{"id":"https://openalex.org/W4389666362","doi":"https://doi.org/10.1109/iros55552.2023.10342143","title":"Zero-Shot Fault Detection for Manipulators Through Bayesian Inverse Reinforcement Learning","display_name":"Zero-Shot Fault Detection for Manipulators Through Bayesian Inverse Reinforcement Learning","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389666362","doi":"https://doi.org/10.1109/iros55552.2023.10342143"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342143","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342143","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/A5101622212","display_name":"Hanqing Zhao","orcid":"https://orcid.org/0000-0003-4595-277X"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Hanqing Zhao","raw_affiliation_strings":["School of Computer Science, McGill University,Montréal,Canada"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, McGill University,Montréal,Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100372152","display_name":"Xue Liu","orcid":"https://orcid.org/0000-0001-5252-3442"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xue Liu","raw_affiliation_strings":["School of Computer Science, McGill University,Montréal,Canada"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, McGill University,Montréal,Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075441381","display_name":"Gregory Dudek","orcid":"https://orcid.org/0000-0001-5040-4925"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Gregory Dudek","raw_affiliation_strings":["School of Computer Science, McGill University,Montréal,Canada"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, McGill University,Montréal,Canada","institution_ids":["https://openalex.org/I5023651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101622212"],"corresponding_institution_ids":["https://openalex.org/I5023651"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20739713,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"299","issue":null,"first_page":"3582","last_page":"3589"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9975000023841858,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9975000023841858,"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/T10809","display_name":"Occupational Health and Safety Research","score":0.9818999767303467,"subfield":{"id":"https://openalex.org/subfields/3614","display_name":"Radiological and Ultrasound Technology"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T12423","display_name":"Software Reliability and Analysis Research","score":0.9559999704360962,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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":0.6871709227561951},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.6060340404510498},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5910037755966187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5729551911354065},{"id":"https://openalex.org/keywords/detector","display_name":"Detector","score":0.4745693504810333},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.4725261330604553},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45346322655677795},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.42646855115890503},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41677579283714294},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36447376012802124},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.33652055263519287},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32556015253067017},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3219253122806549},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2246447503566742},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15741011500358582},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.08431106805801392}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6871709227561951},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.6060340404510498},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5910037755966187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5729551911354065},{"id":"https://openalex.org/C94915269","wikidata":"https://www.wikidata.org/wiki/Q1834857","display_name":"Detector","level":2,"score":0.4745693504810333},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.4725261330604553},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45346322655677795},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.42646855115890503},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41677579283714294},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36447376012802124},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.33652055263519287},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32556015253067017},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3219253122806549},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2246447503566742},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15741011500358582},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.08431106805801392},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342143","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342143","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":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W52153049","https://openalex.org/W95608104","https://openalex.org/W1422687376","https://openalex.org/W1956780065","https://openalex.org/W1969409474","https://openalex.org/W1978336808","https://openalex.org/W2006825483","https://openalex.org/W2034333178","https://openalex.org/W2037776288","https://openalex.org/W2044593983","https://openalex.org/W2047586057","https://openalex.org/W2066379939","https://openalex.org/W2111952942","https://openalex.org/W2158393159","https://openalex.org/W2611632661","https://openalex.org/W2726547057","https://openalex.org/W2745560723","https://openalex.org/W2788455775","https://openalex.org/W2887145159","https://openalex.org/W2913756371","https://openalex.org/W2949500778","https://openalex.org/W2963277051","https://openalex.org/W2966685465","https://openalex.org/W2969747056","https://openalex.org/W2981386789","https://openalex.org/W3006303816","https://openalex.org/W3019898994","https://openalex.org/W3088304681","https://openalex.org/W3138984732","https://openalex.org/W3163662330","https://openalex.org/W3164005523","https://openalex.org/W4200175391","https://openalex.org/W4205444807","https://openalex.org/W4293547387","https://openalex.org/W4306910464","https://openalex.org/W4311058629","https://openalex.org/W4317934780","https://openalex.org/W6711977835","https://openalex.org/W6718092244","https://openalex.org/W6747473740","https://openalex.org/W6774122581","https://openalex.org/W6775452707","https://openalex.org/W6782766965","https://openalex.org/W6790375117"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W3084456289","https://openalex.org/W2366906938","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2586732548"],"abstract_inverted_index":{"We":[0,190],"consider":[1],"the":[2,35,76,80,140,166,171,179,188],"detection":[3,198],"of":[4,90,134],"faults":[5,13,50,220],"in":[6,21,51,199],"robotic":[7,201],"manipulators,":[8],"with":[9,187,206],"particular":[10],"emphasis":[11],"on":[12,115],"that":[14,27,34,213],"have":[15],"not":[16],"been":[17],"observed":[18],"or":[19,71,184],"identified":[20],"advance,":[22],"which":[23,143],"naturally":[24],"includes":[25],"those":[26],"occur":[28,224],"very":[29],"infrequently.":[30],"Recent":[31],"studies":[32],"indicate":[33],"reward":[36,69,119,129,162,172],"function":[37,133],"obtained":[38],"through":[39,159],"Inverse":[40],"Reinforcement":[41],"Learning":[42],"(IRL)":[43],"can":[44,96,144],"help":[45],"detect":[46,149],"anomalies":[47,150],"caused":[48,151],"by":[49,152],"a":[52,67,108,128,132,160,182],"control":[53],"system":[54],"(i.e.":[55],"fault":[56,62,94,112,125,167,197],"detection).":[57],"Current":[58],"IRL":[59],"methods":[60],"for":[61,85,181,194],"detection,":[63],"however,":[64],"either":[65],"use":[66],"linear":[68],"representation":[70],"require":[72],"extensive":[73],"sampling":[74,89],"from":[75,174],"environment":[77],"to":[78,138,148,169],"estimate":[79],"policy,":[81],"rendering":[82],"them":[83],"inappropriate":[84],"safety-critical":[86],"situations":[87],"where":[88],"failure":[91],"observations":[92],"via":[93],"injection":[95],"be":[97,146],"expensive":[98],"and":[99,110],"dangerous.":[100],"To":[101],"address":[102],"this":[103,105],"issue,":[104],"paper":[106],"proposes":[107],"zero-shot":[109],"exogenous":[111,195],"detector":[113,126,168],"based":[114],"an":[116],"approximate":[117],"variational":[118],"imitation":[120],"learning":[121],"(AVRIL)":[122],"structure.":[123],"The":[124,210],"recovers":[127],"signal":[130],"as":[131],"externally":[135],"observable":[136],"information":[137],"describe":[139],"normal":[141,175],"operation,":[142],"then":[145],"used":[147],"faults.":[153],"Our":[154],"method":[155,215],"incorporates":[156],"expert":[157],"knowledge":[158],"customizable":[161],"prior":[163],"distribution,":[164],"allowing":[165],"learn":[170],"solely":[173],"operation":[176],"samples,":[177],"without":[178],"need":[180],"simulator":[183],"costly":[185],"interactions":[186],"environment.":[189],"evaluate":[191],"our":[192,214],"approach":[193],"partial":[196],"multi-stage":[200],"manipulator":[202],"tasks,":[203],"comparing":[204],"it":[205],"several":[207],"baseline":[208],"methods.":[209],"results":[211],"demonstrate":[212],"more":[216],"effectively":[217],"identifies":[218],"unseen":[219],"even":[221],"when":[222],"they":[223],"within":[225],"just":[226],"three":[227],"controller":[228],"time":[229],"steps.":[230]},"counts_by_year":[],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}