{"id":"https://openalex.org/W3013309904","doi":"https://doi.org/10.1109/icra40945.2020.9196744","title":"Experience Selection Using Dynamics Similarity for Efficient Multi-Source Transfer Learning Between Robots","display_name":"Experience Selection Using Dynamics Similarity for Efficient Multi-Source Transfer Learning Between Robots","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3013309904","doi":"https://doi.org/10.1109/icra40945.2020.9196744","mag":"3013309904"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9196744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 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/2003.13150","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052744816","display_name":"Michael J. Sorocky","orcid":"https://orcid.org/0000-0002-7720-6301"},"institutions":[{"id":"https://openalex.org/I3143791293","display_name":"Institute for Christian Studies","ror":"https://ror.org/054dn2d35","country_code":"CA","type":"education","lineage":["https://openalex.org/I3143791293"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Michael J. Sorocky","raw_affiliation_strings":["Institute for Aerospace Studies, University of Toronto, Canada","University of Toronto"],"affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies, University of Toronto, Canada","institution_ids":["https://openalex.org/I3143791293","https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048199386","display_name":"Siqi Zhou","orcid":"https://orcid.org/0000-0001-7240-546X"},"institutions":[{"id":"https://openalex.org/I3143791293","display_name":"Institute for Christian Studies","ror":"https://ror.org/054dn2d35","country_code":"CA","type":"education","lineage":["https://openalex.org/I3143791293"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Siqi Zhou","raw_affiliation_strings":["Institute for Aerospace Studies, University of Toronto, Canada","University of Toronto"],"affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies, University of Toronto, Canada","institution_ids":["https://openalex.org/I3143791293","https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052147335","display_name":"Angela P. Schoellig","orcid":"https://orcid.org/0000-0003-4012-4668"},"institutions":[{"id":"https://openalex.org/I3143791293","display_name":"Institute for Christian Studies","ror":"https://ror.org/054dn2d35","country_code":"CA","type":"education","lineage":["https://openalex.org/I3143791293"]},{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Angela P. Schoellig","raw_affiliation_strings":["Institute for Aerospace Studies, University of Toronto, Canada","University of Toronto"],"affiliations":[{"raw_affiliation_string":"Institute for Aerospace Studies, University of Toronto, Canada","institution_ids":["https://openalex.org/I3143791293","https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of Toronto","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5052744816"],"corresponding_institution_ids":["https://openalex.org/I185261750","https://openalex.org/I3143791293"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.02997809,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2739","last_page":"2745"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9986000061035156,"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":0.9986000061035156,"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/T11236","display_name":"Control Systems and Identification","score":0.9969000220298767,"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/T11206","display_name":"Model Reduction and Neural Networks","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7041949033737183},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6993513107299805},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.6879404187202454},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6698364019393921},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6560062170028687},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5493884682655334},{"id":"https://openalex.org/keywords/similarity","display_name":"Similarity (geometry)","score":0.5298720598220825},{"id":"https://openalex.org/keywords/negative-transfer","display_name":"Negative transfer","score":0.5199998021125793},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4807579219341278},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4545958340167999},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.437813401222229},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4338027238845825},{"id":"https://openalex.org/keywords/knowledge-transfer","display_name":"Knowledge transfer","score":0.4244287610054016},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1398068070411682},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.07585182785987854}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7041949033737183},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6993513107299805},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.6879404187202454},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6698364019393921},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6560062170028687},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5493884682655334},{"id":"https://openalex.org/C103278499","wikidata":"https://www.wikidata.org/wiki/Q254465","display_name":"Similarity (geometry)","level":3,"score":0.5298720598220825},{"id":"https://openalex.org/C2779178101","wikidata":"https://www.wikidata.org/wiki/Q6987274","display_name":"Negative transfer","level":3,"score":0.5199998021125793},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4807579219341278},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4545958340167999},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.437813401222229},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4338027238845825},{"id":"https://openalex.org/C2776960227","wikidata":"https://www.wikidata.org/wiki/Q2586354","display_name":"Knowledge