{"id":"https://openalex.org/W4416750763","doi":"https://doi.org/10.1109/iros60139.2025.11247028","title":"DL-Clip: Online D-Learning with Clipping Operation for Fast Model-Free Stabilizing Control","display_name":"DL-Clip: Online D-Learning with Clipping Operation for Fast Model-Free Stabilizing Control","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750763","doi":"https://doi.org/10.1109/iros60139.2025.11247028"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247028","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5016183759","display_name":"Jingxuan Liu","orcid":"https://orcid.org/0009-0006-8876-6693"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingxuan Liu","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100385862","display_name":"Chenyu Wang","orcid":"https://orcid.org/0000-0001-7135-7662"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyu Wang","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054753926","display_name":"Zhaolong Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaolong Shen","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058029021","display_name":"Quan Quan","orcid":"https://orcid.org/0000-0001-8216-8998"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Quan Quan","raw_affiliation_strings":["Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191"],"affiliations":[{"raw_affiliation_string":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,P.R. China,100191","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5016183759"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38510134,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15838","last_page":"15844"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.8690999746322632,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.8690999746322632,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.05530000105500221,"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/T11206","display_name":"Model Reduction and Neural Networks","score":0.007199999876320362,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.8138999938964844},{"id":"https://openalex.org/keywords/clipping","display_name":"Clipping (morphology)","score":0.7731999754905701},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.6509000062942505},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6033999919891357},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5437999963760376},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5281000137329102},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48829999566078186},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48339998722076416}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8138999938964844},{"id":"https://openalex.org/C2776848632","wikidata":"https://www.wikidata.org/wiki/Q853463","display_name":"Clipping (morphology)","level":2,"score":0.7731999754905701},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6578999757766724},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.6509000062942505},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6033999919891357},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5437999963760376},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5281000137329102},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48829999566078186},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48339998722076416},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.44429999589920044},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.43650001287460327},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42989999055862427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41850000619888306},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.39969998598098755},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3993000090122223},{"id":"https://openalex.org/C2986087404","wikidata":"https://www.wikidata.org/wiki/Q15946010","display_name":"Online learning","level":2,"score":0.31439998745918274},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.30480000376701355},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.29100000858306885},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.28999999165534973},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.2890999913215637},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.28209999203681946},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27219998836517334},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.2623000144958496},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247028","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247028","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1604599080","https://openalex.org/W2082991751","https://openalex.org/W2145339207","https://openalex.org/W2683298768","https://openalex.org/W2951360122","https://openalex.org/W3006037160","https://openalex.org/W3045059767","https://openalex.org/W3091774741","https://openalex.org/W3127157414","https://openalex.org/W3175924829","https://openalex.org/W3207110310","https://openalex.org/W3215986979","https://openalex.org/W4315606134","https://openalex.org/W4376890432","https://openalex.org/W4383108297"],"related_works":[],"abstract_inverted_index":{"In":[0,90],"this":[1],"paper,":[2],"we":[3,92],"present":[4],"DL-Clip,":[5],"an":[6],"innovative":[7],"online":[8],"learning":[9],"approach":[10,95],"for":[11,86],"nonlinear":[12],"stabilizing":[13,37],"control":[14,38],"that":[15],"operates":[16],"without":[17],"prior":[18],"knowledge":[19],"of":[20,36,70,76],"system":[21,53],"dynamics":[22],"or":[23],"reward":[24],"signals,":[25],"while":[26],"significantly":[27],"improving":[28],"training":[29,44],"efficiency.":[30],"DL-Clip":[31,71],"introduces":[32],"a":[33,97],"novel":[34],"integration":[35],"with":[39],"efficient":[40],"Reinforcement":[41],"Learning":[42],"(RL)":[43],"mechanisms.":[45],"The":[46],"algorithm":[47],"uses":[48],"Lyapunov":[49],"functions":[50],"to":[51,59],"ensure":[52],"stability":[54],"and":[55,80],"employs":[56],"clipping":[57],"operations":[58],"optimize":[60],"policy":[61],"updates,":[62],"achieving":[63],"faster":[64],"convergence.":[65],"We":[66],"evaluate":[67],"the":[68,77,81,94,103],"effectiveness":[69],"through":[72,96],"experiments,":[73],"including":[74],"simulations":[75],"inverted":[78],"pendulum":[79],"Image-Based":[82],"Visual":[83],"Servoing":[84],"(IBVS)":[85],"multicopter":[87],"position":[88],"stabilization.":[89],"addition,":[91],"validate":[93],"real":[98],"flight":[99],"experiment":[100],"based":[101],"on":[102],"IBVS":[104],"problem,":[105],"demonstrating":[106],"its":[107],"practical":[108],"applicability.":[109]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
