{"id":"https://openalex.org/W3194733831","doi":"https://doi.org/10.1109/icra48506.2021.9561587","title":"Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators","display_name":"Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3194733831","doi":"https://doi.org/10.1109/icra48506.2021.9561587","mag":"3194733831"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561587","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":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/287776","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086124343","display_name":"Farshad Khadivar","orcid":"https://orcid.org/0000-0003-3519-3052"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Farshad Khadivar","raw_affiliation_strings":["Ecole Polytechnique Fédérale de Lausanne (EPFL),Learning Algorithms and Systems Laboratory (LASA),Lausanne,Switzerland,1015","Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Fédérale de Lausanne (EPFL),Learning Algorithms and Systems Laboratory (LASA),Lausanne,Switzerland,1015","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080138033","display_name":"Sthithparagya Gupta","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sthithparagya Gupta","raw_affiliation_strings":["Ecole Polytechnique Fédérale de Lausanne (EPFL),Learning Algorithms and Systems Laboratory (LASA),Lausanne,Switzerland,1015","Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Fédérale de Lausanne (EPFL),Learning Algorithms and Systems Laboratory (LASA),Lausanne,Switzerland,1015","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086175580","display_name":"Walid Amanhoud","orcid":"https://orcid.org/0000-0002-2816-7369"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Walid Amanhoud","raw_affiliation_strings":["Ecole Polytechnique Fédérale de Lausanne (EPFL),Learning Algorithms and Systems Laboratory (LASA),Lausanne,Switzerland,1015","Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Fédérale de Lausanne (EPFL),Learning Algorithms and Systems Laboratory (LASA),Lausanne,Switzerland,1015","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090592452","display_name":"Aude Billard","orcid":"https://orcid.org/0000-0002-7076-8010"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Aude Billard","raw_affiliation_strings":["Ecole Polytechnique Fédérale de Lausanne (EPFL),Learning Algorithms and Systems Laboratory (LASA),Lausanne,Switzerland,1015","Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Fédérale de Lausanne (EPFL),Learning Algorithms and Systems Laboratory (LASA),Lausanne,Switzerland,1015","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Learning Algorithms and Systems Laboratory (LASA), Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5597,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73469502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1934","last_page":"1941"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9883999824523926,"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":0.9883999824523926,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9853000044822693,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9835000038146973,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6707733869552612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6199789643287659},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6023921370506287},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5897219181060791},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5691495537757874},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5127512216567993},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.5019724369049072},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.49027398228645325},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.45692917704582214},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42362287640571594},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4225574731826782},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.41443753242492676},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3886302709579468},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33970674872398376},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.19939157366752625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19931575655937195},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16600903868675232},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15375590324401855}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6707733869552612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6199789643287659},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6023921370506287},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5897219181060791},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5691495537757874},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5127512216567993},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.5019724369049072},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.49027398228645325},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.45692917704582214},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42362287640571594},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