{"id":"https://openalex.org/W3028225723","doi":"https://doi.org/10.1109/lcsys.2020.3006725","title":"How Training Data Impacts Performance in Learning-Based Control","display_name":"How Training Data Impacts Performance in Learning-Based Control","publication_year":2020,"publication_date":"2020-07-02","ids":{"openalex":"https://openalex.org/W3028225723","doi":"https://doi.org/10.1109/lcsys.2020.3006725","mag":"3028225723"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2020.3006725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2020.3006725","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2005.12062","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5023397248","display_name":"Armin Lederer","orcid":"https://orcid.org/0000-0001-6263-5608"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Armin Lederer","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany","[Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany]"],"raw_orcid":"https://orcid.org/0000-0001-6263-5608","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"[Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany]","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009683170","display_name":"Alexandre Capone","orcid":"https://orcid.org/0000-0002-4358-0012"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexandre Capone","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany","[Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany]"],"raw_orcid":"https://orcid.org/0000-0002-4358-0012","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"[Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany]","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028926639","display_name":"Jonas Umlauft","orcid":"https://orcid.org/0000-0003-2865-4658"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jonas Umlauft","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany","[Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany]"],"raw_orcid":"https://orcid.org/0000-0003-2865-4658","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"[Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany]","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandra Hirche","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany","Technical University of Munich"],"raw_orcid":"https://orcid.org/0000-0001-7819-5926","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Technical University of Munich","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5023397248"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.1359,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54044517,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"5","issue":"3","first_page":"905","last_page":"910"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9973999857902527,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9958999752998352,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6707929968833923},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.608923614025116},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5835151076316833},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.5453504920005798},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5437714457511902},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.511279821395874},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.49880456924438477},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.49451944231987},{"id":"https://openalex.org/keywords/training-set","display_name":"Training set","score":0.4741874635219574},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.46454644203186035},{"id":"https://openalex.org/keywords/data-set","display_name":"Data set","score":0.45114821195602417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4164324998855591},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.40262216329574585},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.37970179319381714},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.3660385310649872}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6707929968833923},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.608923614025116},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5835151076316833},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.5453504920005798},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5437714457511902},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.511279821395874},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.49880456924438477},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.49451944231987},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.4741874635219574},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.46454644203186035},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.45114821195602417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4164324998855591},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.40262216329574585},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.37970179319381714},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3660385310649872},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","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},{"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lcsys.2020.3006725","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2020.3006725","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2005.12062","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.12062","pdf_url":"https://arxiv.org/pdf/2005.12062","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3028225723","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2005.12062","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2005.12062","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2005.12062","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2005.12062","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2005.12062","pdf_url":"https://arxiv.org/pdf/2005.12062","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.800000011920929,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1715892533","display_name":null,"funder_award_id":"864686","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"}],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W824892955","https://openalex.org/W1486164486","https://openalex.org/W1746819321","https://openalex.org/W2021264121","https://openalex.org/W2054184020","https://openalex.org/W2085330455","https://openalex.org/W2143277772","https://openalex.org/W2162977544","https://openalex.org/W2735248836","https://openalex.org/W2808816909","https://openalex.org/W2892521964","https://openalex.org/W2948727793","https://openalex.org/W2963525569","https://openalex.org/W2970782456","https://openalex.org/W2995486512","https://openalex.org/W3023002804","https://openalex.org/W3047267560","https://openalex.org/W6623222773","https://openalex.org/W6763216130"],"related_works":["https://openalex.org/W2030071433","https://openalex.org/W2983881875","https://openalex.org/W2749554135","https://openalex.org/W2943344021","https://openalex.org/W2623596344","https://openalex.org/W3105411554","https://openalex.org/W2900369848","https://openalex.org/W2603309539","https://openalex.org/W2288558499","https://openalex.org/W2962927818","https://openalex.org/W198604986","https://openalex.org/W3211453116","https://openalex.org/W105435223","https://openalex.org/W2185095271","https://openalex.org/W2345580025","https://openalex.org/W3091983169","https://openalex.org/W3110489388","https://openalex.org/W2969784544","https://openalex.org/W2464957351","https://openalex.org/W3031091031"],"abstract_inverted_index":{"When":[0],"first":[1],"principle":[2],"models":[3,21,27,86],"cannot":[4],"be":[5,138],"derived":[6],"due":[7],"to":[8,19,114,140],"the":[9,12,33,36,43,46,61,64,68,71,92,95,99,108,119,123,129,135],"complexity":[10],"of":[11,35,45,63,67,94,128],"real":[13],"system,":[14],"data-driven":[15],"methods":[16],"allow":[17],"us":[18],"build":[20],"from":[22],"system":[23,73],"observations.":[24],"As":[25],"these":[26],"are":[28],"employed":[29],"in":[30],"learning-based":[31],"control,":[32],"quality":[34,105],"data":[37,58,69,97,109],"plays":[38],"a":[39,104,141],"crucial":[40],"role":[41],"for":[42,55,107,122,150],"performance":[44],"resulting":[47],"control":[48,100,144],"law.":[49],"Nevertheless,":[50],"there":[51],"hardly":[52],"exist":[53],"measures":[54],"assessing":[56],"training":[57,96],"sets,":[59],"and":[60,98,117,146],"impact":[62],"spatial":[65],"distribution":[66],"on":[70,83],"closed-loop":[72],"properties":[74],"is":[75],"largely":[76],"unknown.":[77],"This":[78],"letter":[79],"derives":[80],"-":[81,87],"based":[82],"Gaussian":[84],"process":[85],"an":[88],"analytical":[89],"relationship":[90],"between":[91],"density":[93],"performance.":[101],"We":[102,132],"formulate":[103],"measure":[106],"set,":[110],"which":[111],"we":[112],"refer":[113],"as":[115],"\u03c1-gap,":[116],"derive":[118],"ultimate":[120],"bound":[121],"tracking":[124],"error":[125],"under":[126],"consideration":[127],"model":[130],"uncertainty.":[131],"show":[133],"how":[134],"\u03c1-gap":[136],"can":[137],"applied":[139],"feedback":[142],"linearizing":[143],"law":[145],"provide":[147],"numerical":[148],"illustrations":[149],"our":[151],"approach.":[152]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}