{"id":"https://openalex.org/W3035992145","doi":"https://doi.org/10.1109/lra.2020.3002204","title":"Bayesian Policy Optimization for Waste Crane With Garbage Inhomogeneity","display_name":"Bayesian Policy Optimization for Waste Crane With Garbage Inhomogeneity","publication_year":2020,"publication_date":"2020-06-15","ids":{"openalex":"https://openalex.org/W3035992145","doi":"https://doi.org/10.1109/lra.2020.3002204","mag":"3035992145"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.3002204","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.3002204","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2020.3002204","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018794368","display_name":"Hikaru Sasaki","orcid":"https://orcid.org/0000-0001-6974-0726"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hikaru Sasaki","raw_affiliation_strings":["Graduate School of Science and Technology, Division of Information Science, Nara Institute of Science and Technolog, Nara, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6974-0726","affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Division of Information Science, Nara Institute of Science and Technolog, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019757077","display_name":"Terushi Hirabayashi","orcid":"https://orcid.org/0000-0003-1040-3455"},"institutions":[{"id":"https://openalex.org/I38674515","display_name":"Kanadevia (Japan)","ror":"https://ror.org/05fvfp460","country_code":"JP","type":"company","lineage":["https://openalex.org/I38674515"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Terushi Hirabayashi","raw_affiliation_strings":["Hitachi Zosen Corporation, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1040-3455","affiliations":[{"raw_affiliation_string":"Hitachi Zosen Corporation, Osaka, Japan","institution_ids":["https://openalex.org/I38674515"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068838254","display_name":"Kaoru Kawabata","orcid":"https://orcid.org/0000-0001-6281-7276"},"institutions":[{"id":"https://openalex.org/I38674515","display_name":"Kanadevia (Japan)","ror":"https://ror.org/05fvfp460","country_code":"JP","type":"company","lineage":["https://openalex.org/I38674515"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kaoru Kawabata","raw_affiliation_strings":["Hitachi Zosen Corporation, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0001-6281-7276","affiliations":[{"raw_affiliation_string":"Hitachi Zosen Corporation, Osaka, Japan","institution_ids":["https://openalex.org/I38674515"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070529617","display_name":"Yukio Onuki","orcid":"https://orcid.org/0000-0003-4667-9269"},"institutions":[{"id":"https://openalex.org/I38674515","display_name":"Kanadevia (Japan)","ror":"https://ror.org/05fvfp460","country_code":"JP","type":"company","lineage":["https://openalex.org/I38674515"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yukio Onuki","raw_affiliation_strings":["Hitachi Zosen Corporation, Osaka, Japan"],"raw_orcid":"https://orcid.org/0000-0003-4667-9269","affiliations":[{"raw_affiliation_string":"Hitachi Zosen Corporation, Osaka, Japan","institution_ids":["https://openalex.org/I38674515"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042074952","display_name":"Takamitsu Matsubara","orcid":"https://orcid.org/0000-0003-3545-4814"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamitsu Matsubara","raw_affiliation_strings":["Graduate School of Science and Technology, Division of Information Science, Nara Institute of Science and Technolog, Nara, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3545-4814","affiliations":[{"raw_affiliation_string":"Graduate School of Science and Technology, Division of Information Science, Nara Institute of Science and Technolog, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0425,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.76254762,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"5","issue":"3","first_page":"4533","last_page":"4540"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9947999715805054,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9947999715805054,"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/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9932000041007996,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9915000200271606,"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/incineration","display_name":"Incineration","score":0.7716943025588989},{"id":"https://openalex.org/keywords/garbage","display_name":"Garbage","score":0.7473689913749695},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6499588489532471},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5405074954032898},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5354264974594116},{"id":"https://openalex.org/keywords/reuse","display_name":"Reuse","score":0.4786756634712219},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4698585271835327},{"id":"https://openalex.org/keywords/waste-management","display_name":"Waste