{"id":"https://openalex.org/W4205646995","doi":"https://doi.org/10.1109/icar53236.2021.9659381","title":"Optimal Control Combining Emulation and Imitation to Acquire Physical Assistance Skills","display_name":"Optimal Control Combining Emulation and Imitation to Acquire Physical Assistance Skills","publication_year":2021,"publication_date":"2021-12-06","ids":{"openalex":"https://openalex.org/W4205646995","doi":"https://doi.org/10.1109/icar53236.2021.9659381"},"language":"en","primary_location":{"id":"doi:10.1109/icar53236.2021.9659381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659381","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/293311","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049327938","display_name":"Amirreza Razmjoo","orcid":"https://orcid.org/0000-0003-3826-6608"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Amirreza Razmjoo","raw_affiliation_strings":["Idiap Research Institute and the &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL),Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Idiap Research Institute and the &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL),Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I7495430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091520355","display_name":"Teguh Santoso Lembono","orcid":"https://orcid.org/0000-0003-2210-6220"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Teguh Santoso Lembono","raw_affiliation_strings":["Idiap Research Institute and the &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL),Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Idiap Research Institute and the &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL),Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I7495430"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]},{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Idiap Research Institute and the &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL),Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Idiap Research Institute and the &#x00C9;cole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne (EPFL),Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I7495430"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1555,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.75477951,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"338","last_page":"343"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9975000023841858,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/emulation","display_name":"Emulation","score":0.8694825172424316},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.703245997428894},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6881885528564453},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5995252132415771},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5809128284454346},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.5720489025115967},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5699297785758972},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49828195571899414},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4940984547138214},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.45155417919158936},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44365575909614563},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43769580125808716},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4166114330291748},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4136776924133301},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.27748024463653564},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2281929850578308},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13182902336120605},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10428497195243835}],"concepts":[{"id":"https://openalex.org/C149810388","wikidata":"https://www.wikidata.org/wiki/Q5374873","display_name":"Emulation","level":2,"score":0.8694825172424316},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.703245997428894},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6881885528564453},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5995252132415771},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5809128284454346},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.5720489025115967},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5699297785758972},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49828195571899414},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4940984547138214},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.45155417919158936},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44365575909614563},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43769580125808716},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4166114330291748},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4136776924133301},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.27748024463653564},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2281929850578308},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13182902336120605},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10428497195243835},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar53236.2021.9659381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar53236.2021.9659381","pdf_url":null,"source":{"id":"https://openalex.org/S4363608199","display_name":"2021 20th International Conference on Advanced Robotics (ICAR)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 20th International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:293311","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/293311","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:293311","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/293311","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W239392143","https://openalex.org/W1989564233","https://openalex.org/W2037997802","https://openalex.org/W2061167950","https://openalex.org/W2069324174","https://openalex.org/W2087617385","https://openalex.org/W2128259081","https://openalex.org/W2158194084","https://openalex.org/W2291804674","https://openalex.org/W2407338969","https://openalex.org/W2785980232","https://openalex.org/W2890292055","https://openalex.org/W2956013478","https://openalex.org/W2963099939","https://openalex.org/W2963801017","https://openalex.org/W2969076781","https://openalex.org/W3089582219","https://openalex.org/W3103497574","https://openalex.org/W3104230209","https://openalex.org/W4210975110","https://openalex.org/W4235212802","https://openalex.org/W4300309110","https://openalex.org/W6607786297","https://openalex.org/W6713744279"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2384834437"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"exploiting":[3,170],"action-level":[4],"learning":[5,26],"(imitation)":[6],"in":[7,28,95,104,159],"the":[8,17,24,32,43,61,72,76,81,88,92,134,139,143,157,161,166,178,184,195,200,206,213],"optimal":[9,18,62,127],"control":[10,19,63,128],"problem":[11,208],"context.":[12],"Cost":[13],"functions":[14],"defined":[15],"by":[16,56,188],"methods":[20],"are":[21],"similar":[22],"to":[23,45,51,71,84,205],"goal-level":[25],"(emulation)":[27],"animals.":[29],"However,":[30],"imitating":[31],"robot's":[33],"or":[34],"others'":[35],"(e.g.":[36],"human's)":[37],"previous":[38],"experiences":[39],"(demonstrations)":[40],"could":[41],"help":[42,113],"system":[44],"improve":[46],"its":[47],"performances.":[48],"We":[49,100,121,145],"propose":[50],"use":[52],"demonstrations":[53,172,214],"more":[54,189],"efficiently":[55],"predicting":[57],"an":[58,68],"initialization":[59],"for":[60,156,194],"problems":[64,169],"(OCPs)":[65],"and":[66,138,192,199],"adding":[67],"imitation":[69,89],"term":[70,90],"cost":[73],"functions.":[74],"While":[75],"predicted":[77],"initial":[78],"guess":[79],"initializes":[80],"OCPs":[82],"close":[83],"their":[85],"local":[86],"optima,":[87],"guides":[91],"optimization,":[93],"resulting":[94],"a":[96,105,110,114,117],"faster":[97],"convergence":[98],"rate.":[99],"test":[101],"our":[102,148],"algorithm":[103],"physical":[106],"assistive":[107],"task":[108,124],"where":[109],"robot":[111,162,201],"should":[112,163],"human":[115,158,196],"perform":[116,177],"sit-to-stand":[118],"(STS)":[119],"task.":[120,179],"define":[122],"this":[123],"as":[125],"two":[126,167],"problems.":[129],"The":[130],"first":[131],"OCP":[132],"predicts":[133],"human's":[135],"desired":[136],"assistance":[137,197],"other":[140],"one":[141],"controls":[142],"robot.":[144],"have":[146],"tested":[147],"method":[149,182],"on":[150],"different":[151,154],"experiments":[152],"with":[153],"conditions":[155],"which":[160,209],"quickly":[164],"solve":[165],"optimization":[168],"some":[171],"of":[173,186],"how":[174],"it":[175],"can":[176],"Our":[180],"proposed":[181],"reduced":[183],"number":[185],"iterations":[187],"than":[190],"90%":[191],"70%":[193],"prediction":[198],"controller,":[202],"respectively,":[203],"compared":[204],"standard":[207],"does":[210],"not":[211],"take":[212],"into":[215],"account.":[216]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
