{"id":"https://openalex.org/W2786706252","doi":"https://doi.org/10.1109/icra.2018.8460492","title":"Optimizing Simulations with Noise-Tolerant Structured Exploration","display_name":"Optimizing Simulations with Noise-Tolerant Structured Exploration","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2786706252","doi":"https://doi.org/10.1109/icra.2018.8460492","mag":"2786706252"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1805.07831","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031842812","display_name":"Krzysztof Choroma\u0144ski","orcid":"https://orcid.org/0000-0003-3626-414X"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Krzysztof Choromanski","raw_affiliation_strings":["Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA","[Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"[Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA]","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015686392","display_name":"At\u0131l I\u015f\u00e7en","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Atil Iscen","raw_affiliation_strings":["Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA","[Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"[Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA]","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058073838","display_name":"Vikas Sindhwani","orcid":null},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vikas Sindhwani","raw_affiliation_strings":["Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA","[Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"[Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA]","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103241086","display_name":"Jie Tan","orcid":"https://orcid.org/0000-0002-7947-0333"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jie Tan","raw_affiliation_strings":["Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA","[Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"[Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA]","institution_ids":["https://openalex.org/I1291425158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083125607","display_name":"Erwin Coumans","orcid":"https://orcid.org/0000-0001-6695-3400"},"institutions":[{"id":"https://openalex.org/I1291425158","display_name":"Google (United States)","ror":"https://ror.org/00njsd438","country_code":"US","type":"company","lineage":["https://openalex.org/I1291425158","https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erwin Coumans","raw_affiliation_strings":["Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA","[Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA]"],"affiliations":[{"raw_affiliation_string":"Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA","institution_ids":["https://openalex.org/I1291425158"]},{"raw_affiliation_string":"[Jie Tan and Erwin Coumans are in Google Brain team in Mountain View, CA, USA]","institution_ids":["https://openalex.org/I1291425158"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5031842812"],"corresponding_institution_ids":["https://openalex.org/I1291425158"],"apc_list":null,"apc_paid":null,"fwci":0.1687,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.57133028,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2970","last_page":"2977"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9918000102043152,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9918000102043152,"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/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9909999966621399,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9847999811172485,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6496361494064331},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.5897216796875},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.46410712599754333},{"id":"https://openalex.org/keywords/finite-difference","display_name":"Finite difference","score":0.43515151739120483},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4298161268234253},{"id":"https://openalex.org/keywords/hadamard-transform","display_name":"Hadamard transform","score":0.4258677661418915},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24308261275291443},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10243281722068787}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6496361494064331},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.5897216796875},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.46410712599754333},{"id":"https://openalex.org/C181330731","wikidata":"https://www.wikidata.org/wiki/Q2068418","display_name":"Finite difference","level":2,"score":0.43515151739120483},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4298161268234253},{"id":"https://openalex.org/C60292330","wikidata":"https://www.wikidata.org/wiki/Q1014065","display_name":"Hadamard transform","level":2,"score":0.4258677661418915},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24308261275291443},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10243281722068787},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra.2018.8460492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1805.07831","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1805.07831","pdf_url":"https://arxiv.org/pdf/1805.07831","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":"","raw_type":"text"},{"id":"mag:2786706252","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1805.07831","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1805.07831","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1805.07831","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1805.07831","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1805.07831","pdf_url":"https://arxiv.org/pdf/1805.07831","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":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2786706252.pdf","grobid_xml":"https://content.openalex.org/works/W2786706252.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W181733065","https://openalex.org/W658381347","https://openalex.org/W1949804828","https://openalex.org/W1964946446","https://openalex.org/W2000359198","https://openalex.org/W2005126631","https://openalex.org/W2034391927","https://openalex.org/W2068871408","https://openalex.org/W2127107099","https://openalex.org/W2139053308","https://openalex.org/W2149479912","https://openalex.org/W2156377376","https://openalex.org/W2471961201","https://openalex.org/W2534193021","https://openalex.org/W2596367596","https://openalex.org/W2736013428","https://openalex.org/W2798909945","https://openalex.org/W2964148679","https://openalex.org/W3029645440","https://openalex.org/W4205513846","https://openalex.org/W4251968008","https://openalex.org/W6683180588","https://openalex.org/W6728794588","https://openalex.org/W6741267450","https://openalex.org/W6743981150"],"related_works":["https://openalex.org/W2963184463","https://openalex.org/W3103657382","https://openalex.org/W1549376673","https://openalex.org/W1569969230","https://openalex.org/W1803119066","https://openalex.org/W2771208017","https://openalex.org/W1985264741","https://openalex.org/W2571129017","https://openalex.org/W2992468125","https://openalex.org/W2979576109","https://openalex.org/W3125654258","https://openalex.org/W2030246377","https://openalex.org/W2251349761","https://openalex.org/W3198585404","https://openalex.org/W2612359487","https://openalex.org/W3042206470","https://openalex.org/W3104590783","https://openalex.org/W3040586277","https://openalex.org/W2780206593","https://openalex.org/W2199369133"],"abstract_inverted_index":{"We":[0,33,73,140],"propose":[1],"a":[2,27,42,115,155],"simple":[3],"drop-in":[4],"noise-tolerant":[5],"replacement":[6],"for":[7,129,157],"the":[8,37,148],"standard":[9,107],"finite":[10,49,108],"difference":[11],"procedure":[12],"used":[13,99],"ubiquitously":[14],"in":[15,60,114],"blackbox":[16,103],"optimization.":[17],"In":[18],"our":[19,96,143],"approach,":[20],"parameter":[21],"perturbation":[22],"directions":[23,68],"are":[24,98,120],"defined":[25],"by":[26],"family":[28],"of":[29,40,56,106,150],"structured":[30,48,112],"orthogonal":[31],"matrices.":[32],"show":[34],"that":[35,65,75,132],"at":[36],"small":[38],"cost":[39],"computing":[41],"Fast":[43],"Walsh-Hadamard/Fourier":[44],"Transform":[45],"(FWHT/FFT),":[46],"such":[47],"differences":[50],"consistently":[51],"give":[52],"higher":[53],"quality":[54,149],"approximation":[55],"gradients":[57],"and":[58,81,126,153],"Jacobians":[59],"comparison":[61],"to":[62,88,100,122,137,161],"vanilla":[63],"approaches":[64],"use":[66],"coordinate":[67],"or":[69],"random":[70],"Gaussian":[71],"perturbations.":[72],"find":[74],"trajectory":[76],"optimizers":[77],"like":[78],"Iterative":[79],"LQR":[80],"Differential":[82],"Dynamic":[83],"Programming":[84],"require":[85],"fewer":[86],"iterations":[87],"solve":[89],"several":[90],"classic":[91],"continuous":[92],"control":[93],"tasks":[94],"when":[95],"methods":[97,144],"linearize":[101],"noisy,":[102],"dynamics":[104],"instead":[105],"differences.":[109],"By":[110],"embedding":[111],"exploration":[113],"quasi-Newton":[116],"optimizer":[117],"(LBFGS),":[118],"we":[119],"able":[121],"learn":[123],"agile":[124],"walking":[125],"turning":[127],"policies":[128],"quadruped":[130],"locomotion,":[131],"successfully":[133],"transfer":[134],"from":[135],"simulation":[136],"actual":[138],"hardware.":[139],"theoretically":[141],"justify":[142],"via":[145],"bounds":[146],"on":[147],"gradient":[151],"reconstruction":[152],"provide":[154],"basis":[156],"applying":[158],"them":[159],"also":[160],"nonsmooth":[162],"problems.":[163]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}