{"id":"https://openalex.org/W3207299932","doi":"https://doi.org/10.1109/icra48506.2021.9561984","title":"Learning Shape Control of Elastoplastic Deformable Linear Objects","display_name":"Learning Shape Control of Elastoplastic Deformable Linear Objects","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207299932","doi":"https://doi.org/10.1109/icra48506.2021.9561984","mag":"3207299932"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561984","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"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2208.02067","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013485773","display_name":"Rita Laezza","orcid":"https://orcid.org/0000-0003-3791-065X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Rita Laezza","raw_affiliation_strings":["Chalmers University of Technology,Division of Systems and Control,Department of Electrical Engineering,Sweden","Department of Electrical Engineering, Division of Systems and Control, Chalmers University of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Division of Systems and Control,Department of Electrical Engineering,Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Department of Electrical Engineering, Division of Systems and Control, Chalmers University of Technology, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066684950","display_name":"Yiannis Karayiannidis","orcid":"https://orcid.org/0000-0001-5129-342X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Yiannis Karayiannidis","raw_affiliation_strings":["Chalmers University of Technology,Division of Systems and Control,Department of Electrical Engineering,Sweden","Department of Electrical Engineering, Division of Systems and Control, Chalmers University of Technology, Sweden"],"affiliations":[{"raw_affiliation_string":"Chalmers University of Technology,Division of Systems and Control,Department of Electrical Engineering,Sweden","institution_ids":["https://openalex.org/I66862912"]},{"raw_affiliation_string":"Department of Electrical Engineering, Division of Systems and Control, Chalmers University of Technology, Sweden","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5013485773"],"corresponding_institution_ids":["https://openalex.org/I66862912"],"apc_list":null,"apc_paid":null,"fwci":2.7731,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.90502019,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4438","last_page":"4444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9973999857902527,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.6696920990943909},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6566526889801025},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5875116586685181},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5623811483383179},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5495235323905945},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5412878394126892},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5046452283859253},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.5018784999847412},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4577023983001709},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3787451684474945},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2089765965938568},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1216937005519867}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6696920990943909},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6566526889801025},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5875116586685181},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5623811483383179},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5495235323905945},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5412878394126892},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5046452283859253},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.5018784999847412},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4577023983001709},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3787451684474945},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2089765965938568},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1216937005519867},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9561984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561984","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:2208.02067","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2208.02067","pdf_url":"https://arxiv.org/pdf/2208.02067","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":"pmh:oai:research.chalmers.se:526644","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/526644","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:research.chalmers.se:528990","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/f3259386-5996-4547-a54f-81e4a4d1086b","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2208.02067","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2208.02067","pdf_url":"https://arxiv.org/pdf/2208.02067","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":[],"awards":[{"id":"https://openalex.org/G1364868472","display_name":null,"funder_award_id":"2018-05973","funder_id":"https://openalex.org/F4320322581","funder_display_name":"Vetenskapsr\u00e5det"},{"id":"https://openalex.org/G1441096865","display_name":null,"funder_award_id":"2018-05973","funder_id":"https://openalex.org/F4320322327","funder_display_name":"Knut