{"id":"https://openalex.org/W4285102656","doi":"https://doi.org/10.1109/icra46639.2022.9812054","title":"Watch and Learn: Learning to control feedback linearizable systems from expert demonstrations","display_name":"Watch and Learn: Learning to control feedback linearizable systems from expert demonstrations","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102656","doi":"https://doi.org/10.1109/icra46639.2022.9812054"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812054","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","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/A5091374502","display_name":"Alimzhan Sultangazin","orcid":"https://orcid.org/0000-0002-8041-5577"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alimzhan Sultangazin","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,Los Angeles,USA","Department of Electrical and Computer Engineering, University of California, Los Angeles, USA"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,Los Angeles,USA","institution_ids":["https://openalex.org/I161318765"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024979723","display_name":"Luigi Pannocchi","orcid":"https://orcid.org/0000-0002-6250-4939"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luigi Pannocchi","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,Los Angeles,USA","Department of Electrical and Computer Engineering, University of California, Los Angeles, USA"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,Los Angeles,USA","institution_ids":["https://openalex.org/I161318765"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007533507","display_name":"Lucas Fraile","orcid":"https://orcid.org/0000-0002-3774-974X"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lucas Fraile","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,Los Angeles,USA","Department of Electrical and Computer Engineering, University of California, Los Angeles, USA"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,Los Angeles,USA","institution_ids":["https://openalex.org/I161318765"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047674203","display_name":"Paulo Tabuada","orcid":"https://orcid.org/0000-0002-3417-0951"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paulo Tabuada","raw_affiliation_strings":["University of California,Department of Electrical and Computer Engineering,Los Angeles,USA","Department of Electrical and Computer Engineering, University of California, Los Angeles, USA"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Electrical and Computer Engineering,Los Angeles,USA","institution_ids":["https://openalex.org/I161318765"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of California, Los Angeles, USA","institution_ids":["https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5091374502"],"corresponding_institution_ids":["https://openalex.org/I161318765"],"apc_list":null,"apc_paid":null,"fwci":1.7695,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84529828,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.996399998664856,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.996399998664856,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.992900013923645,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9907000064849854,"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/controller","display_name":"Controller (irrigation)","score":0.6429075002670288},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5291212797164917},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.515924334526062},{"id":"https://openalex.org/keywords/expert-system","display_name":"Expert system","score":0.5138938426971436},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3974904417991638}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6429075002670288},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5291212797164917},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.515924334526062},{"id":"https://openalex.org/C58328972","wikidata":"https://www.wikidata.org/wiki/Q184609","display_name":"Expert system","level":2,"score":0.5138938426971436},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3974904417991638},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812054","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5748206533","display_name":null,"funder_award_id":"1705135","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306087","display_name":"Semiconductor Research Corporation","ror":"https://ror.org/047z4n946"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W28478578","https://openalex.org/W1562603105","https://openalex.org/W1970916399","https://openalex.org/W1994147271","https://openalex.org/W1995313864","https://openalex.org/W2008277209","https://openalex.org/W2011144837","https://openalex.org/W2053910308","https://openalex.org/W2101222054","https://openalex.org/W2134491302","https://openalex.org/W2145731676","https://openalex.org/W2147032798","https://openalex.org/W2162807113","https://openalex.org/W2162991084","https://openalex.org/W2166302491","https://openalex.org/W2167224731","https://openalex.org/W2887532679","https://openalex.org/W2955035422","https://openalex.org/W2962894046","https://openalex.org/W2994446013","https://openalex.org/W3038825904","https://openalex.org/W3108150703","https://openalex.org/W4285102656","https://openalex.org/W4292872153","https://openalex.org/W6681631837","https://openalex.org/W6839942782"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2389542812","https://openalex.org/W2390279801","https://openalex.org/W2381894592","https://openalex.org/W2358668433","https://openalex.org/W2030629278","https://openalex.org/W4235667779","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,27],"revisit":[4],"the":[5,59,64],"problem":[6],"of":[7,16,52,61,63],"learning":[8],"a":[9,13,35,74],"stabilizing":[10,36],"controller":[11],"from":[12],"finite":[14],"number":[15,60],"demonstrations":[17,33,40],"by":[18],"an":[19],"expert.":[20],"By":[21],"focusing":[22],"on":[23,73],"feedback":[24],"linearizable":[25],"systems,":[26],"show":[28],"how":[29],"to":[30],"combine":[31],"expert":[32],"into":[34],"controller,":[37],"provided":[38],"that":[39],"are":[41,46,70],"sufficiently":[42],"long":[43],"and":[44],"there":[45],"at":[47],"least":[48],"<tex":[49,55],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[50,56],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$n+1$</tex>":[51],"them,":[53],"where":[54],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$n$</tex>":[57],"is":[58],"states":[62],"system":[65],"being":[66],"controlled.":[67],"The":[68],"results":[69],"experimentally":[71],"demonstrated":[72],"CrazyFlie":[75],"2.0":[76],"quadrotor.":[77]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
