{"id":"https://openalex.org/W4200088801","doi":"https://doi.org/10.1109/iros51168.2021.9635831","title":"Guiding Robot Model Construction with Prior Features","display_name":"Guiding Robot Model Construction with Prior Features","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200088801","doi":"https://doi.org/10.1109/iros51168.2021.9635831"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9635831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635831","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5033348430","display_name":"Erik Derner","orcid":"https://orcid.org/0000-0002-7588-7668"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Erik Derner","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic","Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004892921","display_name":"Ji\u0159\u0131\u0301 Kubal\u0131\u0301k","orcid":"https://orcid.org/0000-0002-6965-6142"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Jiri Kubalik","raw_affiliation_strings":["Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084264842","display_name":"Robert Babu\u0161ka","orcid":"https://orcid.org/0000-0001-9578-8598"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]},{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["CZ","NL"],"is_corresponding":false,"raw_author_name":"Robert Babuska","raw_affiliation_strings":["Cognitive Robotics, Faculty of 3mE, Delft University of Technology, Delft, CD, The Netherlands","Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics, Faculty of 3mE, Delft University of Technology, Delft, CD, The Netherlands","institution_ids":["https://openalex.org/I98358874"]},{"raw_affiliation_string":"Czech Institute of Informatics, Robotics and Cybernetics, Czech Technical University in Prague, Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7112","last_page":"7118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9998999834060669,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9998999834060669,"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/T10462","display_name":"Reinforcement Learning in Robotics","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/T10100","display_name":"Metaheuristic Optimization Algorithms Research","score":0.9977999925613403,"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/symbolic-regression","display_name":"Symbolic regression","score":0.8254772424697876},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7451104521751404},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7325525879859924},{"id":"https://openalex.org/keywords/genetic-programming","display_name":"Genetic programming","score":0.6809849143028259},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6219614148139954},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.5697367191314697},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5674652457237244},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5200017094612122},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.4802399277687073},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.41958779096603394},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.326839804649353}],"concepts":[{"id":"https://openalex.org/C2776400721","wikidata":"https://www.wikidata.org/wiki/Q18171762","display_name":"Symbolic regression","level":3,"score":0.8254772424697876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7451104521751404},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7325525879859924},{"id":"https://openalex.org/C110332635","wikidata":"https://www.wikidata.org/wiki/Q629498","display_name":"Genetic programming","level":2,"score":0.6809849143028259},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6219614148139954},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5697367191314697},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5674652457237244},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5200017094612122},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.4802399277687073},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.41958779096603394},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.326839804649353},{"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/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros51168.2021.9635831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9635831","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320335322","display_name":"European Regional Development Fund","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W199153045","https://openalex.org/W607853484","https://openalex.org/W1979769287","https://openalex.org/W1997543377","https://openalex.org/W2007864935","https://openalex.org/W2008026620","https://openalex.org/W2059396387","https://openalex.org/W2068823081","https://openalex.org/W2145339207","https://openalex.org/W2405158121","https://openalex.org/W2480512873","https://openalex.org/W2619297273","https://openalex.org/W2622604310","https://openalex.org/W2769736739","https://openalex.org/W2892053860","https://openalex.org/W2931659430","https://openalex.org/W2948680363","https://openalex.org/W2954765142","https://openalex.org/W2963895143","https://openalex.org/W2967427547","https://openalex.org/W3016401366","https://openalex.org/W3017946098","https://openalex.org/W3033909669","https://openalex.org/W3100075448","https://openalex.org/W3106411828","https://openalex.org/W6738980247","https://openalex.org/W6763340073"],"related_works":["https://openalex.org/W2381504162","https://openalex.org/W1567571923","https://openalex.org/W2472646430","https://openalex.org/W2968285896","https://openalex.org/W2610450612","https://openalex.org/W2549153708","https://openalex.org/W2897801744","https://openalex.org/W2147355282","https://openalex.org/W2394133867","https://openalex.org/W1994957461"],"abstract_inverted_index":{"Virtually":[0],"all":[1],"robot":[2,41,116],"control":[3],"methods":[4],"benefit":[5],"from":[6],"the":[7,15,34,59,62,78,83,106,112,118,127,137,147,152,156,162],"availability":[8],"of":[9,14,22,61],"an":[10],"accurate":[11],"mathematical":[12],"model":[13,48,80,84,101,149,157],"robot.":[16,63],"However,":[17],"obtaining":[18],"a":[19,66],"sufficient":[20],"amount":[21],"informative":[23],"data":[24,139],"for":[25,97],"constructing":[26],"dynamic":[27],"models":[28,35,53,94,133],"can":[29],"be":[30,38],"difficult,":[31],"especially":[32],"when":[33,141],"are":[36],"to":[37,151],"learned":[39],"during":[40],"deployment.":[42],"Under":[43],"such":[44],"circumstances,":[45],"standard":[46],"data-driven":[47],"learning":[49],"techniques":[50],"often":[51],"yield":[52],"that":[54,95,126,134],"do":[55],"not":[56],"comply":[57],"with":[58],"physics":[60],"We":[64,103],"extend":[65],"symbolic":[67,90],"regression":[68,91],"algorithm":[69,130,153],"based":[70],"on":[71,108],"Single":[72],"Node":[73],"Genetic":[74],"Programming":[75],"by":[76],"including":[77],"prior":[79,148],"information":[81,150],"into":[82],"construction":[85],"process.":[86],"In":[87],"this":[88],"way,":[89],"automatically":[92],"builds":[93],"compensate":[96],"theoretical":[98],"or":[99],"empirical":[100],"deficiencies.":[102],"experimentally":[104],"demonstrate":[105],"approach":[107],"two":[109],"real-world":[110],"systems:":[111],"TurtleBot":[113],"2":[114,121],"mobile":[115],"and":[117],"Parrot":[119],"Bebop":[120],"drone.":[122],"The":[123],"results":[124],"show":[125],"proposed":[128],"model-learning":[129],"produces":[131],"realistic":[132],"fit":[135],"well":[136],"training":[138,144],"even":[140],"using":[142],"small":[143],"sets.":[145],"Passing":[146],"significantly":[154],"improves":[155],"accuracy":[158],"while":[159],"speeding":[160],"up":[161],"search.":[163]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}