{"id":"https://openalex.org/W3155110896","doi":"https://doi.org/10.1109/lra.2021.3073883","title":"Classifier-Aided Maximization of Feasible- Error-Region for Robust Manipulation Learning","display_name":"Classifier-Aided Maximization of Feasible- Error-Region for Robust Manipulation Learning","publication_year":2021,"publication_date":"2021-04-16","ids":{"openalex":"https://openalex.org/W3155110896","doi":"https://doi.org/10.1109/lra.2021.3073883","mag":"3155110896"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3073883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3073883","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5025592851","display_name":"H. Ishida","orcid":"https://orcid.org/0000-0002-7356-0290"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hirokazu Ishida","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7356-0290","affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":{"value":2645,"currency":"USD","value_usd":2645},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03789887,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":"3","first_page":"5753","last_page":"5760"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.993399977684021,"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/T12072","display_name":"Machine Learning and Algorithms","score":0.9822999835014343,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.690067708492279},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6855698823928833},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6795001029968262},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5334062576293945},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.48329976201057434},{"id":"https://openalex.org/keywords/expectation\u2013maximization-algorithm","display_name":"Expectation\u2013maximization algorithm","score":0.46885761618614197},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4225965738296509},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.4161495566368103},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3897221088409424},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36393141746520996},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.27405378222465515},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21900832653045654},{"id":"https://openalex.org/keywords/maximum-likelihood","display_name":"Maximum likelihood","score":0.20638126134872437},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.1652836799621582},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09399116039276123}],"concepts":[{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.690067708492279},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6855698823928833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6795001029968262},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5334062576293945},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.48329976201057434},{"id":"https://openalex.org/C182081679","wikidata":"https://www.wikidata.org/wiki/Q1275153","display_name":"Expectation\u2013maximization algorithm","level":3,"score":0.46885761618614197},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4225965738296509},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.4161495566368103},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3897221088409424},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36393141746520996},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.27405378222465515},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21900832653045654},{"id":"https://openalex.org/C49781872","wikidata":"https://www.wikidata.org/wiki/Q1045555","display_name":"Maximum likelihood","level":2,"score":0.20638126134872437},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.1652836799621582},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09399116039276123},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3073883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3073883","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1514940655","https://openalex.org/W1601795611","https://openalex.org/W1663973292","https://openalex.org/W1972194652","https://openalex.org/W1986533639","https://openalex.org/W2008909198","https://openalex.org/W2026499961","https://openalex.org/W2060914855","https://openalex.org/W2088043683","https://openalex.org/W2106101173","https://openalex.org/W2112036188","https://openalex.org/W2160609165","https://openalex.org/W2163700553","https://openalex.org/W2485911221","https://openalex.org/W2600030077","https://openalex.org/W2738964461","https://openalex.org/W2968394270","https://openalex.org/W6630965568","https://openalex.org/W6675537110"],"related_works":["https://openalex.org/W4255837520","https://openalex.org/W2387011115","https://openalex.org/W4234808182","https://openalex.org/W4255628145","https://openalex.org/W2382043075","https://openalex.org/W2809151339","https://openalex.org/W1976188970","https://openalex.org/W2990541822","https://openalex.org/W1588885902","https://openalex.org/W1965352811"],"abstract_inverted_index":{"In":[0],"this":[1],"study,":[2],"we":[3,28,75,120],"propose":[4,29],"an":[5,24,77],"algorithm":[6,80,123],"that":[7,16],"enables":[8],"the":[9,20,30,44,57,63,85,90,94,106,110,122,129,139],"active":[10,78],"learning":[11,79],"of":[12,23,32,51,65,82,109,141],"a":[13,33,49,68,125],"manipulation":[14,41,58,72],"skill":[15],"is":[17,48],"robust":[18],"to":[19,39,93,104,124],"estimation":[21,52],"error":[22,35],"object's":[25],"position.":[26],"First,":[27],"concept":[31],"feasible":[34],"region":[36,50],"(FER)":[37],"unique":[38],"each":[40],"parameter.":[42,96],"As":[43,112],"name":[45],"implies,":[46],"FER":[47,66,91,99],"errors":[53],"even":[54],"with":[55],"which":[56],"still":[59],"succeeds.":[60],"We":[61,137],"introduce":[62],"volume":[64,86],"as":[67,114],"robustness":[69],"measure":[70],"for":[71],"parameters.":[73],"Then,":[74],"develop":[76],"capable":[81],"simultaneously":[83],"realizing":[84],"maximization":[87],"and":[88,132,144],"estimating":[89],"corresponding":[92],"optimal":[95],"The":[97],"obtained":[98],"can":[100],"be":[101],"directly":[102],"used":[103],"assess":[105],"success":[107],"probability":[108],"manipulation.":[111],"well":[113],"numerical":[115],"experiments":[116],"using":[117],"toy":[118],"models,":[119],"apply":[121],"robotic":[126],"task":[127],"in":[128],"physics":[130],"simulator":[131],"two":[133],"real":[134],"world":[135],"tasks.":[136],"demonstrate":[138],"validity":[140],"our":[142],"approach,":[143],"discuss":[145],"its":[146],"limitations.":[147]},"counts_by_year":[],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}