{"id":"https://openalex.org/W4416366505","doi":"https://doi.org/10.1109/lra.2025.3634881","title":"SIT-LMPC: Safe Information-Theoretic Learning Model Predictive Control for Iterative Tasks","display_name":"SIT-LMPC: Safe Information-Theoretic Learning Model Predictive Control for Iterative Tasks","publication_year":2025,"publication_date":"2025-11-19","ids":{"openalex":"https://openalex.org/W4416366505","doi":"https://doi.org/10.1109/lra.2025.3634881"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3634881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3634881","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2602.16187","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018518467","display_name":"Zirui Zang","orcid":"https://orcid.org/0000-0002-0990-6680"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zirui Zang","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0990-6680","affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024043222","display_name":"Ahmad Amine","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ahmad Amine","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0009-0008-6080-8411","affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001552716","display_name":"Nick-Marios T. Kokolakis","orcid":"https://orcid.org/0000-0001-6032-1699"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nick-Marios T. Kokolakis","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021671983","display_name":"Truong X. Nghiem","orcid":"https://orcid.org/0000-0003-4841-3800"},"institutions":[{"id":"https://openalex.org/I106165777","display_name":"University of Central Florida","ror":"https://ror.org/036nfer12","country_code":"US","type":"education","lineage":["https://openalex.org/I106165777"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Truong X. Nghiem","raw_affiliation_strings":["Department of Electrical and Computer Engineering, University of Central Florida, Orlando, USA","Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL, USA"],"raw_orcid":"https://orcid.org/0000-0003-4841-3800","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Central Florida, Orlando, USA","institution_ids":["https://openalex.org/I106165777"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, University of Central Florida, Orlando, FL, USA","institution_ids":["https://openalex.org/I106165777"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026281392","display_name":"Ugo Rosolia","orcid":"https://orcid.org/0000-0002-1682-0551"},"institutions":[{"id":"https://openalex.org/I149530613","display_name":"Lynn University","ror":"https://ror.org/04nqv0v23","country_code":"US","type":"education","lineage":["https://openalex.org/I149530613"]},{"id":"https://openalex.org/I39063666","display_name":"University of Catania","ror":"https://ror.org/03a64bh57","country_code":"IT","type":"education","lineage":["https://openalex.org/I39063666"]},{"id":"https://openalex.org/I4210093658","display_name":"Seojeong University","ror":"https://ror.org/006pshn89","country_code":"KR","type":"education","lineage":["https://openalex.org/I4210093658"]}],"countries":["IT","KR","US"],"is_corresponding":false,"raw_author_name":"Ugo Rosolia","raw_affiliation_strings":["Lyric, Science & Tech Department, Catania, Italy","Lyric, USA"],"raw_orcid":"https://orcid.org/0000-0002-1682-0551","affiliations":[{"raw_affiliation_string":"Lyric, Science & Tech Department, Catania, Italy","institution_ids":["https://openalex.org/I39063666"]},{"raw_affiliation_string":"Lyric, USA","institution_ids":["https://openalex.org/I4210093658","https://openalex.org/I149530613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009445756","display_name":"Rahul Mangharam","orcid":"https://orcid.org/0000-0002-3388-8283"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Mangharam","raw_affiliation_strings":["University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":"https://orcid.org/0000-0002-3388-8283","affiliations":[{"raw_affiliation_string":"University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5018518467"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.41713238,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"1","first_page":"986","last_page":"993"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9394000172615051,"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":0.9394000172615051,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.006800000090152025,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.00430000014603138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.7601000070571899},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.63919997215271},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5989000201225281},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.48159998655319214},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.43470001220703125},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.424699991941452},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.39629998803138733},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.38339999318122864},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3449000120162964}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.7601000070571899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7204999923706055},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.63919997215271},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5989000201225281},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.48159998655319214},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.43470001220703125},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.424699991941452},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.39629998803138733},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.38339999318122864},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.359499990940094},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3479999899864197},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3449000120162964},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33660000562667847},{"id":"https://openalex.org/C2779982483","wikidata":"https://www.wikidata.org/wiki/Q6094420","display_name":"Iterative