{"id":"https://openalex.org/W3134965621","doi":"https://doi.org/10.1109/iros51168.2021.9636710","title":"ILoSA: Interactive Learning of Stiffness and Attractors","display_name":"ILoSA: Interactive Learning of Stiffness and Attractors","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W3134965621","doi":"https://doi.org/10.1109/iros51168.2021.9636710","mag":"3134965621"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636710","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":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2103.03099","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035185207","display_name":"Giovanni Franzese","orcid":"https://orcid.org/0000-0002-9863-0291"},"institutions":[{"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":["NL"],"is_corresponding":true,"raw_author_name":"Giovanni Franzese","raw_affiliation_strings":["Cognitive Robotics, Delft University of Technology, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Cognitive Robotics, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003482483","display_name":"Anna M\u00e9sz\u00e1ros","orcid":"https://orcid.org/0000-0002-8580-9612"},"institutions":[{"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":["NL"],"is_corresponding":false,"raw_author_name":"Anna Meszaros","raw_affiliation_strings":["Cognitive Robotics, Delft University of Technology, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Cognitive Robotics, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042113474","display_name":"Luka Peternel","orcid":"https://orcid.org/0000-0002-8696-3689"},"institutions":[{"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":["NL"],"is_corresponding":false,"raw_author_name":"Luka Peternel","raw_affiliation_strings":["Cognitive Robotics, Delft University of Technology, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Cognitive Robotics, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035229829","display_name":"Jens Kober","orcid":"https://orcid.org/0000-0001-7257-5434"},"institutions":[{"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":["NL"],"is_corresponding":false,"raw_author_name":"Jens Kober","raw_affiliation_strings":["Cognitive Robotics, Delft University of Technology, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Cognitive Robotics, Delft University of Technology, The Netherlands","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035185207"],"corresponding_institution_ids":["https://openalex.org/I98358874"],"apc_list":null,"apc_paid":null,"fwci":0.8741,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.6048062,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"7778","last_page":"7785"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9926999807357788,"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":0.9926999807357788,"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.967199981212616,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.932200014591217,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/stiffness","display_name":"Stiffness","score":0.6857001781463623},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5816284418106079},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5700265765190125},{"id":"https://openalex.org/keywords/attractor","display_name":"Attractor","score":0.5387673377990723},{"id":"https://openalex.org/keywords/discontinuity","display_name":"Discontinuity (linguistics)","score":0.4992027282714844},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.42776668071746826},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36638516187667847},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3229372799396515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3228171765804291},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23432093858718872},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.20375379920005798},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20072197914123535},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.14294004440307617}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6857001781463623},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5816284418106079},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5700265765190125},{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.5387673377990723},{"id":"https://openalex.org/C2777042112","wikidata":"https://www.wikidata.org/wiki/Q5281658","display_name":"Discontinuity (linguistics)","level":2,"score":0.4992027282714844},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.42776668071746826},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36638516187667847},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3229372799396515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3228171765804291},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23432093858718872},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.20375379920005798},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20072197914123535},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.14294004440307617},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros51168.2021.9636710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636710","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"},{"id":"pmh:oai:arXiv.org:2103.03099","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.03099","pdf_url":"https://arxiv.org/pdf/2103.03099","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3134965621","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2103.03099","pdf_url":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:tudelft.nl:uuid:33ba8c3e-ed9f-4ac9-971f-4aec9046ebe4","is_oa":false,"landing_page_url":"http://resolver.tudelft.nl/uuid:33ba8c3e-ed9f-4ac9-971f-4aec9046ebe4","pdf_url":null,"source":{"id":"https://openalex.org/S4306400906","display_name":"Research