{"id":"https://openalex.org/W3095412669","doi":"https://doi.org/10.1109/icra48506.2021.9562071","title":"Learning Stable Normalizing-Flow Control for Robotic Manipulation","display_name":"Learning Stable Normalizing-Flow Control for Robotic Manipulation","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3095412669","doi":"https://doi.org/10.1109/icra48506.2021.9562071","mag":"3095412669"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562071","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/2011.00072","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052271324","display_name":"Shahbaz Abdul Khader","orcid":"https://orcid.org/0000-0003-0443-7982"},"institutions":[{"id":"https://openalex.org/I4210086503","display_name":"ABB (Sweden)","ror":"https://ror.org/0033n4009","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210086503","https://openalex.org/I885143765"]},{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":true,"raw_author_name":"Shahbaz Abdul Khader","raw_affiliation_strings":["ABB Corporate Research, Vasteras, Sweden","Robotics, Perception, and Learning lab, KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology,Robotics, Perception, and Learning lab,Stockholm,Sweden"],"affiliations":[{"raw_affiliation_string":"ABB Corporate Research, Vasteras, Sweden","institution_ids":["https://openalex.org/I4210086503"]},{"raw_affiliation_string":"Robotics, Perception, and Learning lab, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology,Robotics, Perception, and Learning lab,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067144254","display_name":"Hang Yin","orcid":"https://orcid.org/0000-0002-3599-440X"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Hang Yin","raw_affiliation_strings":["Robotics, Perception, and Learning lab, KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology,Robotics, Perception, and Learning lab,Stockholm,Sweden"],"affiliations":[{"raw_affiliation_string":"Robotics, Perception, and Learning lab, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology,Robotics, Perception, and Learning lab,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076700669","display_name":"Pietro Falco","orcid":"https://orcid.org/0000-0003-1133-0884"},"institutions":[{"id":"https://openalex.org/I4210086503","display_name":"ABB (Sweden)","ror":"https://ror.org/0033n4009","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210086503","https://openalex.org/I885143765"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Pietro Falco","raw_affiliation_strings":["ABB Corporate Research, Vasteras, Sweden","ABB Corporate Research,Vasteras,Sweden"],"affiliations":[{"raw_affiliation_string":"ABB Corporate Research, Vasteras, Sweden","institution_ids":["https://openalex.org/I4210086503"]},{"raw_affiliation_string":"ABB Corporate Research,Vasteras,Sweden","institution_ids":["https://openalex.org/I4210086503"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023792180","display_name":"Danica Kragi\u0107","orcid":"https://orcid.org/0000-0003-2965-2953"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Danica Kragic","raw_affiliation_strings":["Robotics, Perception, and Learning lab, KTH Royal Institute of Technology, Stockholm, Sweden","KTH Royal Institute of Technology,Robotics, Perception, and Learning lab,Stockholm,Sweden"],"affiliations":[{"raw_affiliation_string":"Robotics, Perception, and Learning lab, KTH Royal Institute of Technology, Stockholm, Sweden","institution_ids":["https://openalex.org/I86987016"]},{"raw_affiliation_string":"KTH Royal Institute of Technology,Robotics, Perception, and Learning lab,Stockholm,Sweden","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5052271324"],"corresponding_institution_ids":["https://openalex.org/I4210086503","https://openalex.org/I86987016"],"apc_list":null,"apc_paid":null,"fwci":0.2764,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.51236319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1644","last_page":"1650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9993000030517578,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9940999746322632,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.79645836353302},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.7311543226242065},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6924283504486084},{"id":"https://openalex.org/keywords/closing","display_name":"Closing (real estate)","score":0.642977774143219},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5956147313117981},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5896399617195129},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5591120719909668},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5380157828330994},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.5323097705841064},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.43854472041130066},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.43567922711372375},{"id":"https://openalex.org/keywords/flow-control","display_name":"Flow control (data)","score":0.43466097116470337},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3742228150367737},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3308635950088501},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.27020692825317383},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.18959009647369385},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16311895847320557},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15398907661437988}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.79645836353302},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.7311543226242065},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6924283504486084},{"id":"https://openalex.org/C2778775528","wikidata":"https://www.wikidata.org/wiki/Q5135432","display_name":"Closing (real