management","score":0.2712070345878601},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24314019083976746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24290665984153748}],"concepts":[{"id":"https://openalex.org/C130751788","wikidata":"https://www.wikidata.org/wiki/Q622772","display_name":"Incineration","level":2,"score":0.7716943025588989},{"id":"https://openalex.org/C75403996","wikidata":"https://www.wikidata.org/wiki/Q5521979","display_name":"Garbage","level":2,"score":0.7473689913749695},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6499588489532471},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5405074954032898},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5354264974594116},{"id":"https://openalex.org/C206588197","wikidata":"https://www.wikidata.org/wiki/Q846574","display_name":"Reuse","level":2,"score":0.4786756634712219},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4698585271835327},{"id":"https://openalex.org/C548081761","wikidata":"https://www.wikidata.org/wiki/Q180388","display_name":"Waste management","level":1,"score":0.2712070345878601},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24314019083976746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24290665984153748},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.3002204","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.3002204","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:irdb.nii.ac.jp:01146:0006023423","is_oa":true,"landing_page_url":"https://naist.repo.nii.ac.jp/records/2000121","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal article"}],"best_oa_location":{"id":"doi:10.1109/lra.2020.3002204","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2020.3002204","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W76947095","https://openalex.org/W770013183","https://openalex.org/W1510052597","https://openalex.org/W1972103376","https://openalex.org/W2009086942","https://openalex.org/W2070801665","https://openalex.org/W2075591074","https://openalex.org/W2113145584","https://openalex.org/W2119595900","https://openalex.org/W2131241448","https://openalex.org/W2485911221","https://openalex.org/W2503178882","https://openalex.org/W2599381599","https://openalex.org/W2600295621","https://openalex.org/W2611756877","https://openalex.org/W2611833022","https://openalex.org/W2728742905","https://openalex.org/W2801223173","https://openalex.org/W2891763203","https://openalex.org/W2897462754","https://openalex.org/W2899105324","https://openalex.org/W2913938871","https://openalex.org/W2945053577","https://openalex.org/W2973769397","https://openalex.org/W3004068580","https://openalex.org/W3012370795","https://openalex.org/W4211049957","https://openalex.org/W6676544178","https://openalex.org/W6677658955","https://openalex.org/W6678911119"],"related_works":["https://openalex.org/W2612848883","https://openalex.org/W3088744871","https://openalex.org/W2032904806","https://openalex.org/W1221512877","https://openalex.org/W4382053766","https://openalex.org/W3035541749","https://openalex.org/W641660632","https://openalex.org/W2351860712","https://openalex.org/W2030133330","https://openalex.org/W2392175750"],"abstract_inverted_index":{"The":[0],"objective":[1],"of":[2,15,70,76,82,89,113,154,193,203,208],"this":[3],"study":[4],"is":[5,35,57],"to":[6,47,145],"develop":[7],"a":[8,16,20,32,36,49,106,114,165,178,199],"framework":[9,107,125,187],"that":[10,40,65,185],"can":[11,66],"optimize":[12],"control":[13,116,191],"policies":[14,192],"waste":[17,21,33,74,90,167,175,179],"crane":[18,34,168,176],"at":[19,177],"incineration":[22,180],"plant":[23],"through":[24],"an":[25,173],"autonomous":[26],"trial":[27],"and":[28,43,84,137,171],"error":[29],"manner.":[30],"Since":[31],"massive":[37],"mechanical":[38],"system":[39],"moves":[41],"slowly":[42],"takes":[44],"several":[45],"minutes":[46],"execute":[48],"task,":[50],"obtaining":[51],"data":[52,204],"samples":[53],"by":[54],"executing":[55],"tasks":[56,144,162],"very":[58],"costly.":[59],"Moreover,":[60],"no":[61],"sensors":[62],"are":[63],"available":[64],"observe":[67],"the":[68,71,87,95,110,127,152,190,194,206],"state":[69],"grasped":[72],"flammable":[73],"composed":[75],"various":[77],"materials":[78],"with":[79,101,118,163,169,198],"different":[80],"degrees":[81],"hardness":[83],"wetness.":[85],"Therefore,":[86],"inhomogeneity":[88,136],"causes":[91],"unpredictable":[92],"fluctuation":[93],"in":[94],"crane's":[96],"task":[97],"performance.":[98],"To":[99,150],"cope":[100],"these":[102],"problems,":[103],"we":[104,157],"propose":[105],"for":[108],"optimizing":[109],"policy":[111,117],"parameters":[112],"parameterized":[115],"Multi-Task":[119],"Robust":[120],"Bayesian":[121],"Optimization":[122],"(MTRBO).":[123],"Our":[124],"features":[126],"following":[128],"two":[129],"characteristics:":[130],"(1)":[131],"outlier":[132],"robustness":[133],"against":[134],"garbage":[135,195,209],"(2)":[138],"sample":[139,148],"reuse":[140],"from":[141],"previously":[142],"solved":[143],"enhance":[146],"its":[147],"efficiency.":[149],"investigate":[151],"effectiveness":[153],"our":[155,186],"framework,":[156],"conducted":[158],"experiments":[159],"on":[160],"garbage-scattering":[161],"(i)":[164],"robot":[166],"pseudo-garbage":[170],"(ii)":[172],"actual":[174],"plant.":[181],"Experimental":[182],"results":[183],"demonstrate":[184],"robustly":[188],"optimized":[189],"cranes,":[196],"even":[197],"much":[200],"reduced":[201],"amount":[202],"under":[205],"influence":[207],"inhomogeneity.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}