{"id":"https://openalex.org/W3167591108","doi":"https://doi.org/10.1109/lcsys.2021.3094764","title":"Learning Q-Function Approximations for Hybrid Control Problems","display_name":"Learning Q-Function Approximations for Hybrid Control Problems","publication_year":2021,"publication_date":"2021-07-05","ids":{"openalex":"https://openalex.org/W3167591108","doi":"https://doi.org/10.1109/lcsys.2021.3094764","mag":"3167591108"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2021.3094764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2021.3094764","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":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2105.13517","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026882633","display_name":"Sandeep Menta","orcid":"https://orcid.org/0000-0002-2530-169X"},"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":"Sandeep Menta","raw_affiliation_strings":["Automatic Control Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","ETH Z\u00fcrich"],"raw_orcid":"https://orcid.org/0000-0002-2530-169X","affiliations":[{"raw_affiliation_string":"Automatic Control Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084002252","display_name":"Joseph Warrington","orcid":"https://orcid.org/0000-0003-3783-6517"},"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":"Joseph Warrington","raw_affiliation_strings":["Automatic Control Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","Automatic Control Lab., ETH Zurich, Zurich, Switzerland#TAB#"],"raw_orcid":"https://orcid.org/0000-0003-3783-6517","affiliations":[{"raw_affiliation_string":"Automatic Control Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Automatic Control Lab., ETH Zurich, Zurich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007359599","display_name":"John Lygeros","orcid":"https://orcid.org/0000-0002-6159-1962"},"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":"John Lygeros","raw_affiliation_strings":["Automatic Control Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","ETH Z\u00fcrich"],"raw_orcid":"https://orcid.org/0000-0002-6159-1962","affiliations":[{"raw_affiliation_string":"Automatic Control Lab, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"ETH Z\u00fcrich","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025946191","display_name":"Manfred Morari","orcid":"https://orcid.org/0000-0002-7696-5058"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Manfred Morari","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, PA, USA","#N#               * University of Pennsylvania"],"raw_orcid":"https://orcid.org/0000-0002-7696-5058","affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"#N#               * University of Pennsylvania","institution_ids":["https://openalex.org/I36788626","https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05723195,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"1364","last_page":"1369"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9897000193595886,"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/T11236","display_name":"Control Systems and Identification","score":0.9890000224113464,"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/benchmark","display_name":"Benchmark (surveying)","score":0.7737501859664917},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6018497347831726},{"id":"https://openalex.org/keywords/terminal","display_name":"Terminal (telecommunication)","score":0.5923983454704285},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5915029644966125},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.550645112991333},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5231122374534607},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.511207103729248},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.50588458776474},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5040084719657898},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.49965405464172363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4965377449989319},{"id":"https://openalex.org/keywords/exponential-function","display_name":"Exponential function","score":0.49033093452453613},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.4618372917175293},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.45092955231666565},{"id":"https://openalex.org/keywords/hybrid-system","display_name":"Hybrid system","score":0.41076576709747314},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40036696195602417},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3803343176841736},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2356308400630951},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12134623527526855},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.07654339075088501}],"concepts":[{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7737501859664917},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6018497347831726},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.5923983454704285},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5915029644966125},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.550645112991333},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5231122374534607},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.511207103729248},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.50588458776474},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5040084719657898},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49965405464172363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4965377449989319},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.49033093452453613},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.4618372917175293},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