och Alice Wallenbergs Stiftelse"},{"id":"https://openalex.org/G3321450376","display_name":null,"funder_award_id":"05973","funder_id":"https://openalex.org/F4320322581","funder_display_name":"Vetenskapsr\u00e5det"},{"id":"https://openalex.org/G5356226767","display_name":null,"funder_award_id":"2018-0597","funder_id":"https://openalex.org/F4320322581","funder_display_name":"Vetenskapsr\u00e5det"},{"id":"https://openalex.org/G712881263","display_name":null,"funder_award_id":"2018-","funder_id":"https://openalex.org/F4320322581","funder_display_name":"Vetenskapsr\u00e5det"},{"id":"https://openalex.org/G8683756101","display_name":null,"funder_award_id":"support","funder_id":"https://openalex.org/F4320322327","funder_display_name":"Knut och Alice Wallenbergs Stiftelse"}],"funders":[{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"},{"id":"https://openalex.org/F4320322581","display_name":"Vetenskapsr\u00e5det","ror":"https://ror.org/03zttf063"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W318060628","https://openalex.org/W1501226982","https://openalex.org/W1527127121","https://openalex.org/W1969865247","https://openalex.org/W1974032213","https://openalex.org/W1977655452","https://openalex.org/W2006104867","https://openalex.org/W2007243548","https://openalex.org/W2082511574","https://openalex.org/W2096404799","https://openalex.org/W2121863487","https://openalex.org/W2139659525","https://openalex.org/W2140212799","https://openalex.org/W2146990154","https://openalex.org/W2158782408","https://openalex.org/W2168050137","https://openalex.org/W2173248099","https://openalex.org/W2257979135","https://openalex.org/W2410697318","https://openalex.org/W2781726626","https://openalex.org/W2805530149","https://openalex.org/W2808405904","https://openalex.org/W2908861886","https://openalex.org/W2909693109","https://openalex.org/W2963504951","https://openalex.org/W2963864421","https://openalex.org/W2964001908","https://openalex.org/W2965916140","https://openalex.org/W2972093249","https://openalex.org/W3003169307","https://openalex.org/W3037207827","https://openalex.org/W3040477237","https://openalex.org/W4288118072","https://openalex.org/W4297686387","https://openalex.org/W4300799055","https://openalex.org/W6611109489","https://openalex.org/W6684921986","https://openalex.org/W6740801417","https://openalex.org/W6747473740","https://openalex.org/W6752818329","https://openalex.org/W6767579722","https://openalex.org/W6769506474","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W2024136090","https://openalex.org/W2732813147","https://openalex.org/W2143460112","https://openalex.org/W1834370135","https://openalex.org/W2042906257"],"abstract_inverted_index":{"Deformable":[0,34,79],"object":[1],"manipulation":[2,27,132],"tasks":[3],"have":[4],"long":[5],"been":[6,19],"regarded":[7],"as":[8,105],"challenging":[9,115],"robotic":[10,26],"problems.":[11],"However,":[12],"until":[13],"recently":[14],"very":[15],"little":[16],"work":[17],"has":[18,44],"done":[20],"on":[21,90,96,145],"the":[22,46,87,91,126,141,174,183,191,194],"subject,":[23],"with":[24,102],"most":[25],"methods":[28],"being":[29],"developed":[30],"for":[31,58,78],"rigid":[32],"objects.":[33],"objects":[35],"are":[36,108,114],"more":[37],"difficult":[38],"to":[39,55,116,119,171,186],"model":[40],"and":[41,113,159],"simulate,":[42],"which":[43],"limited":[45],"use":[47],"of":[48,61,93,99,128,193],"model-free":[49],"Reinforcement":[50],"Learning":[51],"(RL)":[52],"strategies,":[53],"due":[54,118],"their":[56,120],"need":[57],"large":[59],"amounts":[60],"data":[62],"that":[63,168],"can":[64],"only":[65],"be":[66],"satisfied":[67],"in":[68,110,139,169],"simulation.":[69],"This":[70],"paper":[71],"proposes":[72],"a":[73,131],"new":[74],"shape":[75,154,192],"control":[76],"task":[77,133,176],"Linear":[80],"Objects":[81,101],"(DLOs).":[82],"More":[83],"notably,":[84],"we":[85,150,162],"present":[86],"first":[88,124],"study":[89,167],"effects":[92],"elastoplastic":[94],"properties":[95],"this":[97],"type":[98],"problem.":[100],"elastoplasticity":[103],"such":[104,130],"metal":[106],"wires,":[107],"found":[109],"various":[111],"applications":[112],"manipulate":[117],"nonlinear":[121],"behavior.":[122],"We":[123],"highlight":[125],"challenges":[127],"solving":[129],"from":[134,147],"an":[135,152,165],"RL":[136],"perspective,":[137],"particularly":[138],"defining":[140],"reward.":[142],"Then,":[143],"based":[144],"concepts":[146],"differential":[148],"geometry,":[149],"propose":[151],"intrinsic":[153,188],"representation":[155],"using":[156,177],"discrete":[157],"curvature":[158],"torsion.":[160],"Finally,":[161],"show":[163],"through":[164],"empirical":[166],"order":[170],"successfully":[172],"solve":[173],"proposed":[175],"Deep":[178],"Deterministic":[179],"Policy":[180],"Gradient":[181],"(DDPG),":[182],"reward":[184],"needs":[185],"include":[187],"information":[189],"about":[190],"DLO.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":9}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}