{"id":"https://openalex.org/W4383108492","doi":"https://doi.org/10.1109/icra48891.2023.10160585","title":"Learning State Conditioned Linear Mappings for Low-Dimensional Control of Robotic Manipulators","display_name":"Learning State Conditioned Linear Mappings for Low-Dimensional Control of Robotic Manipulators","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108492","doi":"https://doi.org/10.1109/icra48891.2023.10160585"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160585","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160585","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/2410.21441","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5072340024","display_name":"Michael Przystupa","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Michael Przystupa","raw_affiliation_strings":["University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8"],"affiliations":[{"raw_affiliation_string":"University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042879353","display_name":"Kerrick Johnstonbaugh","orcid":"https://orcid.org/0000-0001-8553-6290"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kerrick Johnstonbaugh","raw_affiliation_strings":["University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8"],"affiliations":[{"raw_affiliation_string":"University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100739120","display_name":"Zichen Zhang","orcid":"https://orcid.org/0000-0002-8919-6243"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zichen Zhang","raw_affiliation_strings":["University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8"],"affiliations":[{"raw_affiliation_string":"University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016750375","display_name":"Laura Petrich","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Laura Petrich","raw_affiliation_strings":["University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8"],"affiliations":[{"raw_affiliation_string":"University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006157212","display_name":"Masood Dehghan","orcid":"https://orcid.org/0000-0003-2293-6101"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Masood Dehghan","raw_affiliation_strings":["University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8"],"affiliations":[{"raw_affiliation_string":"University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021958183","display_name":"Faezeh Haghverd","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Faezeh Haghverd","raw_affiliation_strings":["University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8"],"affiliations":[{"raw_affiliation_string":"University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030948380","display_name":"Martin J\u00e4gersand","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Martin Jagersand","raw_affiliation_strings":["University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8"],"affiliations":[{"raw_affiliation_string":"University of Alberta, Edmonton AB,Department of Computing Science,Canada,T6G 2E8","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5072340024"],"corresponding_institution_ids":["https://openalex.org/I154425047"],"apc_list":null,"apc_paid":null,"fwci":0.7391,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.70415626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"857","last_page":"863"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9908000230789185,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9818000197410583,"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/robot-manipulator","display_name":"Robot manipulator","score":0.7134678363800049},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6480588316917419},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5416153073310852},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5337033867835999},{"id":"https://openalex.org/keywords/linear-control-systems","display_name":"Linear control systems","score":0.5237505435943604},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5206900835037231},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38893258571624756},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36812570691108704},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.32910507917404175},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30207717418670654},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1835920512676239},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11195647716522217},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07715138792991638}],"concepts":[{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.7134678363800049},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6480588316917419},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5416153073310852},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5337033867835999},{"id":"https://openalex.org/C2987686001","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Linear control systems","level":3,"score":0.5237505435943604},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5206900835037231},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38893258571624756},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36812570691108704},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.32910507917404175},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30207717418670654},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1835920512676239},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11195647716522217},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07715138792991638}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160585","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160585","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2410.21441","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2410.21441","pdf_url":"https://arxiv.org/pdf/2410.21441","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2410.21441","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2410.21441","pdf_url":"https://arxiv.org/pdf/2410.21441","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4383108492.pdf","grobid_xml":"https://content.openalex.org/works/W4383108492.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W754754595","https://openalex.org/W834081922","https://openalex.org/W1968876723","https://openalex.org/W2012204020","https://openalex.org/W2102408959","https://openalex.org/W2106215490","https://openalex.org/W2111340349","https://openalex.org/W2145460837","https://openalex.org/W2154006563","https://openalex.org/W2157289187","https://openalex.org/W2294798173","https://openalex.org/W2323980249","https://openalex.org/W2569181534","https://openalex.org/W2884642747","https://openalex.org/W2889955698","https://openalex.org/W2955603547","https://openalex.org/W3038934110","https://openalex.org/W3041296001","https://openalex.org/W3090359064","https://openalex.org/W3113374047","https://openalex.org/W3130187433","https://openalex.org/W3157623683","https://openalex.org/W3193119017","https://openalex.org/W3204238384","https://openalex.org/W3206149081","https://openalex.org/W3206495137","https://openalex.org/W3206592106","https://openalex.org/W3207008345","https://openalex.org/W4232476872","https://openalex.org/W4238805501","https://openalex.org/W4288614963","https://openalex.org/W6622221209","https://openalex.org/W6623316541","https://openalex.org/W6759315145","https://openalex.org/W6765860516","https://openalex.org/W6794735765","https://openalex.org/W6798690635","https://openalex.org/W6802634034"],"related_works":["https://openalex.org/W2047558453","https://openalex.org/W1999673819","https://openalex.org/W958199350","https://openalex.org/W2380695172","https://openalex.org/W1573796078","https://openalex.org/W2105827667","https://openalex.org/W2139754357","https://openalex.org/W2054831413","https://openalex.org/W4238458658","https://openalex.org/W2134933822"],"abstract_inverted_index":{"Identifying":[0],"an":[1],"appropriate":[2],"task":[3,133],"space":[4],"can":[5,54,94],"simplify":[6],"solving":[7],"robotic":[8,72],"manipulation":[9],"problems.":[10],"One":[11],"solution":[12],"is":[13,74],"deploying":[14],"control":[15],"algorithms":[16],"in":[17,76,140],"a":[18,42,98,131,141],"learned":[19],"low-dimensional":[20,44,78],"action":[21,26,52,88],"space.":[22],"Linear":[23],"and":[24,33,127,134],"nonlinear":[25],"mapping":[27],"methods":[28],"have":[29],"trade-offs":[30],"between":[31],"simplicity":[32],"the":[34,70,77,81,87],"ability":[35],"to":[36,137],"express":[37],"motor":[38],"commands":[39],"outside":[40],"of":[41,57],"single":[43],"subspace.":[45],"We":[46,110],"propose":[47],"that":[48,65,91],"learning":[49],"local":[50,101],"linear":[51,62,75,102,122],"representations":[53,103],"achieve":[55],"both":[56],"these":[58,112],"benefits.":[59],"Our":[60],"state-conditioned":[61,121],"maps":[63,123],"ensure":[64],"for":[66],"any":[67],"given":[68],"state,":[69],"high-dimensional":[71],"actuation":[73],"actions.":[79],"As":[80],"robot":[82],"state":[83],"evolves,":[84],"so":[85,90],"do":[86],"mappings,":[89],"necessary":[92],"motions":[93],"be":[95],"performed":[96],"during":[97],"task.":[99,145],"These":[100],"guarantee":[104],"desirable":[105],"theoretical":[106],"properties":[107],"by":[108],"design.":[109],"validate":[111],"findings":[113],"empirically":[114],"through":[115],"two":[116],"user":[117],"studies.":[118],"Results":[119],"suggest":[120],"outperform":[124],"conditional":[125],"autoencoder":[126],"PCA":[128],"baselines":[129],"on":[130],"pick-and-place":[132],"perform":[135],"comparably":[136],"mode":[138],"switching":[139],"more":[142],"complex":[143],"pouring":[144]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}