{"id":"https://openalex.org/W2773691349","doi":"https://doi.org/10.1109/iros.2017.8206245","title":"Adversarially Robust Policy Learning: Active construction of physically-plausible perturbations","display_name":"Adversarially Robust Policy Learning: Active construction of physically-plausible perturbations","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2773691349","doi":"https://doi.org/10.1109/iros.2017.8206245","mag":"2773691349"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206245","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206245","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5026180478","display_name":"Ajay Mandlekar","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ajay Mandlekar","raw_affiliation_strings":["AI Lab, Stanford University, CA, US"],"affiliations":[{"raw_affiliation_string":"AI Lab, Stanford University, CA, US","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030826237","display_name":"Yuke Zhu","orcid":"https://orcid.org/0000-0002-9198-2227"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuke Zhu","raw_affiliation_strings":["AI Lab, Stanford University, CA, US"],"affiliations":[{"raw_affiliation_string":"AI Lab, Stanford University, CA, US","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061193324","display_name":"Animesh Garg","orcid":"https://orcid.org/0000-0003-0482-4296"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Animesh Garg","raw_affiliation_strings":["AI Lab, Stanford University, CA, US"],"affiliations":[{"raw_affiliation_string":"AI Lab, Stanford University, CA, US","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450462","display_name":"Li Fei-Fei","orcid":"https://orcid.org/0000-0002-7481-0810"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Li Fei-Fei","raw_affiliation_strings":["AI Lab, Stanford University, CA, US"],"affiliations":[{"raw_affiliation_string":"AI Lab, Stanford University, CA, US","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042646536","display_name":"Silvio Savarese","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Silvio Savarese","raw_affiliation_strings":["AI Lab, Stanford University, CA, US"],"affiliations":[{"raw_affiliation_string":"AI Lab, Stanford University, CA, US","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5026180478"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":9.7509,"has_fulltext":false,"cited_by_count":127,"citation_normalized_percentile":{"value":0.98411524,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3932","last_page":"3939"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9998000264167786,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9998000264167786,"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/T11241","display_name":"Advanced Malware Detection Techniques","score":0.9750000238418579,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9743000268936157,"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":0.7421737909317017},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7209699153900146},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.708471417427063},{"id":"https://openalex.org/keywords/resilience","display_name":"Resilience (materials science)","score":0.5353071689605713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5020582675933838},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.4818928837776184},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.45713695883750916},{"id":"https://openalex.org/keywords/vulnerability","display_name":"Vulnerability (computing)","score":0.4570077359676361},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.430306077003479},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4268341064453125},{"id":"https://openalex.org/keywords/source-code","display_name":"Source code","score":0.415740430355072},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.13982707262039185},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10983127355575562}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7421737909317017},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7209699153900146},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.708471417427063},{"id":"https://openalex.org/C2779585090","wikidata":"https://www.wikidata.org/wiki/Q3457762","display_name":"Resilience (materials science)","level":2,"score":0.5353071689605713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5020582675933838},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4818928837776184},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.45713695883750916},{"id":"https://openalex.org/C95713431","wikidata":"https://www.wikidata.org/wiki/Q631425","display_name":"Vulnerability (computing)","level":2,"score":0.4570077359676361},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.430306077003479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4268341064453125},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.415740430355072},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.13982707262039185},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10983127355575562},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206245","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206245","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.4399999976158142,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W9657784","https://openalex.org/W1505506151","https://openalex.org/W1673923490","https://openalex.org/W1771410628","https://openalex.org/W1845972764","https://openalex.org/W1945616565","https://openalex.org/W1965878388","https://openalex.org/W1977655452","https://openalex.org/W1983181247","https://openalex.org/W1999762494","https://openalex.org/W2013301788","https://openalex.org/W2097381042","https://openalex.org/W2132602063","https://openalex.org/W2145339207","https://openalex.org/W2151298633","https://openalex.org/W2158782408","https://openalex.org/W2173248099","https://openalex.org/W2182209223","https://openalex.org/W2243397390","https://openalex.org/W2257979135","https://openalex.org/W2274565976","https://openalex.org/W2296073425","https://openalex.org/W2426267443","https://openalex.org/W2443711627","https://openalex.org/W2460937040","https://openalex.org/W2529477964","https://openalex.org/W2543927648","https://openalex.org/W2589843466","https://openalex.org/W2590523583","https://openalex.org/W2736750746","https://openalex.org/W2949103145","https://openalex.org/W2952629144","https://openalex.org/W2962736495","https://openalex.org/W2962755762","https://openalex.org/W2962887844","https://openalex.org/W2963207607","https://openalex.org/W2963614114","https://openalex.org/W2963864421","https://openalex.org/W2964043796","https://openalex.org/W2964153729","https://openalex.org/W2964161785","https://openalex.org/W2964262254","https://openalex.org/W3021796787","https://openalex.org/W3103836116","https://openalex.org/W4297573953","https://openalex.org/W4297824641","https://openalex.org/W4300446173","https://openalex.org/W4300511536","https://openalex.org/W4319988532","https://openalex.org/W6639175102","https://openalex.org/W6674600207","https://openalex.org/W6692846177"],"related_works":["https://openalex.org/W2964108292","https://openalex.org/W2773525213","https://openalex.org/W4317552138","https://openalex.org/W4288029431","https://openalex.org/W2987815066","https://openalex.org/W4286663385","https://openalex.org/W4311734044","https://openalex.org/W4287869788","https://openalex.org/W3046843850","https://openalex.org/W4386158786"],"abstract_inverted_index":{"Policy":[0,46],"search":[1],"methods":[2,21],"in":[3,9,66,94],"reinforcement":[4],"learning":[5,35,65,108],"have":[6],"demonstrated":[7],"success":[8],"scaling":[10],"up":[11],"to":[12,28,39,61,92,104],"larger":[13],"problems":[14],"beyond":[15],"toy":[16],"examples.":[17],"However,":[18],"deploying":[19],"these":[20],"on":[22,83],"real":[23],"robots":[24],"remains":[25],"challenging":[26],"due":[27],"the":[29,67],"large":[30],"sample":[31],"complexity":[32],"required":[33],"during":[34,59],"and":[36,70,76,88,99,112],"their":[37],"vulnerability":[38],"malicious":[40],"intervention.":[41],"We":[42,80],"introduce":[43],"Adversarially":[44],"Robust":[45],"Learning":[47],"(ARPL),":[48],"an":[49],"algorithm":[50],"that":[51],"leverages":[52],"active":[53],"computation":[54],"of":[55],"physically-plausible":[56],"adversarial":[57,77],"examples":[58],"training":[60],"enable":[62],"robust":[63,71,106],"policy":[64,107],"source":[68],"domain":[69],"performance":[72],"under":[73],"both":[74],"random":[75],"input":[78],"perturbations.":[79],"evaluate":[81],"ARPL":[82],"four":[84],"continuous":[85],"control":[86],"tasks":[87],"show":[89],"superior":[90],"resilience":[91],"changes":[93],"physical":[95],"environment":[96,100],"dynamics":[97],"parameters":[98],"state":[101],"as":[102],"compared":[103],"state-of-the-art":[105],"methods.":[109],"Code,":[110],"data,":[111],"additional":[113],"experimental":[114],"results":[115],"are":[116],"available":[117],"at:":[118],"stanfordvl.github.io/ARPL.":[119]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":31},{"year":2020,"cited_by_count":25},{"year":2019,"cited_by_count":19},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}