estate)","level":2,"score":0.642977774143219},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5956147313117981},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5896399617195129},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5591120719909668},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5380157828330994},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.5323097705841064},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.43854472041130066},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.43567922711372375},{"id":"https://openalex.org/C186766456","wikidata":"https://www.wikidata.org/wiki/Q612457","display_name":"Flow control (data)","level":2,"score":0.43466097116470337},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3742228150367737},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3308635950088501},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.27020692825317383},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.18959009647369385},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16311895847320557},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15398907661437988},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9562071","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562071","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:2011.00072","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.00072","pdf_url":"https://arxiv.org/pdf/2011.00072","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":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2011.00072","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2011.00072","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":"article"},{"id":"mag:3095412669","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2011.00072","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.00072","pdf_url":"https://arxiv.org/pdf/2011.00072","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":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1560270123","https://openalex.org/W1925816294","https://openalex.org/W1974357213","https://openalex.org/W2091946780","https://openalex.org/W2098524868","https://openalex.org/W2106871887","https://openalex.org/W2112535044","https://openalex.org/W2126909264","https://openalex.org/W2164479831","https://openalex.org/W2296438681","https://openalex.org/W2497095191","https://openalex.org/W2618318883","https://openalex.org/W2736601468","https://openalex.org/W2946396478","https://openalex.org/W2962695743","https://openalex.org/W2962736495","https://openalex.org/W2964161785","https://openalex.org/W2966735560","https://openalex.org/W2968095426","https://openalex.org/W2992005611","https://openalex.org/W3003629310","https://openalex.org/W3026843233","https://openalex.org/W3044718039","https://openalex.org/W3088002337","https://openalex.org/W3091037773","https://openalex.org/W3106892592","https://openalex.org/W4243385754","https://openalex.org/W6640290305","https://openalex.org/W6674872077","https://openalex.org/W6677104672","https://openalex.org/W6682849425","https://openalex.org/W6684037837","https://openalex.org/W6714644935","https://openalex.org/W6723262837","https://openalex.org/W6738483526","https://openalex.org/W6741002519","https://openalex.org/W6762580838","https://openalex.org/W6776542378","https://openalex.org/W6778324997"],"related_works":["https://openalex.org/W3206039816","https://openalex.org/W3144527084","https://openalex.org/W3204094374","https://openalex.org/W2954970763","https://openalex.org/W3149922422","https://openalex.org/W3152791938","https://openalex.org/W3200054052","https://openalex.org/W2985871261","https://openalex.org/W2973930579","https://openalex.org/W3109409708","https://openalex.org/W2610395436","https://openalex.org/W2966950754","https://openalex.org/W2919334316","https://openalex.org/W3138650132","https://openalex.org/W3129896193","https://openalex.org/W3203483019","https://openalex.org/W3175580674","https://openalex.org/W2554830522","https://openalex.org/W1863534978","https://openalex.org/W190583841"],"abstract_inverted_index":{"Reinforcement":[0],"Learning":[1],"(RL)":[2],"of":[3,22,29,47],"robotic":[4],"manipulation":[5,66,116],"skills,":[6],"despite":[7],"its":[8],"impressive":[9],"successes,":[10],"stands":[11],"to":[12,38,64,99,109,125],"benefit":[13],"from":[14,18],"incorporating":[15],"domain":[16],"knowledge":[17],"control":[19,32,77],"theory.":[20],"One":[21],"the":[23,45],"most":[24],"important":[25],"properties":[26],"that":[27,62,79,121],"is":[28,31,92,97,123],"interest":[30],"stability.":[33,106],"Ideally,":[34],"one":[35,61],"would":[36],"like":[37],"achieve":[39,126],"stability":[40],"guarantees":[41],"while":[42],"staying":[43],"within":[44],"framework":[46],"state-of-the-art":[48],"deep":[49,86],"RL":[50,87],"algorithms.":[51,88],"Such":[52],"a":[53],"solution":[54],"does":[55],"not":[56,93],"exist":[57],"in":[58,83],"general,":[59],"especially":[60],"scales":[63],"complex":[65],"tasks.":[67],"We":[68],"contribute":[69],"towards":[70],"closing":[71],"this":[72],"gap":[73],"by":[74],"introducing":[75],"normalizing-flow":[76],"structure,":[78],"can":[80],"be":[81],"deployed":[82],"any":[84],"latest":[85],"While":[89],"stable":[90],"exploration":[91,128],"guaranteed,":[94],"our":[95,111],"method":[96,112],"designed":[98],"ultimately":[100],"produce":[101],"deterministic":[102],"controllers":[103],"with":[104],"provable":[105],"In":[107],"addition":[108],"demonstrating":[110],"on":[113],"challenging":[114],"contact-rich":[115],"tasks,":[117],"we":[118],"also":[119],"show":[120],"it":[122],"possible":[124],"considerable":[127],"efficiency\u2013reduced":[129],"state":[130],"space":[131],"coverage":[132],"and":[133],"actuation":[134],"efforts\u2013":[135],"without":[136],"losing":[137],"learning":[138],"efficiency.":[139]},"counts_by_year":[{"year":2021,"cited_by_count":2}],"updated_date":"2026-03-14T08:43:22.919905","created_date":"2025-10-10T00:00:00"}
