{"id":"https://openalex.org/W4405785279","doi":"https://doi.org/10.1109/iros58592.2024.10801854","title":"Safe Imitation Learning of Nonlinear Model Predictive Control for Flexible Robots","display_name":"Safe Imitation Learning of Nonlinear Model Predictive Control for Flexible Robots","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785279","doi":"https://doi.org/10.1109/iros58592.2024.10801854"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5017149651","display_name":"Shamil Mamedov","orcid":"https://orcid.org/0000-0002-5381-7976"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Shamil Mamedov","raw_affiliation_strings":["KU Leuven,The MECO Research Team,Leuven,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven,The MECO Research Team,Leuven,Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017656696","display_name":"Rudolf Reiter","orcid":"https://orcid.org/0009-0007-7635-2132"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rudolf Reiter","raw_affiliation_strings":["University of Freiburg,Department of Microsystems Engineering,Freiburg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Microsystems Engineering,Freiburg,Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027096759","display_name":"Seyed Mahdi B. Azad","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Seyed Mahdi B. Azad","raw_affiliation_strings":["University of Freiburg,Department of Computer Science,Freiburg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Computer Science,Freiburg,Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113281888","display_name":"R. P. Viljoen","orcid":"https://orcid.org/0000-0001-7883-9381"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Ruan Viljoen","raw_affiliation_strings":["KU Leuven,The MECO Research Team,Leuven,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven,The MECO Research Team,Leuven,Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038908529","display_name":"Joschka Boedecker","orcid":"https://orcid.org/0000-0002-3486-7345"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joschka Boedecker","raw_affiliation_strings":["University of Freiburg,Department of Computer Science,Freiburg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Computer Science,Freiburg,Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057375078","display_name":"Moritz Diehl","orcid":"https://orcid.org/0000-0001-6556-8252"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Diehl","raw_affiliation_strings":["University of Freiburg,Department of Microsystems Engineering,Freiburg,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Freiburg,Department of Microsystems Engineering,Freiburg,Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021674650","display_name":"Jan Swevers","orcid":"https://orcid.org/0000-0003-2034-5519"},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Jan Swevers","raw_affiliation_strings":["KU Leuven,The MECO Research Team,Leuven,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"KU Leuven,The MECO Research Team,Leuven,Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8253,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.74856687,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"3613","last_page":"3619"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9944999814033508,"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":0.9944999814033508,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9901999831199646,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9652000069618225,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/imitation","display_name":"Imitation","score":0.6718785762786865},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6568334698677063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6400489807128906},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6187757253646851},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.5882447957992554},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5364722609519958},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5081942081451416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44398295879364014},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41038447618484497},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35890698432922363},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.29782921075820923},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10377758741378784}],"concepts":[{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.6718785762786865},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6568334698677063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6400489807128906},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6187757253646851},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.5882447957992554},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5364722609519958},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5081942081451416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44398295879364014},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41038447618484497},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35890698432922363},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29782921075820923},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10377758741378784},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros58592.2024.10801854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:freidok.uni-freiburg.de:261812","is_oa":false,"landing_page_url":"https://freidok.uni-freiburg.de/data/261812","pdf_url":null,"source":{"id":"https://openalex.org/S4306401057","display_name":"FreiDok