transfer","level":2,"score":0.4244287610054016},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1398068070411682},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.07585182785987854},{"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"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/C171041071","wikidata":"https://www.wikidata.org/wiki/Q36870","display_name":"First language","level":2,"score":0.0},{"id":"https://openalex.org/C56739046","wikidata":"https://www.wikidata.org/wiki/Q192060","display_name":"Knowledge management","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9196744","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196744","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2003.13150","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.13150","pdf_url":"https://arxiv.org/pdf/2003.13150","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"},{"id":"mag:3013309904","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2003.13150","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.2003.13150","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2003.13150","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:2003.13150","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2003.13150","pdf_url":"https://arxiv.org/pdf/2003.13150","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/W3013309904.pdf","grobid_xml":"https://content.openalex.org/works/W3013309904.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1509235676","https://openalex.org/W1587009522","https://openalex.org/W1588998206","https://openalex.org/W1746819321","https://openalex.org/W1848094219","https://openalex.org/W2022312987","https://openalex.org/W2037346085","https://openalex.org/W2075728230","https://openalex.org/W2091714857","https://openalex.org/W2097381042","https://openalex.org/W2106490265","https://openalex.org/W2108438152","https://openalex.org/W2130318261","https://openalex.org/W2184965786","https://openalex.org/W2192203593","https://openalex.org/W2592857946","https://openalex.org/W2605368761","https://openalex.org/W2731584702","https://openalex.org/W2744691695","https://openalex.org/W2787174146","https://openalex.org/W2962816839","https://openalex.org/W2963280855","https://openalex.org/W2963669306","https://openalex.org/W2963930274","https://openalex.org/W2964050632","https://openalex.org/W2964262254","https://openalex.org/W2980113592","https://openalex.org/W3003570760","https://openalex.org/W3035219538","https://openalex.org/W4255421341","https://openalex.org/W6638853687","https://openalex.org/W6674600207","https://openalex.org/W6736469832","https://openalex.org/W6744182415","https://openalex.org/W6780052409"],"related_works":["https://openalex.org/W3038636007","https://openalex.org/W2925894593","https://openalex.org/W2740222799","https://openalex.org/W2113186480","https://openalex.org/W2787174146","https://openalex.org/W2796176989","https://openalex.org/W3139848350","https://openalex.org/W2899498817","https://openalex.org/W2032845773","https://openalex.org/W2762655794","https://openalex.org/W2982252571","https://openalex.org/W2570827862","https://openalex.org/W3187631620","https://openalex.org/W3111847214","https://openalex.org/W3007715492","https://openalex.org/W3011466691","https://openalex.org/W1505492451","https://openalex.org/W2600191022","https://openalex.org/W2227909145","https://openalex.org/W3127605838"],"abstract_inverted_index":{"In":[0,53,66,95],"the":[1,13,24,79,88,150,168,174,177],"robotics":[2],"literature,":[3],"different":[4],"knowledge":[5,56,125],"transfer":[6,57,62,99,113,136],"approaches":[7],"have":[8],"been":[9],"proposed":[10,169],"to":[11,110,148,185],"leverage":[12],"experience":[14,43],"from":[15,44,75,120,141],"a":[16,28,45,71,83,96,121,142,154,186],"source":[17,46,122,146],"task":[18,30,47],"or":[19,21,31,48,63,144],"robot-real":[20],"virtual-to":[22],"accelerate":[23],"learning":[25,100,175],"process":[26],"on":[27,157,167],"new":[29],"robot.":[32],"A":[33],"commonly":[34],"made":[35],"but":[36],"infrequently":[37],"examined":[38],"assumption":[39],"is":[40],"that":[41,104,163],"incorporating":[42],"robot":[49,93,123],"will":[50],"be":[51],"beneficial.":[52],"practice,":[54],"inappropriate":[55],"can":[58],"result":[59],"in":[60],"negative":[61],"unsafe":[64],"behaviour.":[65],"this":[67,105],"work,":[68],"inspired":[69],"by":[70,182],"system":[72],"gap":[73],"metric":[74,107,171],"robust":[76],"control":[77],"theory,":[78],"\u03bd-gap,":[80],"we":[81,102,135],"present":[82],"data-efficient":[84],"algorithm":[85],"for":[86],"estimating":[87],"similarity":[89,106,170],"between":[90],"pairs":[91],"of":[92,153,176],"systems.":[94],"multi-source":[97],"inter-robot":[98],"setup,":[101],"show":[103,162],"allows":[108],"us":[109],"predict":[111],"relative":[112],"performance":[114,152,181],"and":[115],"thus":[116],"informatively":[117],"select":[118],"experiences":[119,165],"before":[124],"transfer.":[126],"We":[127,161],"demonstrate":[128],"our":[129],"approach":[130],"with":[131],"quadrotor":[132,147,156],"experiments,":[133],"where":[134],"an":[137],"inverse":[138],"dynamics":[139],"model":[140],"real":[143],"virtual":[145],"enhance":[149],"tracking":[151],"target":[155,178],"arbitrary":[158],"hand-drawn":[159],"trajectories.":[160],"selecting":[164],"based":[166],"effectively":[172],"facilitates":[173],"quadrotor,":[179],"improving":[180],"62%":[183],"compared":[184],"poorly":[187],"selected":[188],"experience.":[189]},"counts_by_year":[],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
