{"id":"https://openalex.org/W4389665705","doi":"https://doi.org/10.1109/iros55552.2023.10342289","title":"Learning to Open Doors with an Aerial Manipulator","display_name":"Learning to Open Doors with an Aerial Manipulator","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665705","doi":"https://doi.org/10.1109/iros55552.2023.10342289"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342289","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/A5024864749","display_name":"Eugenio Cuniato","orcid":"https://orcid.org/0000-0001-6406-3308"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Eugenio Cuniato","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab (ASL)","Autonomous Systems Lab (ASL), ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab (ASL)","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092418578","display_name":"Ismail Geles","orcid":"https://orcid.org/0009-0006-2940-0675"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ismail Geles","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab (ASL)","Autonomous Systems Lab (ASL), ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab (ASL)","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018918492","display_name":"Weixuan Zhang","orcid":"https://orcid.org/0000-0003-2459-8134"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Weixuan Zhang","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab (ASL)","Autonomous Systems Lab (ASL), ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab (ASL)","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014501729","display_name":"Olov Andersson","orcid":"https://orcid.org/0000-0001-7248-1112"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Olov Andersson","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab (ASL)","Autonomous Systems Lab (ASL), ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab (ASL)","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026415911","display_name":"Marco Tognon","orcid":"https://orcid.org/0000-0003-1700-9637"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802519937","display_name":"Institut de Recherche en Informatique et Syst\u00e8mes Al\u00e9atoires","ror":"https://ror.org/00myn0z94","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I2802204017","https://openalex.org/I2802519937","https://openalex.org/I28221208","https://openalex.org/I4210127572","https://openalex.org/I4210159245","https://openalex.org/I56067802"]},{"id":"https://openalex.org/I56067802","display_name":"Universit\u00e9 de Rennes","ror":"https://ror.org/015m7wh34","country_code":"FR","type":"education","lineage":["https://openalex.org/I56067802"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Marco Tognon","raw_affiliation_strings":["Univ Rennes, CNRS, Inria, IRISA,Rennes Cedex,France,35042"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ Rennes, CNRS, Inria, IRISA,Rennes Cedex,France,35042","institution_ids":["https://openalex.org/I2802519937","https://openalex.org/I56067802","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab (ASL)","Autonomous Systems Lab (ASL), ETH Zurich"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab (ASL)","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Zurich","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0096,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.79142943,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6942","last_page":"6948"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9975000023841858,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9959999918937683,"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/heuristics","display_name":"Heuristics","score":0.7005013823509216},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6818562746047974},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6719144582748413},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6339375376701355},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4981961250305176},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4906567633152008},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.45671334862709045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45366954803466797},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4485286474227905},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3465330898761749},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22773408889770508}],"concepts":[{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.7005013823509216},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6818562746047974},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6719144582748413},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6339375376701355},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4981961250305176},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4906567633152008},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.45671334862709045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45366954803466797},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4485286474227905},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3465330898761749},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22773408889770508},{"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/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},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342289","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342289","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1591981541","https://openalex.org/W2008364784","https://openalex.org/W2024591926","https://openalex.org/W2575705757","https://openalex.org/W2733312032","https://openalex.org/W2736601468","https://openalex.org/W2738778707","https://openalex.org/W2779458783","https://openalex.org/W2783840519","https://openalex.org/W2792083172","https://openalex.org/W2904009101","https://openalex.org/W2954055669","https://openalex.org/W2963411833","https://openalex.org/W2966945592","https://openalex.org/W2982095652","https://openalex.org/W2994887143","https://openalex.org/W2999729662","https://openalex.org/W3006009338","https://openalex.org/W3089875479","https://openalex.org/W3089968696","https://openalex.org/W3101738542","https://openalex.org/W3102552342","https://openalex.org/W3106296277","https://openalex.org/W3112830500","https://openalex.org/W3174123873","https://openalex.org/W3184348524","https://openalex.org/W4206742276","https://openalex.org/W4282021662","https://openalex.org/W4283731026","https://openalex.org/W4285040080","https://openalex.org/W4285283404","https://openalex.org/W4285611143","https://openalex.org/W6741002519"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670","https://openalex.org/W2119925415"],"abstract_inverted_index":{"The":[0,18,127],"field":[1],"of":[2,21,31],"aerial":[3],"manipulation":[4,97],"has":[5],"seen":[6,153],"rapid":[7],"advances,":[8],"transitioning":[9],"from":[10],"push-and-slide":[11],"tasks":[12,151],"to":[13,56,69,90,105,115,145,148],"interaction":[14],"with":[15,120],"articulated":[16],"objects.":[17],"motion":[19,93],"trajectory":[20],"these":[22,48],"complex":[23],"actions":[24],"is":[25,129,143],"usually":[26],"hand-crafted":[27],"or":[28,40,53],"a":[29,85,96,113,117,132,162,169],"result":[30],"online":[32],"optimization":[33],"methods":[34,49],"like":[35],"Model":[36,41],"Predictive":[37,42],"Control":[38],"(MPC)":[39],"Path":[43],"Integral":[44],"(MPPI)":[45],"control.":[46],"However,":[47],"rely":[50],"on":[51,59],"heuristics":[52],"model":[54],"simplifications":[55],"efficiently":[57],"run":[58],"onboard":[60],"hardware,":[61],"limiting":[62],"their":[63],"robustness,":[64],"and":[65,71,77,107,135,174],"making":[66],"them":[67],"sensitive":[68],"disturbances":[70,106],"differences":[72],"between":[73],"the":[74,138],"real":[75,139],"environment":[76],"its":[78],"model.":[79],"In":[80],"this":[81],"work,":[82],"we":[83,111],"propose":[84],"Reinforcement":[86],"Learning":[87],"(RL)":[88],"approach":[89],"learn":[91],"reactive":[92],"behaviors":[94],"for":[95],"task":[98,119],"while":[99],"producing":[100],"policies":[101],"that":[102],"are":[103],"robust":[104],"modeling":[108],"errors.":[109],"Specifically,":[110],"train":[112],"policy":[114,128],"perform":[116],"door-opening":[118],"an":[121],"Omnidirectional":[122],"Micro":[123],"Aerial":[124],"Vehicle":[125],"(OMAV).":[126],"trained":[130],"in":[131,137,154,166,172],"physics":[133],"simulator":[134],"shown":[136],"world,":[140],"where":[141],"it":[142],"able":[144],"generalize":[146],"also":[147,157],"door":[149],"closing":[150],"never":[152],"training.":[155],"We":[156],"compare":[158],"our":[159],"method":[160],"against":[161],"state-of-the-art":[163],"MPPI":[164],"solution":[165],"simulation,":[167],"showing":[168],"considerable":[170],"increase":[171],"robustness":[173],"speed.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-12T08:23:45.883708","created_date":"2025-10-10T00:00:00"}