Repository (Delft University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98358874","host_organization_name":"Delft University of Technology","host_organization_lineage":["https://openalex.org/I98358874"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"},{"id":"doi:10.48550/arxiv.2103.03099","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2103.03099","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2103.03099","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2103.03099","pdf_url":"https://arxiv.org/pdf/2103.03099","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.4399999976158142,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1489248927","https://openalex.org/W1571443838","https://openalex.org/W1682895868","https://openalex.org/W1746819321","https://openalex.org/W1969976050","https://openalex.org/W1973102501","https://openalex.org/W1974849157","https://openalex.org/W1978023077","https://openalex.org/W1986014385","https://openalex.org/W2016958754","https://openalex.org/W2057538835","https://openalex.org/W2064173399","https://openalex.org/W2100235553","https://openalex.org/W2116139612","https://openalex.org/W2118710279","https://openalex.org/W2133932631","https://openalex.org/W2140135625","https://openalex.org/W2140801763","https://openalex.org/W2156321584","https://openalex.org/W2517641405","https://openalex.org/W2567017688","https://openalex.org/W2569188472","https://openalex.org/W2605902560","https://openalex.org/W2774527530","https://openalex.org/W2888202529","https://openalex.org/W2914078404","https://openalex.org/W2965133842","https://openalex.org/W2966994213","https://openalex.org/W2999620783","https://openalex.org/W3020478135","https://openalex.org/W3103105396","https://openalex.org/W3104787446","https://openalex.org/W3137783376","https://openalex.org/W3151089333","https://openalex.org/W3208114164","https://openalex.org/W4233317239","https://openalex.org/W6637373105","https://openalex.org/W6680657880","https://openalex.org/W6680971464","https://openalex.org/W6747311492","https://openalex.org/W6762937409","https://openalex.org/W6803138953"],"related_works":["https://openalex.org/W2914078404","https://openalex.org/W2885414200","https://openalex.org/W2610504928","https://openalex.org/W3010890996","https://openalex.org/W2202850001","https://openalex.org/W2284232578","https://openalex.org/W3046507844","https://openalex.org/W2753369048","https://openalex.org/W3173432831","https://openalex.org/W1837850830","https://openalex.org/W3133750590","https://openalex.org/W3195311065","https://openalex.org/W2123967136","https://openalex.org/W2967399099","https://openalex.org/W2995299030","https://openalex.org/W779291494","https://openalex.org/W3088621585","https://openalex.org/W1861710617","https://openalex.org/W2947017371","https://openalex.org/W2007787305"],"abstract_inverted_index":{"Teaching":[0],"robots":[1],"how":[2,27],"to":[3,7,17,28,126,143,153],"apply":[4],"forces":[5],"according":[6],"our":[8],"preferences":[9],"is":[10,84,124,140],"still":[11],"an":[12,161],"open":[13],"challenge":[14],"that":[15],"has":[16],"be":[18,42],"tackled":[19],"from":[20,44],"multiple":[21],"engineering":[22],"perspectives.":[23],"This":[24],"paper":[25],"studies":[26],"learn":[29],"variable":[30],"impedance":[31],"policies":[32],"where":[33,120],"both":[34],"the":[35,39,82,114,128,138,144,155],"Cartesian":[36],"stiffness":[37,72],"and":[38,47,68,74,148],"attractor":[40],"can":[41],"learned":[43],"human":[45],"demonstrations":[46],"corrections":[48],"with":[49,95,165],"a":[50,88,102,105,118,121,134,151],"user-friendly":[51],"interface.":[52],"The":[53,78],"presented":[54],"framework,":[55],"named":[56],"ILoSA,":[57],"uses":[58],"Gaussian":[59],"Processes":[60],"for":[61,157],"policy":[62],"learning,":[63],"identifying":[64],"regions":[65],"of":[66,81,113,146],"uncertainty":[67],"allowing":[69],"interactive":[70],"corrections,":[71],"modulation":[73],"active":[75],"disturbance":[76],"rejection.":[77],"experimental":[79,162],"evaluation":[80],"framework":[83],"carried":[85],"out":[86],"on":[87],"Franka-Emika":[89],"Panda":[90],"in":[91,130,136,160],"four":[92],"separate":[93],"cases":[94],"unique":[96],"force":[97,107,123,139],"interaction":[98],"properties:":[99],"1)":[100],"pulling":[101],"plug":[103,152],"wherein":[104],"sudden":[106],"discontinuity":[108],"occurs":[109],"upon":[110],"successful":[111],"removal":[112],"plug,":[115],"2)":[116],"pushing":[117],"box":[119],"sustained":[122],"required":[125],"keep":[127],"robot":[129],"motion,":[131],"3)":[132],"wiping":[133],"whiteboard":[135],"which":[137],"applied":[141],"perpendicular":[142],"direction":[145],"movement,":[147],"4)":[149],"inserting":[150],"verify":[154],"usability":[156],"precision-critical":[158],"tasks":[159],"validation":[163],"performed":[164],"non-expert":[166],"users.":[167]},"counts_by_year":[{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}