plus (Universit\u00e4tsbibliothek Freiburg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I161046081","host_organization_name":"University of Freiburg","host_organization_lineage":["https://openalex.org/I161046081"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). , 2024. - 3613-3619, ISBN: 9798350377705","raw_type":"article_in_conference_proceedings"},{"id":"pmh:oai:lirias2repo.kuleuven.be:20.500.12942/763323","is_oa":false,"landing_page_url":"https://lirias.kuleuven.be/handle/20.500.12942/763323","pdf_url":null,"source":{"id":"https://openalex.org/S7407055369","display_name":"Lirias","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2024 International Conference on Intelligent Robots and Systems, U ARAB EMIRATES, Abu Dhabi, 14-18 October 2024","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1562460111","https://openalex.org/W1982447964","https://openalex.org/W1997803390","https://openalex.org/W2024216153","https://openalex.org/W2024521783","https://openalex.org/W2037724878","https://openalex.org/W2055405115","https://openalex.org/W2080992175","https://openalex.org/W2089369849","https://openalex.org/W2092923988","https://openalex.org/W2147285473","https://openalex.org/W2166751342","https://openalex.org/W2842089854","https://openalex.org/W2906487027","https://openalex.org/W2968945909","https://openalex.org/W2972830116","https://openalex.org/W3007985585","https://openalex.org/W3016817882","https://openalex.org/W3142005321","https://openalex.org/W3155272911","https://openalex.org/W3175558129","https://openalex.org/W3195968524","https://openalex.org/W4211264357","https://openalex.org/W4240801863","https://openalex.org/W4312651793","https://openalex.org/W6640174482","https://openalex.org/W6684338915","https://openalex.org/W6718092244","https://openalex.org/W6725139959","https://openalex.org/W6738706147","https://openalex.org/W6741002519","https://openalex.org/W6745347688","https://openalex.org/W6747473740","https://openalex.org/W6769695173","https://openalex.org/W6847056214"],"related_works":["https://openalex.org/W1631623342","https://openalex.org/W1779399219","https://openalex.org/W648378158","https://openalex.org/W3083517787","https://openalex.org/W1839440842","https://openalex.org/W4251946813","https://openalex.org/W2885820669","https://openalex.org/W1981727740","https://openalex.org/W2368407738","https://openalex.org/W2143511391"],"abstract_inverted_index":{"Flexible":[0],"robots":[1,26,159],"may":[2],"overcome":[3],"some":[4],"of":[5,72,83,144,157],"the":[6,151,155],"industry\u2019s":[7],"major":[8],"challenges,":[9],"such":[10,54],"as":[11],"enabling":[12],"intrinsically":[13],"safe":[14,81,147],"human-robot":[15],"collaboration":[16],"and":[17,38,88,146],"achieving":[18],"a":[19,39,77,80,89,101,122],"higher":[20],"payload-to-mass":[21],"ratio.":[22],"However,":[23],"controlling":[24,121],"flexible":[25,73,124,158],"is":[27,165],"complicated":[28],"due":[29],"to":[30,52,107,153],"their":[31],"complex":[32],"dynamics,":[33],"which":[34],"include":[35],"oscillatory":[36],"behavior":[37],"high-dimensional":[40],"state":[41],"space.":[42],"Nonlinear":[43],"model":[44],"predictive":[45,90],"control":[46,53,71],"(NMPC)":[47],"offers":[48],"an":[49,114],"effective":[50],"means":[51],"robots,":[55,74],"but":[56],"its":[57,63],"significant":[58],"computational":[59],"demand":[60],"often":[61],"limits":[62],"application":[64],"in":[65,104,117,127,160],"real-time":[66],"scenarios.":[67],"To":[68],"enable":[69],"fast":[70,145],"we":[75],"propose":[76],"framework":[78,94,110],"for":[79],"approximation":[82],"NMPC":[84,149],"using":[85],"imitation":[86],"learning":[87,140],"safety":[91,132],"filter.":[92],"Our":[93],"significantly":[95],"reduces":[96],"computation":[97,118],"time":[98,119],"while":[99,130],"incurring":[100],"slight":[102],"loss":[103],"performance.":[105],"Compared":[106],"NMPC,":[108],"our":[109,135],"shows":[111],"more":[112],"than":[113],"eightfold":[115],"improvement":[116],"when":[120],"three-dimensional":[123],"robot":[125],"arm":[126],"simulation,":[128],"all":[129],"guaranteeing":[131],"constraints.":[133],"Notably,":[134],"approach":[136],"out-performs":[137],"state-of-the-art":[138],"reinforcement":[139],"methods.":[141],"The":[142,162],"development":[143],"approximate":[148],"holds":[150],"potential":[152],"accelerate":[154],"adoption":[156],"industry.":[161],"project":[163],"code":[164],"available":[166],"at:":[167],"tinyurl.com/anmpc4fr":[168]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
