{"id":"https://openalex.org/W7117260864","doi":"https://doi.org/10.1109/lra.2025.3648503","title":"Data-Efficient Constrained Robot Learning With Probabilistic Lagrangian Control","display_name":"Data-Efficient Constrained Robot Learning With Probabilistic Lagrangian Control","publication_year":2025,"publication_date":"2025-12-25","ids":{"openalex":"https://openalex.org/W7117260864","doi":"https://doi.org/10.1109/lra.2025.3648503"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3648503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3648503","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/A5102804802","display_name":"Shiming He","orcid":"https://orcid.org/0000-0003-4461-4795"},"institutions":[{"id":"https://openalex.org/I4400573310","display_name":"Hangzhou City University","ror":"https://ror.org/01wck0s05","country_code":null,"type":"education","lineage":["https://openalex.org/I4400573310"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shiming He","raw_affiliation_strings":["School of Information and Electrical Engineering, Hangzhou City University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4461-4795","affiliations":[{"raw_affiliation_string":"School of Information and Electrical Engineering, Hangzhou City University, Hangzhou, China","institution_ids":["https://openalex.org/I4400573310"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yuzhe Ding","orcid":"https://orcid.org/0009-0007-2782-2927"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuzhe Ding","raw_affiliation_strings":["College of Electrical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0007-2782-2927","affiliations":[{"raw_affiliation_string":"College of Electrical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102804802"],"corresponding_institution_ids":["https://openalex.org/I4400573310"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.80128422,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"2154","last_page":"2161"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9749000072479248,"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"}},"topics":[{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9749000072479248,"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"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.00570000009611249,"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"}},{"id":"https://openalex.org/T12101","display_name":"Advanced Bandit Algorithms Research","score":0.002899999963119626,"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/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.7260000109672546},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.7093999981880188},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6712999939918518},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.4507000148296356},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4341999888420105},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4065999984741211},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.37279999256134033},{"id":"https://openalex.org/keywords/lagrangian","display_name":"Lagrangian","score":0.36910000443458557},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.36550000309944153}],"concepts":[{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.7260000109672546},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.7093999981880188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6712999939918518},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5529999732971191},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49709999561309814},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.4507000148296356},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4341999888420105},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4065999984741211},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3894999921321869},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.37279999256134033},{"id":"https://openalex.org/C53469067","wikidata":"https://www.wikidata.org/wiki/Q505735","display_name":"Lagrangian","level":2,"score":0.36910000443458557},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.36550000309944153},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.35350000858306885},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.3481999933719635},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3449999988079071},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3434999883174896},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34279999136924744},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3206999897956848},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.3125999867916107},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30160000920295715},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27630001306533813},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.27410000562667847},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.26840001344680786},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2587999999523163},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2583000063896179},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2526000142097473},{"id":"https://openalex.org/C150452318","wikidata":"https://www.wikidata.org/wiki/Q4820432","display_name":"Augmented Lagrangian method","level":2,"score":0.25209999084472656}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3648503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3648503","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2517641405","https://openalex.org/W2767149636","https://openalex.org/W2788084076","https://openalex.org/W2997896361","https://openalex.org/W3038180127","https://openalex.org/W3175352502","https://openalex.org/W3195968524","https://openalex.org/W3206080182","https://openalex.org/W4211202104","https://openalex.org/W4250589301","https://openalex.org/W4295916778","https://openalex.org/W4404652920","https://openalex.org/W4410027965"],"related_works":[],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,24,74],"novel":[3],"framework":[4],"for":[5,79],"data-efficient":[6],"black-box":[7],"robot":[8,67,81],"learning":[9,82],"under":[10],"constraints.":[11],"Our":[12],"approach":[13],"integrates":[14],"probabilistic":[15],"inference":[16],"with":[17],"Lagrangian":[18],"optimization.":[19],"With":[20],"the":[21,29,35,39,46],"guide":[22],"of":[23,37],"learned":[25],"Gaussian":[26],"process":[27],"model,":[28],"Lagrange":[30],"multiplier":[31],"is":[32,73],"controlled":[33],"by":[34],"probability":[36],"whether":[38],"constraints":[40],"would":[41],"be":[42],"satisfied.":[43],"This":[44],"reduces":[45],"typical":[47],"oscillations":[48],"seen":[49],"in":[50],"primal-dual":[51],"updates":[52],"and":[53,59,66,76],"therefore":[54],"improves":[55],"both":[56],"data":[57],"efficiency":[58],"safety":[60],"during":[61],"learning.":[62],"Both":[63],"synthetic":[64],"results":[65],"experiments":[68],"demonstrate":[69],"that":[70],"our":[71],"method":[72],"scalable":[75],"effective":[77],"solution":[78],"constrained":[80],"problems.":[83]},"counts_by_year":[],"updated_date":"2026-01-02T23:11:23.791532","created_date":"2025-12-25T00:00:00"}
