],"results":[144],"reduced":[146],"effort":[148],"combining":[150],"strengths":[152],"techniques.":[155]},"counts_by_year":[],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}