{"id":"https://openalex.org/W3094795905","doi":"https://doi.org/10.1109/icra48506.2021.9561520","title":"Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding","display_name":"Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3094795905","doi":"https://doi.org/10.1109/icra48506.2021.9561520","mag":"3094795905"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561520","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2011.02604","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009883620","display_name":"Ethan Kroll Gordon","orcid":"https://orcid.org/0000-0003-1621-2342"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ethan K. Gordon","raw_affiliation_strings":["University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","University of Washington Department of Computer Science & Engineering, Seattle, WA 98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington Department of Computer Science & Engineering, Seattle, WA 98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050584122","display_name":"Sumegh Roychowdhury","orcid":"https://orcid.org/0000-0002-4246-2620"},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sumegh Roychowdhury","raw_affiliation_strings":["Indian Institute of Technology Kharagpur,Kharagpur,India","Indian Institute of Technology \u2013 Kharagpur, Kharagpur, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Kharagpur,Kharagpur,India","institution_ids":["https://openalex.org/I145894827"]},{"raw_affiliation_string":"Indian Institute of Technology \u2013 Kharagpur, Kharagpur, India","institution_ids":["https://openalex.org/I145894827"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026083794","display_name":"Tapomayukh Bhattacharjee","orcid":"https://orcid.org/0000-0001-9457-5726"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tapomayukh Bhattacharjee","raw_affiliation_strings":["University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","University of Washington Department of Computer Science & Engineering, Seattle, WA 98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington Department of Computer Science & Engineering, Seattle, WA 98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059086538","display_name":"Kevin Jamieson","orcid":"https://orcid.org/0000-0003-2054-2985"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Jamieson","raw_affiliation_strings":["University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","University of Washington Department of Computer Science & Engineering, Seattle, WA 98195"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington Department of Computer Science & Engineering, Seattle, WA 98195","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077719529","display_name":"Siddhartha S Srinivasa","orcid":"https://orcid.org/0000-0002-5091-106X"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhartha S. Srinivasa","raw_affiliation_strings":["University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","University of Washington ;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington,Department of Computer Science and Engineering,Seattle,WA,98195","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"University of Washington ;","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.01009468,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10528","last_page":"10535"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12101","display_name":"Advanced Bandit Algorithms Research","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T12101","display_name":"Advanced Bandit Algorithms Research","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9889000058174133,"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/T10603","display_name":"Smart Grid Energy Management","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.7446710467338562},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.649638295173645},{"id":"https://openalex.org/keywords/regret","display_name":"Regret","score":0.6167304515838623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5570526719093323},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.5505469441413879},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5466064810752869},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5156394243240356},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.48175930976867676},{"id":"https://openalex.org/keywords/action-selection","display_name":"Action selection","score":0.415710985660553},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38177764415740967},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09081721305847168},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.08118101954460144}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7446710467338562},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.649638295173645},{"id":"https://openalex.org/C50817715","wikidata":"https://www.wikidata.org/wiki/Q79895177","display_name":"Regret","level":2,"score":0.6167304515838623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5570526719093323},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.5505469441413879},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5466064810752869},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5156394243240356},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.48175930976867676},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.415710985660553},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38177764415740967},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09081721305847168},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.08118101954460144},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561520","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"},{"id":"pmh:oai:arXiv.org:2011.02604","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.02604","pdf_url":"https://arxiv.org/pdf/2011.02604","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:3094795905","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2011.02604","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.2011.02604","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2011.02604","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":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2011.02604","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.02604","pdf_url":"https://arxiv.org/pdf/2011.02604","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":[{"id":"https://metadata.un.org/sdg/2","score":0.4300000071525574,"display_name":"Zero