.45092955231666565},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.41076576709747314},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40036696195602417},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3803343176841736},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2356308400630951},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12134623527526855},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.07654339075088501},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/lcsys.2021.3094764","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2021.3094764","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:2105.13517","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.13517","pdf_url":"https://arxiv.org/pdf/2105.13517","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":null},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/496038","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/496038","pdf_url":"http://hdl.handle.net/20.500.11850/496038","source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Control Systems Letters, 6","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.48550/arxiv.2105.13517","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2105.13517","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":"Preprint"},{"id":"doi:10.3929/ethz-b-000496038","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000496038","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"},{"id":"mag:3167591108","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2105.13517","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2105.13517","pdf_url":"https://arxiv.org/pdf/2105.13517","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":null},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6421654716","display_name":null,"funder_award_id":"787845","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":17,"referenced_works":["https://openalex.org/W1977985274","https://openalex.org/W2083314356","https://openalex.org/W2084567997","https://openalex.org/W2144884795","https://openalex.org/W2150506037","https://openalex.org/W2189990206","https://openalex.org/W2317037215","https://openalex.org/W2749680651","https://openalex.org/W2887532679","https://openalex.org/W2963423218","https://openalex.org/W2963683522","https://openalex.org/W2967232729","https://openalex.org/W2989836659","https://openalex.org/W3108484707","https://openalex.org/W6754302822","https://openalex.org/W6763565325","https://openalex.org/W6787035263"],"related_works":["https://openalex.org/W3186857220","https://openalex.org/W3082693509","https://openalex.org/W2901005637","https://openalex.org/W2765731351","https://openalex.org/W3137936630","https://openalex.org/W2799726522","https://openalex.org/W1004123744","https://openalex.org/W2969541920","https://openalex.org/W2078786857","https://openalex.org/W2902624920","https://openalex.org/W2913984608","https://openalex.org/W3034771432","https://openalex.org/W2594895374","https://openalex.org/W3038061151","https://openalex.org/W3155102054","https://openalex.org/W2265392415","https://openalex.org/W2214942337","https://openalex.org/W753579480","https://openalex.org/W142778736","https://openalex.org/W3156201833"],"abstract_inverted_index":{"The":[0],"main":[1],"challenge":[2],"in":[3,41,97,201],"controlling":[4],"hybrid":[5,178],"systems":[6,179],"arises":[7],"from":[8,150],"having":[9,103],"to":[10,20,48,101,104,119,132,167],"consider":[11],"an":[12,138],"exponential":[13],"number":[14],"of":[15,17,85,140,182,198,203],"sequences":[16],"future":[18],"modes":[19],"make":[21],"good":[22,59,69,169],"long-term":[23],"decisions.":[24],"Model":[25],"predictive":[26],"control":[27,31,70,147],"(MPC)":[28],"computes":[29],"a":[30,34,45,106,111,187],"action":[32,71],"through":[33,137,158],"finite-horizon":[35],"optimisation":[36],"problem.":[37],"A":[38,58],"key":[39],"ingredient":[40],"this":[42],"problem":[43],"is":[44,73],"terminal":[46,60,107],"cost,":[47],"account":[49],"for":[50,68,177],"the":[51,55,64,83,98,114,121,134,141,146,151],"system's":[52],"evolution":[53],"beyond":[54],"chosen":[56],"horizon.":[57],"cost":[61],"can":[62],"reduce":[63],"horizon":[65],"length":[66],"required":[67],"and":[72,117,130,160,206],"often":[74],"tuned":[75],"empirically":[76],"by":[77],"observing":[78],"performance.":[79],"We":[80,109,144,191],"build":[81],"on":[82,154,186],"idea":[84],"using":[86],"N-step":[87],"Q-functions":[88],"(":[89],"<i":[90,123,170],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[91,94,124,127,171,174],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Q</i>":[92,125,172],"<sup":[93,126,173],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">(N)</sup>":[95,128,175],")":[96],"MPC":[99,200],"objective":[100],"avoid":[102],"choose":[105],"cost.":[108],"present":[110],"formulation":[112],"incorporating":[113],"system":[115],"dynamics":[116],"constraints":[118],"approximate":[120],"optimal":[122],"-function":[129],"algorithms":[131,164],"train":[133],"approximation":[135],"parameters":[136],"exploration":[139],"state":[142],"space.":[143],"test":[145],"policy":[148],"derived":[149],"trained":[152],"approximations":[153],"two":[155],"benchmark":[156],"problems":[157],"simulations":[159],"observe":[161],"that":[162,197],"our":[163,193],"are":[165],"able":[166],"learn":[168],"-approximations":[176],"with":[180],"dimensions":[181],"practical":[183],"relevance":[184],"based":[185],"relatively":[188],"small":[189],"data-set.":[190],"compare":[192],"controller's":[194],"performance":[195],"against":[196],"Hybrid":[199],"terms":[202],"computation":[204],"time":[205],"closed-loop":[207],"costs.":[208]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
