{"id":"https://openalex.org/W1976732786","doi":"https://doi.org/10.1109/iros.2012.6385817","title":"Online learning of inverse dynamics via Gaussian Process Regression","display_name":"Online learning of inverse dynamics via Gaussian Process Regression","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1976732786","doi":"https://doi.org/10.1109/iros.2012.6385817","mag":"1976732786"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385817","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5030706458","display_name":"Joseph Sun de la Cruz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210124763","display_name":"National Instruments (United States)","ror":"https://ror.org/026exqw73","country_code":"US","type":"company","lineage":["https://openalex.org/I4210117810","https://openalex.org/I4210124763"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Joseph Sun de la Cruz","raw_affiliation_strings":["National Instruments, Austin, TX, USA","National Instruments, Austin Texas, USA"],"affiliations":[{"raw_affiliation_string":"National Instruments, Austin, TX, USA","institution_ids":["https://openalex.org/I4210124763"]},{"raw_affiliation_string":"National Instruments, Austin Texas, USA","institution_ids":["https://openalex.org/I4210124763"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112872412","display_name":"William J. Owen","orcid":null},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"William Owen","raw_affiliation_strings":["University of Waterloo, Canada","University of Waterloo-Canad\u00e1"],"affiliations":[{"raw_affiliation_string":"University of Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"University of Waterloo-Canad\u00e1","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072377971","display_name":"Dana Kuli\u0107","orcid":"https://orcid.org/0000-0002-4169-2141"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Dana Kulic","raw_affiliation_strings":["University of Waterloo, Canada","University of Waterloo-Canad\u00e1"],"affiliations":[{"raw_affiliation_string":"University of Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"University of Waterloo-Canad\u00e1","institution_ids":["https://openalex.org/I151746483"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5030706458"],"corresponding_institution_ids":["https://openalex.org/I4210124763"],"apc_list":null,"apc_paid":null,"fwci":2.2106,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.8826164,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3583","last_page":"3590"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9994000196456909,"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":0.9994000196456909,"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/T11236","display_name":"Control Systems and Identification","score":0.9922000169754028,"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":0.9839000105857849,"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/gaussian-process","display_name":"Gaussian process","score":0.7532657384872437},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7432481050491333},{"id":"https://openalex.org/keywords/hyperparameter","display_name":"Hyperparameter","score":0.7287688255310059},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6896716952323914},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.6131688952445984},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.583792507648468},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.5575641989707947},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.521328866481781},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5092867612838745},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.46512672305107117},{"id":"https://openalex.org/keywords/regression","display_name":"Regression","score":0.41513755917549133},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.36207664012908936},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3290612995624542},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14094078540802002}],"concepts":[{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.7532657384872437},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7432481050491333},{"id":"https://openalex.org/C8642999","wikidata":"https://www.wikidata.org/wiki/Q4171168","display_name":"Hyperparameter","level":2,"score":0.7287688255310059},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6896716952323914},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.6131688952445984},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.583792507648468},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.5575641989707947},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.521328866481781},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5092867612838745},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.46512672305107117},{"id":"https://openalex.org/C83546350","wikidata":"https://www.wikidata.org/wiki/Q1139051","display_name":"Regression","level":2,"score":0.41513755917549133},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.36207664012908936},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3290612995624542},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14094078540802002},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"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/iros.2012.6385817","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385817","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.379.7208","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.379.7208","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://ece.uwaterloo.ca/~dkulic/pubs/SunDeLaCruzIROS2012.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W99821927","https://openalex.org/W568924265","https://openalex.org/W1483845297","https://openalex.org/W1746819321","https://openalex.org/W1796186189","https://openalex.org/W1949974402","https://openalex.org/W1966948790","https://openalex.org/W1976606095","https://openalex.org/W1988882685","https://openalex.org/W1998179438","https://openalex.org/W2002038293","https://openalex.org/W2091881639","https://openalex.org/W2098491426","https://openalex.org/W2098841537","https://openalex.org/W2099768828","https://openalex.org/W2104752886","https://openalex.org/W2116243329","https://openalex.org/W2125650133","https://openalex.org/W2129564505","https://openalex.org/W2150646391","https://openalex.org/W2154174243","https://openalex.org/W2164032318","https://openalex.org/W2167354091","https://openalex.org/W2168921921","https://openalex.org/W4205362845","https://openalex.org/W4211049957","https://openalex.org/W6674989108","https://openalex.org/W6684220894"],"related_works":["https://openalex.org/W2141609920","https://openalex.org/W4294619368","https://openalex.org/W566010457","https://openalex.org/W2600092203","https://openalex.org/W4286748465","https://openalex.org/W3118984993","https://openalex.org/W2144336328","https://openalex.org/W3196933554","https://openalex.org/W4380558509","https://openalex.org/W4300066510"],"abstract_inverted_index":{"Model-based":[0],"control":[1,115],"strategies":[2],"for":[3,54,77],"robot":[4],"manipulators":[5],"can":[6],"present":[7],"numerous":[8],"performance":[9,91],"advantages":[10],"when":[11],"an":[12,52],"accurate":[13],"model":[14,26,61,82],"of":[15,57,80,87,92,122],"the":[16,58,81,90,93],"system":[17],"dynamics":[18,60],"is":[19,27,73,102,108],"available.":[20],"In":[21],"practice,":[22],"obtaining":[23],"such":[24,34],"a":[25,28],"challenging":[29],"task":[30],"which":[31,39],"involves":[32],"modeling":[33],"physical":[35],"processes":[36],"as":[37],"friction,":[38],"may":[40],"not":[41],"be":[42,120],"well":[43],"understood":[44],"and":[45,83,113,117,125],"difficult":[46],"to":[47,75,110,119],"model.":[48],"This":[49],"paper":[50],"proposes":[51],"approach":[53,107],"online":[55],"learning":[56,94,112,126],"inverse":[59],"using":[62],"Gaussian":[63,69],"Process":[64,70],"Regression.":[65],"The":[66,85,105],"Sparse":[67],"Online":[68],"(SOGP)":[71],"algorithm":[72],"modified":[74],"allow":[76],"incremental":[78],"updates":[79],"hyperparameters.":[84],"influence":[86],"initialization":[88,124],"on":[89,97],"algorithms,":[95],"based":[96],"any":[98],"a-priori":[99],"knowledge":[100],"available,":[101],"also":[103],"investigated.":[104],"proposed":[106],"compared":[109],"existing":[111],"fixed":[114],"algorithms":[116],"shown":[118],"capable":[121],"fast":[123],"rate.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
