{"id":"https://openalex.org/W4389667209","doi":"https://doi.org/10.1109/iros55552.2023.10341998","title":"Efficient Deep Learning of Robust, Adaptive Policies using Tube MPC-Guided Data Augmentation","display_name":"Efficient Deep Learning of Robust, Adaptive Policies using Tube MPC-Guided Data Augmentation","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667209","doi":"https://doi.org/10.1109/iros55552.2023.10341998"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10341998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5100764663","display_name":"Tong Zhao","orcid":"https://orcid.org/0000-0003-0523-4466"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tong Zhao","raw_affiliation_strings":["Massachusetts Institute of Technology.,Department of Electrical Engineering and Computer Science","Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology.,Department of Electrical Engineering and Computer Science","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102712548","display_name":"Andrea Tagliabue","orcid":"https://orcid.org/0000-0003-3376-4114"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrea Tagliabue","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics","Department of Aeronautics and Astronautics, Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011665886","display_name":"Jonathan P. How","orcid":"https://orcid.org/0000-0001-8576-1930"},"institutions":[{"id":"https://openalex.org/I46020346","display_name":"American Institute of Aeronautics and Astronautics","ror":"https://ror.org/00a1rzv11","country_code":"US","type":"other","lineage":["https://openalex.org/I46020346"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. How","raw_affiliation_strings":["Massachusetts Institute of Technology,Department of Aeronautics and Astronautics","Department of Aeronautics and Astronautics, Massachusetts Institute of Technology"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology,Department of Aeronautics and Astronautics","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I46020346","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100764663"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.3756,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61506218,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1705","last_page":"1712"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9948999881744385,"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":0.9948999881744385,"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/T10409","display_name":"Fuel Cells and Related Materials","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9876000285148621,"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":0.7177100777626038},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6481392979621887},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5846239328384399},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5424192547798157},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5086382627487183},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.47482070326805115},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.454415887594223},{"id":"https://openalex.org/keywords/data-driven","display_name":"Data-driven","score":0.4364374279975891},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35538506507873535},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.35356202721595764},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19842660427093506},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17944854497909546}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7177100777626038},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6481392979621887},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5846239328384399},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5424192547798157},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5086382627487183},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.47482070326805115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.454415887594223},{"id":"https://openalex.org/C2780440489","wikidata":"https://www.wikidata.org/wiki/Q5227278","display_name":"Data-driven","level":2,"score":0.4364374279975891},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35538506507873535},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35356202721595764},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19842660427093506},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17944854497909546},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/iros55552.2023.10341998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10341998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4355584288","display_name":null,"funder_award_id":"MURI FA9550-19-1-0386","funder_id":"https://openalex.org/F4320338279","funder_display_name":"Air Force Office of Scientific Research"}],"funders":[{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1981723834","https://openalex.org/W1986014385","https://openalex.org/W2004607557","https://openalex.org/W2078742006","https://openalex.org/W2736601468","https://openalex.org/W2749680651","https://openalex.org/W2954687219","https://openalex.org/W2962959857","https://openalex.org/W2963999210","https://openalex.org/W2964040909","https://openalex.org/W2972830116","https://openalex.org/W2997406364","https://openalex.org/W2997525688","https://openalex.org/W3006845541","https://openalex.org/W3011575162","https://openalex.org/W3038825904","https://openalex.org/W3100238596","https://openalex.org/W3131518230","https://openalex.org/W3132065243","https://openalex.org/W3158675508","https://openalex.org/W3169408498","https://openalex.org/W3175254947","https://openalex.org/W3201459714","https://openalex.org/W3207305612","https://openalex.org/W3217056046","https://openalex.org/W4229014698","https://openalex.org/W4285549009","https://openalex.org/W4312313159","https://openalex.org/W4312423130","https://openalex.org/W4383108515","https://openalex.org/W4383109238","https://openalex.org/W4389331546","https://openalex.org/W6640174482","https://openalex.org/W6741002519","https://openalex.org/W6846634178"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2656997359","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W4388544262","https://openalex.org/W3215978723","https://openalex.org/W3158956592","https://openalex.org/W3085055827"],"abstract_inverted_index":{"The":[0,92],"deployment":[1],"of":[2,38,95,127,187,190],"agile":[3],"autonomous":[4],"systems":[5],"in":[6,99,146,157],"challenging,":[7],"unstructured":[8],"environments":[9],"requires":[10],"adaptation":[11,60,166],"capabilities":[12],"and":[13,19,48,132,169,193],"robustness":[14],"to":[15,83,88,124,136,167,184],"uncertainties.":[16,91],"Existing":[17],"robust":[18,47,75],"adaptive":[20,130,152],"controllers,":[21],"such":[22],"as":[23],"those":[24],"based":[25],"on":[26,108,142],"model":[27],"predictive":[28],"control":[29,134],"(MPC),":[30],"can":[31,115,154],"achieve":[32],"impressive":[33],"performance":[34],"at":[35],"the":[36,81,101,106,125,188,191,199],"cost":[37],"heavy":[39],"online":[40],"onboard":[41],"computations.":[42],"Strategies":[43],"that":[44,86,114,149,182,194],"efficiently":[45,117],"learn":[46,84],"onboard-deployable":[49],"policies":[50,85],"from":[51,78],"MPC":[52,79],"have":[53],"emerged,":[54],"but":[55],"they":[56],"still":[57],"lack":[58],"fundamental":[59],"capabilities.":[61],"In":[62],"this":[63],"work,":[64],"we":[65],"extend":[66],"an":[67,129],"existing":[68],"efficient":[69],"Imitation":[70],"Learning":[71],"(IL)":[72],"algorithm":[73],"for":[74],"policy":[76,107,135,153],"learning":[77,128],"with":[80],"ability":[82],"adapt":[87],"challenging":[89,140],"model/environment":[90,112],"key":[93],"idea":[94],"our":[96,122],"approach":[97,123],"consists":[98],"modifying":[100],"IL":[102],"procedure":[103],"by":[104],"conditioning":[105],"a":[109,143,150,173],"learned":[110],"lower-dimensional":[111],"representation":[113],"be":[116,155],"estimated":[118],"online.":[119],"We":[120,161],"tailor":[121],"task":[126],"position":[131,177],"attitude":[133],"track":[137],"trajectories":[138],"under":[139,179],"disturbances":[141,181],"multirotor.":[144],"Evaluations":[145],"simulation":[147],"show":[148],"high-quality":[151],"obtained":[156],"about":[158,185],"1.3":[159],"hours.":[160],"additionally":[162],"empirically":[163],"demonstrate":[164],"rapid":[165],"in-":[168],"out-of-training-distribution":[170],"uncertainties,":[171],"achieving":[172],"6.1":[174],"cm":[175],"average":[176],"error":[178],"wind":[180,201],"correspond":[183],"50%":[186],"weight":[189],"robot,":[192],"are":[195],"36%":[196],"larger":[197],"than":[198],"maximum":[200],"seen":[202],"during":[203],"training.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}