{"id":"https://openalex.org/W3091094690","doi":"https://doi.org/10.1109/icra40945.2020.9197449","title":"Sample-and-computation-efficient Probabilistic Model Predictive Control with Random Features","display_name":"Sample-and-computation-efficient Probabilistic Model Predictive Control with Random Features","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3091094690","doi":"https://doi.org/10.1109/icra40945.2020.9197449","mag":"3091094690"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197449","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":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070668609","display_name":"Cheng-Yu Kuo","orcid":"https://orcid.org/0000-0002-3085-0343"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Cheng-Yu Kuo","raw_affiliation_strings":["Graduate School of Science and Technology, Nara Institute of Science and Technology (NAIST), Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Nara Institute of Science and Technology (NAIST), Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011048472","display_name":"Yunduan Cui","orcid":"https://orcid.org/0000-0001-5539-4260"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yunduan Cui","raw_affiliation_strings":["Graduate School of Science and Technology, Nara Institute of Science and Technology (NAIST), Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Nara Institute of Science and Technology (NAIST), Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042074952","display_name":"Takamitsu Matsubara","orcid":"https://orcid.org/0000-0003-3545-4814"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamitsu Matsubara","raw_affiliation_strings":["Graduate School of Science and Technology, Nara Institute of Science and Technology (NAIST), Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Nara Institute of Science and Technology (NAIST), Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"70","issue":null,"first_page":"307","last_page":"313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9976999759674072,"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":0.9976999759674072,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9902999997138977,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9861000180244446,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.673606276512146},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6462349891662598},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6412005424499512},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6003416776657104},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.5504742860794067},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.5474423170089722},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.5042661428451538},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.4976957142353058},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4715428650379181},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3822202682495117},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35158106684684753},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3416241407394409},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3364347517490387},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2455424666404724},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20849478244781494}],"concepts":[{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.673606276512146},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6462349891662598},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6412005424499512},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6003416776657104},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.5504742860794067},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.5474423170089722},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.5042661428451538},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.4976957142353058},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4715428650379181},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3822202682495117},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35158106684684753},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3416241407394409},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3364347517490387},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2455424666404724},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20849478244781494},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra40945.2020.9197449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197449","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W164706946","https://openalex.org/W1601795611","https://openalex.org/W1657213141","https://openalex.org/W1971071052","https://openalex.org/W2107804093","https://openalex.org/W2118563516","https://openalex.org/W2140135625","https://openalex.org/W2144902422","https://openalex.org/W2152842312","https://openalex.org/W2179284380","https://openalex.org/W2418467170","https://openalex.org/W2500214046","https://openalex.org/W2580909119","https://openalex.org/W2700407638","https://openalex.org/W2742077738","https://openalex.org/W2963389768","https://openalex.org/W2963809569","https://openalex.org/W3003660171","https://openalex.org/W3105252106","https://openalex.org/W6677614981","https://openalex.org/W6680657880","https://openalex.org/W6681302627","https://openalex.org/W6740033195","https://openalex.org/W6742417552","https://openalex.org/W6786165652"],"related_works":["https://openalex.org/W3162200841","https://openalex.org/W1990079087","https://openalex.org/W2586280620","https://openalex.org/W2805505483","https://openalex.org/W2334071950","https://openalex.org/W2384744344","https://openalex.org/W4233932308","https://openalex.org/W1799694159","https://openalex.org/W1964286703","https://openalex.org/W2169866437"],"abstract_inverted_index":{"Gaussian":[0,69],"processes":[1],"(GPs)":[2],"based":[3],"Reinforcement":[4],"Learning":[5],"(RL)":[6],"methods":[7],"with":[8,62,71,92,130],"Model":[9],"Predictive":[10],"Control":[11],"(MPC)":[12],"have":[13],"demonstrated":[14],"their":[15],"excellent":[16],"sample":[17,31,117,138],"efficiency.":[18],"However,":[19],"since":[20],"the":[21,29,75,93,101,105,115,122,137,143],"computational":[22,102],"cost":[23,103],"of":[24,104,146],"GPs":[25,38],"largely":[26],"depends":[27],"on":[28,114],"training":[30,116],"size,":[32],"learning":[33],"an":[34,78,85],"accurate":[35],"dynamics":[36],"using":[37,74],"result":[39],"in":[40,44,89,107],"low":[41],"control":[42,123,135],"frequency":[43,124],"MPC.":[45,63],"To":[46],"alleviate":[47],"this":[48],"trade-off":[49],"and":[50,95,119,132],"achieve":[51],"a":[52,57,67,99],"sample-and-computation-efficient":[53],"nature,":[54],"we":[55,83],"propose":[56],"novel":[58],"model-based":[59,148],"RL":[60,109,149],"method":[61,110],"Our":[64],"approach":[65],"employs":[66],"linear":[68],"model":[70,94],"randomized":[72],"features":[73],"Fastfood":[76],"as":[77,140,142],"approximated":[79],"GP":[80],"dynamics.":[81],"Then,":[82],"derive":[84],"analytic":[86],"moment-matching":[87],"scheme":[88],"state":[90],"prediction":[91],"uncertain":[96],"inputs.":[97],"As":[98],"result,":[100],"MPC":[106],"our":[108,147],"does":[111],"not":[112],"depend":[113],"size":[118],"can":[120],"improve":[121],"over":[125],"previous":[126],"methods.":[127],"Through":[128],"experiments":[129],"simulated":[131],"real":[133],"robot":[134],"tasks,":[136],"efficiency,":[139],"well":[141],"computation":[144],"efficiency":[145],"method,":[150],"are":[151],"demonstrated.":[152]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}