hunger"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320318799","display_name":"Honda Research Institute, USA","ror":null},{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"},{"id":"https://openalex.org/F4320338440","display_name":"HORIZON EUROPE Health","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3094795905.pdf","grobid_xml":"https://content.openalex.org/works/W3094795905.grobid-xml"},"referenced_works_count":77,"referenced_works":["https://openalex.org/W1487320471","https://openalex.org/W1809653203","https://openalex.org/W1964329560","https://openalex.org/W2005636679","https://openalex.org/W2005786010","https://openalex.org/W2014482607","https://openalex.org/W2045448547","https://openalex.org/W2047646215","https://openalex.org/W2052679282","https://openalex.org/W2061724928","https://openalex.org/W2064901924","https://openalex.org/W2067762713","https://openalex.org/W2071133755","https://openalex.org/W2073990673","https://openalex.org/W2075654868","https://openalex.org/W2075673359","https://openalex.org/W2076321056","https://openalex.org/W2077902449","https://openalex.org/W2084200723","https://openalex.org/W2092092836","https://openalex.org/W2097112379","https://openalex.org/W2112420033","https://openalex.org/W2116646817","https://openalex.org/W2119738618","https://openalex.org/W2119850747","https://openalex.org/W2122124659","https://openalex.org/W2137766920","https://openalex.org/W2138648596","https://openalex.org/W2142904634","https://openalex.org/W2145853018","https://openalex.org/W2151161180","https://openalex.org/W2156047221","https://openalex.org/W2194057693","https://openalex.org/W2216759066","https://openalex.org/W2251007294","https://openalex.org/W2293238857","https://openalex.org/W2308923239","https://openalex.org/W2323484219","https://openalex.org/W2401279239","https://openalex.org/W2474213459","https://openalex.org/W2483069211","https://openalex.org/W2566689043","https://openalex.org/W2604121610","https://openalex.org/W2790576010","https://openalex.org/W2805355418","https://openalex.org/W2807644309","https://openalex.org/W2810510551","https://openalex.org/W2914093613","https://openalex.org/W2925545110","https://openalex.org/W2948877167","https://openalex.org/W2951249115","https://openalex.org/W2963157614","https://openalex.org/W2963351448","https://openalex.org/W2965299802","https://openalex.org/W2968095426","https://openalex.org/W3009086013","https://openalex.org/W3035116197","https://openalex.org/W3100249898","https://openalex.org/W3132626114","https://openalex.org/W6638280738","https://openalex.org/W6674868663","https://openalex.org/W6678113768","https://openalex.org/W6678276431","https://openalex.org/W6680096830","https://openalex.org/W6687375543","https://openalex.org/W6691215711","https://openalex.org/W6696956927","https://openalex.org/W6700444752","https://openalex.org/W6712791957","https://openalex.org/W6735740649","https://openalex.org/W6745552915","https://openalex.org/W6748965644","https://openalex.org/W6751915836","https://openalex.org/W6751931708","https://openalex.org/W6763429163","https://openalex.org/W6768278236","https://openalex.org/W6774050812"],"related_works":["https://openalex.org/W3205716202","https://openalex.org/W3134032827","https://openalex.org/W2158641818","https://openalex.org/W3103763075","https://openalex.org/W3130411346","https://openalex.org/W3112571096","https://openalex.org/W3142816143","https://openalex.org/W3021105371","https://openalex.org/W3206106208","https://openalex.org/W3115080916","https://openalex.org/W2914584948","https://openalex.org/W3149922422","https://openalex.org/W2981344907","https://openalex.org/W3185189976","https://openalex.org/W3111396778","https://openalex.org/W3198115943","https://openalex.org/W2583137229","https://openalex.org/W3093430376","https://openalex.org/W3150177537","https://openalex.org/W3181701811"],"abstract_inverted_index":{"Autonomous":[0],"robot-assisted":[1],"feeding":[2],"requires":[3],"the":[4,51,90,159,162,168,174,190,196],"ability":[5],"to":[6,22,73,79,102,115,138,167,182,189],"acquire":[7],"a":[8,20,33,38,42,57,66,123],"wide":[9,67],"variety":[10,68],"of":[11,28,69,105,161,198,203],"food":[12,29,45,64,204],"items.":[13],"However,":[14,63],"it":[15],"is":[16,36,85,155,164,179],"impossible":[17],"for":[18,41],"such":[19],"system":[21],"be":[23,54,77],"trained":[24],"on":[25,148],"all":[26],"types":[27,202],"in":[30],"existence.":[31],"Therefore,":[32],"key":[34,83],"challenge":[35],"choosing":[37],"manipulation":[39,74,98],"strategy":[40],"previously":[43,116,200],"unseen":[44,117,201],"item.":[46],"Previous":[47],"work":[48],"showed":[49],"that":[50,75,86,152],"problem":[52,193],"can":[53,76,88],"represented":[55],"as":[56],"linear":[58,125],"bandit":[59,127],"with":[60,130,205],"visual":[61,113],"context.":[62],"has":[65],"multi-modal":[70],"properties":[71,107],"relevant":[72],"hard":[78],"distinguish":[80],"visually.":[81],"Our":[82],"insight":[84],"we":[87,93,121,185],"leverage":[89],"haptic":[91],"context":[92,133,163,171,177],"collect":[94],"during":[95],"and":[96,108,143,194],"after":[97,135],"(i.e.,":[99],"\"post":[100],"hoc\")":[101],"learn":[103],"some":[104],"these":[106],"more":[109,156],"quickly":[110],"adapt":[111],"our":[112],"model":[114,178],"food.":[118],"In":[119],"general,":[120],"propose":[122],"modified":[124],"contextual":[126],"framework":[128,188],"augmented":[129],"post":[131,169,175],"hoc":[132,170,176],"observed":[134],"action":[136],"selection":[137],"empirically":[139],"increase":[140],"learning":[141],"speed":[142],"reduce":[144],"cumulative":[145],"regret.":[146],"Experiments":[147],"synthetic":[149],"data":[150],"demonstrate":[151,195],"this":[153,187],"effect":[154],"pronounced":[157],"when":[158,173],"dimensionality":[160],"large":[165],"relative":[166],"or":[172],"particularly":[180],"easy":[181],"learn.":[183],"Finally,":[184],"apply":[186],"bite":[191],"acquisition":[192,197],"8":[199],"21%":[206],"fewer":[207],"failures":[208],"across":[209],"64":[210],"attempts.":[211]},"counts_by_year":[],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}