4225574731826782},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.41443753242492676},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3886302709579468},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33970674872398376},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.19939157366752625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19931575655937195},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16600903868675232},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15375590324401855},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48506.2021.9561587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561587","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:infoscience.epfl.ch:287776","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/287776","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:287776","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/287776","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W152243833","https://openalex.org/W1483845297","https://openalex.org/W1496777766","https://openalex.org/W1503398984","https://openalex.org/W1533674189","https://openalex.org/W1548139318","https://openalex.org/W1554663460","https://openalex.org/W1580573426","https://openalex.org/W1622190175","https://openalex.org/W1742521026","https://openalex.org/W1966948790","https://openalex.org/W1998179438","https://openalex.org/W2003155905","https://openalex.org/W2014903366","https://openalex.org/W2021816077","https://openalex.org/W2033178790","https://openalex.org/W2039050532","https://openalex.org/W2062691475","https://openalex.org/W2063358894","https://openalex.org/W2078856056","https://openalex.org/W2119143623","https://openalex.org/W2121649666","https://openalex.org/W2122377431","https://openalex.org/W2140652513","https://openalex.org/W2156909104","https://openalex.org/W2162977544","https://openalex.org/W2172114485","https://openalex.org/W2275892128","https://openalex.org/W2313564472","https://openalex.org/W2560978298","https://openalex.org/W2765500706","https://openalex.org/W2782213427","https://openalex.org/W2899771611","https://openalex.org/W2951386724","https://openalex.org/W3003257820","https://openalex.org/W3011973854","https://openalex.org/W3103145119","https://openalex.org/W4206686222","https://openalex.org/W4244912679","https://openalex.org/W4388297464","https://openalex.org/W6653871016","https://openalex.org/W6678278778","https://openalex.org/W6747652377","https://openalex.org/W6756040250"],"related_works":["https://openalex.org/W2525438122","https://openalex.org/W2378211422","https://openalex.org/W4321353415","https://openalex.org/W2687915465","https://openalex.org/W2362018761","https://openalex.org/W3142528978","https://openalex.org/W2165096105","https://openalex.org/W2586100512","https://openalex.org/W2769452929","https://openalex.org/W2050526816"],"abstract_inverted_index":{"The":[0,47,163],"inverse":[1,85],"dynamics":[2,86],"of":[3,44,49,53,63,87,116,126,157],"a":[4,18,35,72,88,99,117,123,176],"robotic":[5,90,179],"manipulator":[6,91],"is":[7,20,173],"instrumental":[8],"in":[9,68,82,138,155],"precise":[10],"robot":[11,139],"control":[12],"and":[13,61,109,147,160,171],"manipulation.":[14],"However,":[15],"acquiring":[16],"such":[17,28,50],"model":[19,169],"challenging,":[21],"not":[22],"only":[23],"due":[24],"to":[25,70,78,106],"unmodelled":[26],"non-linearities":[27],"as":[29],"joint":[30],"friction,":[31],"but":[32],"also":[33,121],"from":[34],"machine":[36,94],"learning":[37,55,83,95,161],"perspective":[38],"(e.g.,":[39],"input":[40],"space":[41,142],"dimension,":[42],"amount":[43],"data":[45,81,112,158,167],"needed).":[46],"accuracy":[48],"models,":[51],"regardless":[52],"the":[54,64,84,182],"techniques,":[56],"relies":[57],"on":[58],"proper":[59],"excitation":[60,127],"exploration":[62],"robot\u2019s":[65,131],"configuration":[66,132],"space,":[67],"order":[69],"collect":[71],"rich":[73,80],"dataset.":[74],"This":[75],"study":[76],"aims":[77],"provide":[79],"serial":[89],"using":[92],"supervised":[93],"techniques.":[96],"We":[97,120,150],"propose":[98],"method,":[100],"called":[101],"Max-Information":[102],"Configuration":[103],"Exploration":[104],"(MICE),":[105],"incrementally":[107],"explore":[108],"generate":[110],"information-rich":[111],"via":[113],"computing":[114],"parameters":[115],"trajectory":[118],"set.":[119],"introduce":[122],"new":[124],"set":[125],"trajectories":[128],"that":[129],"explores":[130],"through":[133],"imposed":[134],"stable":[135],"limit":[136],"cycles":[137],"joints\u2019":[140],"phase":[141],"while":[143],"satisfying":[144],"feasibility":[145],"constraints":[146],"physical":[148],"bounds.":[149],"benchmark":[151],"MICE":[152],"against":[153],"state-of-the-art":[154],"terms":[156],"quality":[159],"accuracy.":[162],"proposed":[164],"methodology":[165],"for":[166],"collection,":[168],"learning,":[170],"evaluation,":[172],"validated":[174],"with":[175],"KUKA":[177],"IIWA14":[178],"arm":[180],"where":[181],"results":[183],"prove":[184],"significant":[185],"improvement":[186],"over":[187],"traditional":[188],"approaches.":[189]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}