{"id":"https://openalex.org/W2346505884","doi":"https://doi.org/10.1109/icra.2016.7487144","title":"Automatic LQR tuning based on Gaussian process global optimization","display_name":"Automatic LQR tuning based on Gaussian process global optimization","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2346505884","doi":"https://doi.org/10.1109/icra.2016.7487144","mag":"2346505884"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1605.01950","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Alonso Marco","orcid":null},"institutions":[{"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":"Alonso Marco","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Philipp Hennig","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Philipp Hennig","raw_affiliation_strings":["Max-Planck-Institut fur Intelligente Systeme, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max-Planck-Institut fur Intelligente Systeme, Stuttgart, Baden-W\u00c3\u00bcrttemberg, DE","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jeannette Bohg","orcid":null},"institutions":[{"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":"Jeannette Bohg","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Stefan Schaal","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"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","US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["Computational Learning and Motor Control Lab at the University of Southern California, Los Angeles, CA, USA","Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Lab at the University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":null,"display_name":"Sebastian Trimpe","orcid":null},"institutions":[{"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":"Sebastian Trimpe","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":105,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"270","last_page":"277"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","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"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","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/T11236","display_name":"Control Systems and Identification","score":0.996999979019165,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9952999949455261,"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/bayesian-optimization","display_name":"Bayesian optimization","score":0.8152999877929688},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.641700029373169},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5651000142097473},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49399998784065247},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.4927999973297119},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.46779999136924744},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.44859999418258667},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4465999901294708}],"concepts":[{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.8152999877929688},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.641700029373169},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5651000142097473},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5350000262260437},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49399998784065247},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.4927999973297119},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.46779999136924744},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.44859999418258667},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4465999901294708},{"id":"https://openalex.org/C164752517","wikidata":"https://www.wikidata.org/wiki/Q5570875","display_name":"Global optimization","level":2,"score":0.3831999897956848},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3495999872684479},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.34610000252723694},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3361999988555908},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32499998807907104},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3228999972343445},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3149000108242035},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.3147999942302704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29739999771118164},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.296099990606308},{"id":"https://openalex.org/C167123822","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automatic control","level":2,"score":0.29589998722076416},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2867000102996826},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2827000021934509},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2711000144481659},{"id":"https://openalex.org/C9679016","wikidata":"https://www.wikidata.org/wiki/Q1417473","display_name":"Principle of maximum entropy","level":2,"score":0.26409998536109924}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1605.01950","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1605.01950","pdf_url":"https://arxiv.org/pdf/1605.01950","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1605.01950","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1605.01950","pdf_url":"https://arxiv.org/pdf/1605.01950","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2346505884.pdf","grobid_xml":"https://content.openalex.org/works/W2346505884.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W302107673","https://openalex.org/W1510052597","https://openalex.org/W1603057632","https://openalex.org/W1970916399","https://openalex.org/W1977655452","https://openalex.org/W1978884435","https://openalex.org/W2008540723","https://openalex.org/W2012758201","https://openalex.org/W2020732830","https://openalex.org/W2053572490","https://openalex.org/W2061144551","https://openalex.org/W2085804838","https://openalex.org/W2085907600","https://openalex.org/W2100484286","https://openalex.org/W2143277772","https://openalex.org/W2162000109","https://openalex.org/W2399425422","https://openalex.org/W4238538572","https://openalex.org/W6622391652","https://openalex.org/W6629804754","https://openalex.org/W6637591494","https://openalex.org/W6676576766","https://openalex.org/W6677959772","https://openalex.org/W6690752775","https://openalex.org/W6764988152","https://openalex.org/W6981926866"],"related_works":[],"abstract_inverted_index":{"This":[0,68],"paper":[1],"proposes":[2],"an":[3,20,58,99],"automatic":[4,120],"controller":[5,24,121],"tuning":[6,113,122],"framework":[7,82],"based":[8],"on":[9,123],"linear":[10],"optimal":[11],"control":[12],"combined":[13],"with":[14,87],"Bayesian":[15,41],"optimization.":[16],"With":[17],"this":[18,81],"framework,":[19],"initial":[21],"set":[22],"of":[23,64,109],"gains":[25],"is":[26,44,69,102],"automatically":[27],"improved":[28,85],"according":[29],"to":[30,71,91],"a":[31,53],"pre-defined":[32],"performance":[33],"objective":[34,51,66],"evaluated":[35],"from":[36,76],"experimental":[37,78,106],"data.":[38],"The":[39],"underlying":[40],"optimization":[42],"algorithm":[43],"Entropy":[45],"Search,":[46],"which":[47],"represents":[48],"the":[49,62,65,73,105,116],"latent":[50],"as":[52,104],"Gaussian":[54],"process":[55],"and":[56,111],"constructs":[57],"explicit":[59],"belief":[60],"over":[61],"location":[63],"minimum.":[67],"used":[70,103],"maximize":[72],"information":[74],"gain":[75],"each":[77],"evaluation.":[79],"Thus,":[80],"shall":[83],"yield":[84],"controllers":[86],"fewer":[88],"evaluations":[89],"compared":[90],"alternative":[92],"approaches.":[93],"A":[94],"seven-degree-of-freedom":[95],"robot":[96],"arm":[97],"balancing":[98],"inverted":[100],"pole":[101],"demonstrator.":[107],"Results":[108],"two-":[110],"four-dimensional":[112],"problems":[114],"highlight":[115],"method's":[117],"potential":[118],"for":[119],"robotic":[124],"platforms.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2016-06-24T00:00:00"}
