{"id":"https://openalex.org/W4401416421","doi":"https://doi.org/10.1109/icra57147.2024.10611492","title":"Deep Model Predictive Optimization","display_name":"Deep Model Predictive Optimization","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416421","doi":"https://doi.org/10.1109/icra57147.2024.10611492"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113723288","display_name":"Jacob Sacks","orcid":null},"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":true,"raw_author_name":"Jacob Sacks","raw_affiliation_strings":["University of Washington,Seattle,WA,USA,98105"],"affiliations":[{"raw_affiliation_string":"University of Washington,Seattle,WA,USA,98105","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021977715","display_name":"Rwik Rana","orcid":null},"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":"Rwik Rana","raw_affiliation_strings":["University of Washington,Seattle,WA,USA,98105"],"affiliations":[{"raw_affiliation_string":"University of Washington,Seattle,WA,USA,98105","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062032121","display_name":"Kevin Huang","orcid":"https://orcid.org/0000-0002-0300-9911"},"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 Huang","raw_affiliation_strings":["University of Washington,Seattle,WA,USA,98105"],"affiliations":[{"raw_affiliation_string":"University of Washington,Seattle,WA,USA,98105","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032221129","display_name":"Alex Spitzer","orcid":null},"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":"Alex Spitzer","raw_affiliation_strings":["University of Washington,Seattle,WA,USA,98105"],"affiliations":[{"raw_affiliation_string":"University of Washington,Seattle,WA,USA,98105","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029314167","display_name":"Guanya Shi","orcid":"https://orcid.org/0000-0002-9075-3705"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guanya Shi","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15213"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute,Pittsburgh,PA,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110797782","display_name":"Byron Boots","orcid":null},"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":"Byron Boots","raw_affiliation_strings":["University of Washington,Seattle,WA,USA,98105"],"affiliations":[{"raw_affiliation_string":"University of Washington,Seattle,WA,USA,98105","institution_ids":["https://openalex.org/I201448701"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5113723288"],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":1.3978,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81287588,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"16945","last_page":"16953"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9987999796867371,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9987999796867371,"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":0.9976000189781189,"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":0.9951000213623047,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6080304980278015}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6080304980278015}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611492","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":134,"referenced_works":["https://openalex.org/W398859631","https://openalex.org/W569478347","https://openalex.org/W834081922","https://openalex.org/W1191599655","https://openalex.org/W1522301498","https://openalex.org/W1957496711","https://openalex.org/W1967821692","https://openalex.org/W2016211524","https://openalex.org/W2045422729","https://openalex.org/W2162977544","https://openalex.org/W2281096776","https://openalex.org/W2410617946","https://openalex.org/W2522564208","https://openalex.org/W2528489519","https://openalex.org/W2593649546","https://openalex.org/W2605102758","https://openalex.org/W2732671178","https://openalex.org/W2733312032","https://openalex.org/W2736601468","https://openalex.org/W2738778707","https://openalex.org/W2760078242","https://openalex.org/W2766478487","https://openalex.org/W2767050701","https://openalex.org/W2787387965","https://openalex.org/W2788071227","https://openalex.org/W2885163910","https://openalex.org/W2889731659","https://openalex.org/W2901402208","https://openalex.org/W2902125520","https://openalex.org/W2913756371","https://openalex.org/W2922374759","https://openalex.org/W2950574573","https://openalex.org/W2962872206","https://openalex.org/W2963165111","https://openalex.org/W2963280855","https://openalex.org/W2963355572","https://openalex.org/W2963683522","https://openalex.org/W2963775850","https://openalex.org/W2967727187","https://openalex.org/W2979869797","https://openalex.org/W2990747716","https://openalex.org/W2997046053","https://openalex.org/W2999729662","https://openalex.org/W3003669699","https://openalex.org/W3038825904","https://openalex.org/W3043013488","https://openalex.org/W3099068521","https://openalex.org/W3099548126","https://openalex.org/W3101016798","https://openalex.org/W3101442004","https://openalex.org/W3102141330","https://openalex.org/W3104509089","https://openalex.org/W3105108680","https://openalex.org/W3122336430","https://openalex.org/W3131518230","https://openalex.org/W3197225143","https://openalex.org/W3203489455","https://openalex.org/W3217056046","https://openalex.org/W4200630212","https://openalex.org/W4214744206","https://openalex.org/W4229014698","https://openalex.org/W4230