{"id":"https://openalex.org/W3205460851","doi":"https://doi.org/10.1109/icra48506.2021.9561478","title":"Scalable POMDP Decision-Making Using Circulant Controllers","display_name":"Scalable POMDP Decision-Making Using Circulant Controllers","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205460851","doi":"https://doi.org/10.1109/icra48506.2021.9561478","mag":"3205460851"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561478","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561478","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5013249239","display_name":"Kyle Hollins Wray","orcid":"https://orcid.org/0000-0001-6986-9941"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kyle Hollins Wray","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5029567541","display_name":"Kenneth Czuprynski","orcid":"https://orcid.org/0000-0001-8926-6945"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kenneth Czuprynski","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"6831","last_page":"6837"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.987500011920929,"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":0.987500011920929,"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/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9726999998092651,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10142","display_name":"Formal Methods in Verification","score":0.9395999908447266,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/partially-observable-markov-decision-process","display_name":"Partially observable Markov decision process","score":0.7755395770072937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.755361795425415},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6556299924850464},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.557500422000885},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.477232962846756},{"id":"https://openalex.org/keywords/markov-decision-process","display_name":"Markov decision process","score":0.4464694857597351},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4319761097431183},{"id":"https://openalex.org/keywords/circulant-matrix","display_name":"Circulant matrix","score":0.41796013712882996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3863719701766968},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.36323076486587524},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3211979866027832},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3070896863937378},{"id":"https://openalex.org/keywords/markov-chain","display_name":"Markov chain","score":0.29299575090408325},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2697433829307556},{"id":"https://openalex.org/keywords/markov-model","display_name":"Markov model","score":0.18039894104003906},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12523630261421204}],"concepts":[{"id":"https://openalex.org/C17098449","wikidata":"https://www.wikidata.org/wiki/Q176814","display_name":"Partially observable Markov decision process","level":4,"score":0.7755395770072937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.755361795425415},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6556299924850464},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.557500422000885},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.477232962846756},{"id":"https://openalex.org/C106189395","wikidata":"https://www.wikidata.org/wiki/Q176789","display_name":"Markov decision process","level":3,"score":0.4464694857597351},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4319761097431183},{"id":"https://openalex.org/C115973184","wikidata":"https://www.wikidata.org/wiki/Q245457","display_name":"Circulant matrix","level":2,"score":0.41796013712882996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3863719701766968},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.36323076486587524},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3211979866027832},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3070896863937378},{"id":"https://openalex.org/C98763669","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov chain","level":2,"score":0.29299575090408325},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2697433829307556},{"id":"https://openalex.org/C163836022","wikidata":"https://www.wikidata.org/wiki/Q6771326","display_name":"Markov model","level":3,"score":0.18039894104003906},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12523630261421204},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"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},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561478","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561478","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1494689917","https://openalex.org/W1701684472","https://openalex.org/W1856231595","https://openalex.org/W1918816242","https://openalex.org/W1972361065","https://openalex.org/W1984120922","https://openalex.org/W2044375425","https://openalex.org/W2059676477","https://openalex.org/W2087992130","https://openalex.org/W2099430963","https://openalex.org/W2110962519","https://openalex.org/W2119553435","https://openalex.org/W2144283793","https://openalex.org/W2158082107","https://openalex.org/W2158907787","https://openalex.org/W2168359464","https://openalex.org/W2259075191","https://openalex.org/W2533256670","https://openalex.org/W2545546008","https://openalex.org/W2739957299","https://openalex.org/W2773347582","https://openalex.org/W2955562763","https://openalex.org/W2963166883","https://openalex.org/W2967426891","https://openalex.org/W3101822862","https://openalex.org/W3105558219","https://openalex.org/W3148740559","https://openalex.org/W4235599520","https://openalex.org/W4301909677","https://openalex.org/W6629836980","https://openalex.org/W6637465547","https://openalex.org/W6681633084","https://openalex.org/W6683354572","https://openalex.org/W6692580597","https://openalex.org/W6765501300"],"related_works":["https://openalex.org/W2096013579","https://openalex.org/W1589140671","https://openalex.org/W1760611253","https://openalex.org/W52153049","https://openalex.org/W2951545791","https://openalex.org/W1515117609","https://openalex.org/W2294884454","https://openalex.org/W4323315247","https://openalex.org/W3169161914","https://openalex.org/W4321379664"],"abstract_inverted_index":{"This":[0,41,65],"paper":[1],"presents":[2],"a":[3,18,96,141,145],"novel":[4,131],"policy":[5],"representation":[6],"for":[7,23,35,46],"partially":[8],"observable":[9],"Markov":[10],"decision":[11],"processes":[12],"(POMDPs)":[13],"called":[14],"circulant":[15,33,109],"controllers":[16],"and":[17,79,83],"provably":[19],"efficient":[20],"gradient-based":[21,91],"algorithm":[22,92,122],"them.":[24],"A":[25,89],"formal":[26],"mathematical":[27],"description":[28],"is":[29,43,93,134],"provided":[30],"that":[31,58,118],"leverages":[32],"matrices":[34],"the":[36,102,119],"controller\u2019s":[37],"stochastic":[38],"node":[39],"transitions.":[40],"structure":[42],"particularly":[44],"effective":[45],"capturing":[47],"decision-making":[48],"patterns":[49],"found":[50],"in":[51,77,86,144],"real-world":[52],"domains":[53,67,116],"with":[54,95],"repeated":[55],"periodic":[56],"behaviors":[57],"adapt":[59],"their":[60],"cycles":[61],"based":[62],"on":[63,114,136],"observation.":[64],"includes":[66],"such":[68],"as":[69,106,108],"bipedal":[70],"walking":[71],"over":[72],"varied":[73],"terrain,":[74],"pick-and-place":[75],"tasks":[76],"warehouses,":[78],"home":[80],"healthcare":[81],"monitoring":[82],"medicine":[84],"delivery":[85],"household":[87,147],"environments.":[88],"performant":[90],"presented":[94],"detailed":[97],"theoretical":[98],"analysis,":[99],"formally":[100],"proving":[101],"algorithm\u2019s":[103],"improved":[104],"performance,":[105],"well":[107],"controllers\u2019":[110],"structural":[111],"properties.":[112],"Experiments":[113],"these":[115],"demonstrate":[117],"proposed":[120,130],"controller":[121,127,132],"outperforms":[123],"other":[124],"state-of-the-art":[125],"POMDP":[126],"algorithms.":[128],"The":[129],"approach":[133],"demonstrated":[135],"an":[137],"actual":[138],"robot":[139],"performing":[140],"navigation":[142],"task":[143],"real":[146],"environment.":[148]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
