{"id":"https://openalex.org/W4401246984","doi":"https://doi.org/10.1109/lra.2024.3438039","title":"Gradient Descent-Based Task-Orientation Robot Control Enhanced With Gaussian Process Predictions","display_name":"Gradient Descent-Based Task-Orientation Robot Control Enhanced With Gaussian Process Predictions","publication_year":2024,"publication_date":"2024-08-02","ids":{"openalex":"https://openalex.org/W4401246984","doi":"https://doi.org/10.1109/lra.2024.3438039"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3438039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3438039","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/A5086291668","display_name":"Loris Roveda","orcid":"https://orcid.org/0000-0002-4427-536X"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Loris Roveda","raw_affiliation_strings":["Istituto Dalle Molle di studi sull&#x0027;intelligenza artificiale (IDSIA USI-SUPSI), Scuola universitaria professionale della Svizzera italiana, Lugano, DTI, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4427-536X","affiliations":[{"raw_affiliation_string":"Istituto Dalle Molle di studi sull&#x0027;intelligenza artificiale (IDSIA USI-SUPSI), Scuola universitaria professionale della Svizzera italiana, Lugano, DTI, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I13805885","display_name":"Vaughn College of Aeronautics and Technology","ror":"https://ror.org/056e22e24","country_code":"US","type":"education","lineage":["https://openalex.org/I13805885"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Department of Aeronautics &amp; Astronautics, Stanford University, Stanford, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0206-4337","affiliations":[{"raw_affiliation_string":"Department of Aeronautics &amp; Astronautics, Stanford University, Stanford, CA, USA","institution_ids":["https://openalex.org/I13805885","https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9433,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.71398117,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":"9","first_page":"8035","last_page":"8042"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.982200026512146,"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":0.982200026512146,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9771999716758728,"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/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9663000106811523,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6639928817749023},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.5946595072746277},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5869846343994141},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5734031796455383},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5506113767623901},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5438469052314758},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5403751134872437},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4670732319355011},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4408246874809265},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.3939284086227417},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3722265958786011},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17662113904953003},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14848512411117554},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.142053484916687},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.08496332168579102},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.06445473432540894},{"id":"https://openalex.org/keywords/computational-chemistry","display_name":"Computational chemistry","score":0.061451464891433716}],"concepts":[{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6639928817749023},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.5946595072746277},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5869846343994141},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5734031796455383},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5506113767623901},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5438469052314758},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5403751134872437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4670732319355011},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4408246874809265},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.3939284086227417},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3722265958786011},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17662113904953003},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14848512411117554},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.142053484916687},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.08496332168579102},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.06445473432540894},{"id":"https://openalex.org/C147597530","wikidata":"https://www.wikidata.org/wiki/Q369472","display_name":"Computational chemistry","level":1,"score":0.061451464891433716},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3438039","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3438039","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"},{"id":"pmh:oai:re.public.polimi.it:11311/1278430","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1278430","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.44999998807907104,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321942","display_name":"Hasler Stiftung","ror":"https://ror.org/04m3t9183"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1571443838","https://openalex.org/W1983329379","https://openalex.org/W1990281946","https://openalex.org/W2029549805","https://openalex.org/W2099139555","https://openalex.org/W2129190609","https://openalex.org/W2294804697","https://openalex.org/W2340673583","https://openalex.org/W2523246573","https://openalex.org/W2553722312","https://openalex.org/W2768491079","https://openalex.org/W2804446681","https://openalex.org/W2890934178","https://openalex.org/W2934971075","https://openalex.org/W2952215314","https://openalex.org/W2965157250","https://openalex.org/W2967727187","https://openalex.org/W2978706708","https://openalex.org/W3027351720","https://openalex.org/W3035497536","https://openalex.org/W3099670724","https://openalex.org/W3105142959","https://openalex.org/W3190552236","https://openalex.org/W4205362845","https://openalex.org/W4210939259","https://openalex.org/W4280631854","https://openalex.org/W4283788634","https://openalex.org/W4285400509","https://openalex.org/W4289767001","https://openalex.org/W4316468403","https://openalex.org/W4400366501","https://openalex.org/W6727249380"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W1990892711","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2489520628","https://openalex.org/W1964286703","https://openalex.org/W2169866437"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"a":[3,56,70,85,97,105,109,117,124,131,142],"novel":[4],"force-based":[5],"task-orientation":[6],"controller":[7,20,77,138],"for":[8],"interaction":[9,103,115],"tasks":[10,156],"with":[11,64,81,99,104,111,116],"environmental":[12],"orientation":[13,59,66],"uncertainties.":[14],"The":[15,136],"main":[16,29],"aim":[17],"of":[18,41,75,130],"the":[19,24,28,39,65,76,100,112,128,150,158],"is":[21,78,139],"to":[22,126,148],"align":[23],"robot":[25,101,113,151],"tool":[26,152],"along":[27,33],"task":[30,98,110,125],"direction":[31],"(e.g.,":[32,45],"screwing,":[34],"insertion,":[35],"polishing,":[36],"etc.)":[37],"without":[38],"use":[40],"any":[42],"external":[43],"sensors":[44],"vision":[46],"systems),":[47],"relying":[48],"only":[49],"on":[50],"end-effector":[51],"wrench":[52],"measurements/estimations.":[53],"We":[54],"propose":[55],"gradient":[57],"descent-based":[58],"controller,":[60],"enhancing":[61],"its":[62,134,146],"performance":[63],"predictions":[67],"provided":[68],"by":[69],"Gaussian":[71],"Process":[72],"model.":[73],"Derivation":[74],"presented,":[79],"together":[80],"simulation":[82],"results":[83,90],"(considering":[84],"probing":[86],"task)":[87],"and":[88,119,122],"experimental":[89],"involving":[91],"various":[92],"re-orientation":[93],"scenarios,":[94],"i.e.,":[95],"i)":[96],"in":[102,114,154],"soft":[106],"environment,":[107,121],"ii)":[108],"stiff":[118],"inclined":[120],"iii)":[123],"enable":[127],"assembly":[129],"gear":[132],"into":[133],"shaft.":[135],"proposed":[137],"compared":[140],"against":[141],"state-of-the-art":[143,159],"approach,":[144],"highlighting":[145],"ability":[147],"re-orient":[149],"even":[153],"complex":[155],"(where":[157],"method":[160],"fails).":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