431917","https://openalex.org/W4283784039","https://openalex.org/W4285036177","https://openalex.org/W4285047692","https://openalex.org/W4285102199","https://openalex.org/W4286981945","https://openalex.org/W4287389856","https://openalex.org/W4287392624","https://openalex.org/W4287662527","https://openalex.org/W4289115845","https://openalex.org/W4295312788","https://openalex.org/W4297573592","https://openalex.org/W4298206671","https://openalex.org/W4300971732","https://openalex.org/W4305038385","https://openalex.org/W4312550660","https://openalex.org/W4381247851","https://openalex.org/W4381827896","https://openalex.org/W4383097364","https://openalex.org/W4383109238","https://openalex.org/W4386285856","https://openalex.org/W4400644189","https://openalex.org/W4401414310","https://openalex.org/W4401416456","https://openalex.org/W6623316541","https://openalex.org/W6627932998","https://openalex.org/W6631190155","https://openalex.org/W6638018090","https://openalex.org/W6677179944","https://openalex.org/W6714477741","https://openalex.org/W6717367658","https://openalex.org/W6729433768","https://openalex.org/W6734652334","https://openalex.org/W6735030908","https://openalex.org/W6735618850","https://openalex.org/W6735961515","https://openalex.org/W6740792189","https://openalex.org/W6741002519","https://openalex.org/W6743661861","https://openalex.org/W6745638589","https://openalex.org/W6747798087","https://openalex.org/W6748317118","https://openalex.org/W6751494529","https://openalex.org/W6754302822","https://openalex.org/W6755864697","https://openalex.org/W6756256016","https://openalex.org/W6756848961","https://openalex.org/W6756908582","https://openalex.org/W6759546789","https://openalex.org/W6765813175","https://openalex.org/W6766978945","https://openalex.org/W6768451195","https://openalex.org/W6768791272","https://openalex.org/W6772465816","https://openalex.org/W6780247873","https://openalex.org/W6780783428","https://openalex.org/W6783529969","https://openalex.org/W6784273276","https://openalex.org/W6785954647","https://openalex.org/W6786261308","https://openalex.org/W6788109975","https://openalex.org/W6789933674","https://openalex.org/W6794585241","https://openalex.org/W6801567575","https://openalex.org/W6802227391","https://openalex.org/W6846337460","https://openalex.org/W6846969139","https://openalex.org/W6850176534","https://openalex.org/W6851194604","https://openalex.org/W6853274243","https://openalex.org/W6853730398","https://openalex.org/W6854090272","https://openalex.org/W6858097324"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"A":[0],"major":[1],"challenge":[2],"in":[3,16,41,106],"robotics":[4],"is":[5,33,76],"to":[6,56,59,78,90,143,185,220],"design":[7],"robust":[8,58],"policies":[9],"which":[10,32,129,162],"enable":[11],"complex":[12],"and":[13,36,61,87,99,190],"agile":[14,157],"behaviors":[15],"the":[17,24,72,113,116,131,144,147,179,218],"real":[18,155],"world.":[19],"On":[20],"one":[21],"end":[22],"of":[23,115,133,146],"spectrum,":[25],"we":[26,122,216],"have":[27],"model-free":[28],"reinforcement":[29],"learning":[30],"(MFRL),":[31],"incredibly":[34],"flexible":[35],"general":[37],"but":[38],"often":[39,70],"results":[40,239],"brittle":[42],"policies.":[43],"In":[44],"contrast,":[45],"model":[46,62,79,98],"predictive":[47],"control":[48,148],"(MPC)":[49],"continually":[50],"re-plans":[51],"at":[52,243],"each":[53],"time":[54],"step":[55],"remain":[57],"perturbations":[60],"inaccuracies.":[63],"However,":[64],"despite":[65],"its":[66],"real-world":[67],"successes,":[68],"MPC":[69,102,135,169,181],"under-performs":[71],"optimal":[73],"strategy.":[74],"This":[75],"due":[77,89],"quality,":[80],"myopic":[81],"behavior":[82],"from":[83],"short":[84],"planning":[85],"horizons,":[86],"approximations":[88],"computational":[91,174],"constraints.":[92],"And":[93],"even":[94],"with":[95,187,195,211,224],"a":[96,154,167,172],"perfect":[97],"enough":[100],"compute,":[101],"can":[103,177,206,230,240],"get":[104],"stuck":[105],"bad":[107],"local":[108],"optima,":[109],"depending":[110],"heavily":[111],"on":[112,153,161],"quality":[114],"optimization":[117,136],"algorithm.":[118],"To":[119],"this":[120],"end,":[121],"propose":[123],"Deep":[124],"Model":[125],"Predictive":[126],"Optimization":[127],"(DMPO),":[128],"learns":[130],"inner-loop":[132],"an":[134,191,225],"algorithm":[137,170,182],"directly":[138],"via":[139],"experience,":[140],"specifically":[141],"tailored":[142],"needs":[145],"problem.":[149],"We":[150],"evaluate":[151],"DMPO":[152,201,229],"quadrotor":[156,219],"trajectory":[158],"tracking":[159],"task,":[160],"it":[163,205],"improves":[164],"performance":[165],"over":[166],"baseline":[168],"for":[171],"given":[173],"budget.":[175],"It":[176],"outperform":[178],"best":[180],"by":[183,197],"up":[184],"27%":[186],"fewer":[188,203],"samples":[189],"end-to-end":[192],"policy":[193],"trained":[194],"MFRL":[196],"19%.":[198],"Moreover,":[199],"because":[200],"requires":[202],"samples,":[204],"also":[207],"achieve":[208],"these":[209],"benefits":[210],"4.3\u00d7":[212],"less":[213],"memory.":[214],"When":[215],"subject":[217],"turbulent":[221],"wind":[222],"fields":[223],"attached":[226],"drag":[227],"plate,":[228],"adapt":[231],"zero-shot":[232],"while":[233],"still":[234],"outperforming":[235],"all":[236],"baselines.":[237],"Additional":[238],"be":[241],"found":[242],"https://tinyurl.com/mr2ywmnw.":[244]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}