refinement","level":2,"score":0.3336000144481659},{"id":"https://openalex.org/C21442007","wikidata":"https://www.wikidata.org/wiki/Q1027879","display_name":"Graphics","level":2,"score":0.3197999894618988},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31529998779296875},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.30559998750686646},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.30000001192092896},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2948000133037567},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.27970001101493835},{"id":"https://openalex.org/C22367795","wikidata":"https://www.wikidata.org/wiki/Q7625208","display_name":"Structured prediction","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.25940001010894775},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25870001316070557},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25850000977516174},{"id":"https://openalex.org/C118974865","wikidata":"https://www.wikidata.org/wiki/Q7300773","display_name":"Real-time Control System","level":3,"score":0.25049999356269836}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2025.3634881","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3634881","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"},{"id":"pmh:oai:arXiv.org:2602.16187","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2602.16187","pdf_url":"https://arxiv.org/pdf/2602.16187","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:doi:10.48550/arxiv.2602.16187","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2602.16187","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2602.16187","pdf_url":"https://arxiv.org/pdf/2602.16187","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3897104533","display_name":null,"funder_award_id":"2431569","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5353340311","display_name":null,"funder_award_id":"2514584","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"},{"id":"https://openalex.org/F4320332169","display_name":"Directorate for Computer and Information Science and Engineering","ror":"https://ror.org/025kzpk63"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4416366505.pdf","grobid_xml":"https://content.openalex.org/works/W4416366505.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W2000803795","https://openalex.org/W2041242313","https://openalex.org/W2229008027","https://openalex.org/W2410617946","https://openalex.org/W2738778707","https://openalex.org/W2740508249","https://openalex.org/W2963238245","https://openalex.org/W2963683522","https://openalex.org/W3009331570","https://openalex.org/W3011432977","https://openalex.org/W3134900468","https://openalex.org/W3165769141","https://openalex.org/W3167874530","https://openalex.org/W3169147779","https://openalex.org/W3193878267","https://openalex.org/W4205559380","https://openalex.org/W4253187718","https://openalex.org/W4386285856","https://openalex.org/W4386702918","https://openalex.org/W4388505239","https://openalex.org/W4391128504","https://openalex.org/W4403123342","https://openalex.org/W4408358767"],"related_works":[],"abstract_inverted_index":{"Robots":[0],"executing":[1],"iterative":[2,31,37],"tasks":[3],"in":[4],"complex,":[5],"uncertain":[6],"environments":[7],"require":[8],"control":[9,27,38,46,54],"strategies":[10],"that":[11,117],"balance":[12],"robustness,":[13],"safety,":[14],"and":[15,113],"high":[16],"performance.":[17],"This":[18],"paper":[19],"introduces":[20],"a":[21,50,81],"safe":[22],"information-theoretic":[23,43],"learning":[24],"model":[25,44],"predictive":[26,45],"(SIT-LMPC)":[28],"algorithm":[29,47],"for":[30,56,99],"tasks.":[32],"Specifically,":[33],"we":[34],"design":[35],"an":[36,42],"framework":[39],"based":[40],"on":[41,103],"to":[48,67,79,93],"address":[49],"constrained":[51],"infinite-horizon":[52],"optimal":[53],"problem":[55],"discrete-time":[57],"nonlinear":[58],"stochastic":[59],"systems.":[60],"An":[61],"adaptive":[62],"penalty":[63],"method":[64],"is":[65,97],"developed":[66],"ensure":[68],"safety":[69],"while":[70,123],"balancing":[71],"optimality.":[72],"Trajectories":[73],"from":[74],"previous":[75],"iterations":[76],"are":[77],"utilized":[78],"learn":[80],"value":[82],"function":[83],"using":[84],"normalizing":[85],"flows,":[86],"which":[87],"enables":[88],"richer":[89],"uncertainty":[90],"modeling":[91],"compared":[92],"Gaussian":[94],"priors.":[95],"SIT-LMPC":[96,118],"designed":[98],"highly":[100],"parallel":[101],"execution":[102],"graphics":[104],"processing":[105],"units,":[106],"allowing":[107],"efficient":[108],"real-time":[109],"optimization.":[110],"Benchmark":[111],"simulations":[112],"hardware":[114],"experiments":[115],"demonstrate":[116],"iteratively":[119],"improves":[120],"system":[121,126],"performance":[122],"robustly":[124],"satisfying":[125],"constraints.":[127]},"counts_by_year":[],"updated_date":"2025-12-06T23:10:59.065948","created_date":"2025-11-19T00:00:00"}