{"id":"https://openalex.org/W2581460077","doi":"https://doi.org/10.1109/lra.2017.2656948","title":"A Sample-Efficient Black-Box Optimizer to Train Policies for Human-in-the-Loop Systems With User Preferences","display_name":"A Sample-Efficient Black-Box Optimizer to Train Policies for Human-in-the-Loop Systems With User Preferences","publication_year":2017,"publication_date":"2017-01-23","ids":{"openalex":"https://openalex.org/W2581460077","doi":"https://doi.org/10.1109/lra.2017.2656948","mag":"2581460077"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2656948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2656948","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-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/A5025714621","display_name":"Nitish Thatte","orcid":"https://orcid.org/0000-0002-4386-4592"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nitish Thatte","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081698388","display_name":"Helei Duan","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Helei Duan","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078844630","display_name":"Hartmut Geyer","orcid":"https://orcid.org/0000-0003-3238-3299"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hartmut Geyer","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5025714621"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.1471,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.75694038,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"2","issue":"2","first_page":"993","last_page":"1000"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958999752998352,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958999752998352,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9794999957084656,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9635999798774719,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6467552781105042},{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.586876630783081},{"id":"https://openalex.org/keywords/latin-hypercube-sampling","display_name":"Latin hypercube sampling","score":0.5254104137420654},{"id":"https://openalex.org/keywords/hypercube","display_name":"Hypercube","score":0.45894303917884827},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.45438918471336365},{"id":"https://openalex.org/keywords/entropy","display_name":"Entropy (arrow of time)","score":0.4128257930278778},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33667922019958496},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3299761712551117},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.32784503698349},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17262208461761475}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6467552781105042},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.586876630783081},{"id":"https://openalex.org/C20820323","wikidata":"https://www.wikidata.org/wiki/Q6496514","display_name":"Latin hypercube sampling","level":3,"score":0.5254104137420654},{"id":"https://openalex.org/C50820777","wikidata":"https://www.wikidata.org/wiki/Q213723","display_name":"Hypercube","level":2,"score":0.45894303917884827},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.45438918471336365},{"id":"https://openalex.org/C106301342","wikidata":"https://www.wikidata.org/wiki/Q4117933","display_name":"Entropy (arrow of time)","level":2,"score":0.4128257930278778},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33667922019958496},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3299761712551117},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32784503698349},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17262208461761475},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"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/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2656948","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2656948","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5208112197","display_name":null,"funder_award_id":"1527140","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W414567873","https://openalex.org/W1510052597","https://openalex.org/W1566123042","https://openalex.org/W1693986406","https://openalex.org/W1965520710","https://openalex.org/W1986014385","https://openalex.org/W2002640924","https://openalex.org/W2051228319","https://openalex.org/W2061562262","https://openalex.org/W2075374438","https://openalex.org/W2098584016","https://openalex.org/W2098626000","https://openalex.org/W2109675615","https://openalex.org/W2110029398","https://openalex.org/W2116671302","https://openalex.org/W2121499119","https://openalex.org/W2123694750","https://openalex.org/W2151074445","https://openalex.org/W2156869222","https://openalex.org/W2161735965","https://openalex.org/W2166302491","https://openalex.org/W2167789032","https://openalex.org/W2169003314","https://openalex.org/W2169498096","https://openalex.org/W2337738013","https://openalex.org/W2950141829","https://openalex.org/W4211049957","https://openalex.org/W4249517230","https://openalex.org/W6637591494","https://openalex.org/W6650819802","https://openalex.org/W6674582482","https://openalex.org/W6676471219","https://openalex.org/W6677285668","https://openalex.org/W6678159081","https://openalex.org/W6678264118","https://openalex.org/W6684935187","https://openalex.org/W6843699536","https://openalex.org/W7017013933"],"related_works":["https://openalex.org/W2364245233","https://openalex.org/W2154735538","https://openalex.org/W2218563287","https://openalex.org/W2980066635","https://openalex.org/W4286907761","https://openalex.org/W2916710807","https://openalex.org/W2413588304","https://openalex.org/W2091934641","https://openalex.org/W3199608561","https://openalex.org/W4382049207"],"abstract_inverted_index":{"We":[0,109],"present":[1],"a":[2,44,147,154,161],"new":[3],"algorithm":[4,61,113,188],"for":[5,9,31,62],"optimizing":[6,134],"control":[7,88,140,159,169],"policies":[8],"human-in-the-loop":[10],"systems":[11,23,144,195],"based":[12],"on":[13,157],"qualitative":[14],"preference":[15],"feedback.":[16],"This":[17],"method":[18,118],"is":[19,34],"especially":[20],"applicable":[21],"to":[22,36,42,48,138],"such":[24],"as":[25],"lower":[26],"limb":[27],"prostheses":[28],"and":[29,46,58,66,120,145,172,199],"exoskeletons":[30],"which":[32],"it":[33],"difficult":[35],"define":[37],"an":[38,60],"objective":[39,100],"function,":[40],"hard":[41],"identify":[43],"model,":[45],"costly":[47],"repeat":[49],"hardware":[50],"experiments.":[51,108],"To":[52],"solve":[53],"these":[54],"problems,":[55],"we":[56,151],"combine":[57],"extend":[59],"learning":[63],"from":[64,133],"preferences":[65,84],"the":[67,94,97,104,115,158,186],"Predictive":[68,77],"Entropy":[69,78],"Search":[70,79],"Bayesian":[71],"optimization":[72],"method.":[73],"The":[74,183],"resulting":[75],"algorithm,":[76],"with":[80,103],"Preferences":[81],"(PES-P),":[82],"solicits":[83],"between":[85],"pairs":[86],"of":[87,99,107,142,146,160],"parameter":[89],"sets":[90],"that":[91,111,131,165],"optimally":[92],"reduce":[93],"uncertainty":[95],"in":[96,127,153],"distribution":[98],"function":[101],"optima":[102],"least":[105],"number":[106],"find":[110,152],"this":[112],"outperforms":[114],"expected":[116],"improvement":[117],"(EI),":[119],"random":[121],"comparisons":[122],"via":[123],"Latin":[124],"hypercubes":[125],"(LH)":[126],"three":[128],"simulation":[129],"tests":[130],"range":[132],"randomly":[135],"generated":[136],"functions":[137],"tuning":[139],"parameters":[141,170],"linear":[143],"walking":[148],"model.":[149],"Furthermore,":[150],"pilot":[155],"study":[156],"robotic":[162,194],"transfemoral":[163],"prosthesis":[164],"PES-P":[166],"finds":[167],"good":[168],"quickly":[171],"more":[173,196],"consistently":[174],"than":[175],"EI":[176],"or":[177],"LH":[178],"given":[179],"real":[180],"user":[181],"preferences.":[182],"results":[184],"suggest":[185],"proposed":[187],"can":[189],"help":[190],"engineers":[191],"optimize":[192],"certain":[193],"accurately,":[197],"efficiently,":[198],"consistently.":[200]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
