{"id":"https://openalex.org/W4403511044","doi":"https://doi.org/10.1109/lra.2024.3483635","title":"Effective Search for Control Hierarchies Within the Policy Decomposition Framework","display_name":"Effective Search for Control Hierarchies Within the Policy Decomposition Framework","publication_year":2024,"publication_date":"2024-10-17","ids":{"openalex":"https://openalex.org/W4403511044","doi":"https://doi.org/10.1109/lra.2024.3483635"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3483635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3483635","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/A5032122141","display_name":"Ashwin Khadke","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":"Ashwin Khadke","raw_affiliation_strings":["School of Computer Science, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0246-3642","affiliations":[{"raw_affiliation_string":"School of Computer Science, Robotics Institute, 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":["School of Computer Science, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3238-3299","affiliations":[{"raw_affiliation_string":"School of Computer Science, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20958127,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"9","issue":"12","first_page":"11114","last_page":"11121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.48840001225471497,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11195","display_name":"Simulation Techniques and Applications","score":0.48840001225471497,"subfield":{"id":"https://openalex.org/subfields/1803","display_name":"Management Science and Operations Research"},"field":{"id":"https://openalex.org/fields/18","display_name":"Decision Sciences"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.721582293510437},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.492440789937973},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44275814294815063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20292142033576965},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.09487086534500122}],"concepts":[{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.721582293510437},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.492440789937973},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44275814294815063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20292142033576965},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.09487086534500122},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3483635","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3483635","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W591429885","https://openalex.org/W1551480811","https://openalex.org/W1564897360","https://openalex.org/W1625390266","https://openalex.org/W1854776945","https://openalex.org/W1964946446","https://openalex.org/W1968492854","https://openalex.org/W1991927580","https://openalex.org/W2004617458","https://openalex.org/W2010740413","https://openalex.org/W2019491306","https://openalex.org/W2033016725","https://openalex.org/W2037137208","https://openalex.org/W2056840095","https://openalex.org/W2073449741","https://openalex.org/W2091493562","https://openalex.org/W2098536261","https://openalex.org/W2100657953","https://openalex.org/W2111935653","https://openalex.org/W2117502083","https://openalex.org/W2126316555","https://openalex.org/W2129754836","https://openalex.org/W2131339636","https://openalex.org/W2132714442","https://openalex.org/W2135765407","https://openalex.org/W2582371046","https://openalex.org/W2662297521","https://openalex.org/W3012109984","https://openalex.org/W3136437429","https://openalex.org/W3206205505","https://openalex.org/W4212899374","https://openalex.org/W4315488712","https://openalex.org/W4320169596","https://openalex.org/W6692846177","https://openalex.org/W6741002519","https://openalex.org/W6771730547"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Policy":[0],"decomposition":[1],"is":[2,114],"a":[3,16,144,147,151],"novel":[4],"framework":[5,130],"for":[6,85,137],"approximating":[7],"optimal":[8,53],"control":[9,34,49,138,176,182],"policies":[10,19,185],"of":[11,18,32,47,58,66,71,74,93,121,128,139,184],"complex":[12],"dynamical":[13],"systems":[14],"with":[15,63,173,187],"hierarchy":[17],"derived":[20],"from":[21],"smaller":[22],"but":[23],"tractable":[24],"subsystems.":[25],"It":[26],"stands":[27],"out":[28],"amongst":[29],"the":[30,44,52,56,64,69,72,75,82,91,119,126,129,181],"class":[31],"hierarchical":[33],"methods":[35,96,124],"by":[36,131],"estimating":[37],"<italic":[38],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[39],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">a":[40],"priori</i>":[41],"how":[42],"well":[43],"closed-loop":[45,83,164],"behavior":[46],"different":[48],"hierarchies":[50,60,136],"matches":[51],"policy.":[54],"However,":[55],"number":[57,65],"possible":[59],"grows":[61],"prohibitively":[62],"inputs":[67],"and":[68,101,110,125,150,178],"dimension":[70],"state-space":[73],"system":[76],"making":[77],"it":[78,113,133],"unrealistic":[79],"to":[80,105,158],"estimate":[81],"performance":[84,165,183],"all":[86],"hierarchies.":[87],"Here,":[88],"we":[89],"present":[90],"development":[92],"two":[94],"search":[95,123],"based":[97],"on":[98],"Genetic":[99],"Algorithm":[100],"Monte-Carlo":[102],"Tree":[103],"Search":[104],"tackle":[106],"this":[107],"combinatorial":[108],"challenge,":[109],"demonstrate":[111],"that":[112],"indeed":[115],"surmountable.":[116],"We":[117],"showcase":[118],"efficacy":[120],"our":[122],"generality":[127],"applying":[132],"towards":[134],"finding":[135],"three":[140],"distinct":[141],"robotic":[142],"systems:":[143],"simplified":[145],"biped,":[146],"planar":[148],"manipulator,":[149],"quadcopter.":[152],"The":[153],"discovered":[154],"hierarchies,":[155],"in":[156,170],"comparison":[157],"heuristically":[159],"designed":[160],"ones,":[161],"provide":[162],"improved":[163],"or":[166],"can":[167],"be":[168],"computed":[169],"minimal":[171],"time":[172],"marginally":[174],"worse":[175],"performance,":[177],"also":[179],"exceed":[180],"obtained":[186],"popular":[188],"deep":[189],"reinforcement":[190],"learning":[191],"methods.":[192]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
