{"id":"https://openalex.org/W7134853295","doi":"https://doi.org/10.1109/lra.2026.3671557","title":"Guided Multi-Fidelity Bayesian Optimization for Data-driven Controller Tuning with Digital Twins","display_name":"Guided Multi-Fidelity Bayesian Optimization for Data-driven Controller Tuning with Digital Twins","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7134853295","doi":"https://doi.org/10.1109/lra.2026.3671557"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2026.3671557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3671557","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":true,"oa_status":"green","oa_url":"https://digitalcollection.zhaw.ch/handle/11475/36014","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128681686","display_name":"Mahdi Nobar","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mahdi Nobar","raw_affiliation_strings":["Automatic Control Laboratory, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3626-7666","affiliations":[{"raw_affiliation_string":"Automatic Control Laboratory, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027871326","display_name":"J.P. Keller","orcid":null},"institutions":[{"id":"https://openalex.org/I2972652528","display_name":"FHNW University of Applied Sciences and Arts Northwestern Switzerland","ror":"https://ror.org/04mq2g308","country_code":"CH","type":"education","lineage":["https://openalex.org/I2972652528"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"J\u00fcrg Keller","raw_affiliation_strings":["Automation Institute, FHNW, Windisch, Switzerland"],"raw_orcid":"https://orcid.org/0009-0004-3259-551X","affiliations":[{"raw_affiliation_string":"Automation Institute, FHNW, Windisch, Switzerland","institution_ids":["https://openalex.org/I2972652528"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128634116","display_name":"Alessandro Forino","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116319","display_name":"Maxon Motor (Switzerland)","ror":"https://ror.org/02dr5rf50","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210116319"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alessandro Forino","raw_affiliation_strings":["Robotic Drive Systems, Maxon Motor AG, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-0988-3666","affiliations":[{"raw_affiliation_string":"Robotic Drive Systems, Maxon Motor AG, Z&#x00FC;rich, Switzerland","institution_ids":["https://openalex.org/I4210116319"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128665645","display_name":"John Lygeros","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"John Lygeros","raw_affiliation_strings":["Automatic Control Laboratory, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-6159-1962","affiliations":[{"raw_affiliation_string":"Automatic Control Laboratory, ETH Z&#x00FC;rich, Z&#x00FC;rich, Switzerland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058099719","display_name":"Alisa Rupenyan","orcid":"https://orcid.org/0000-0002-2170-8564"},"institutions":[{"id":"https://openalex.org/I200744771","display_name":"ZHAW Zurich University of Applied Sciences","ror":null,"country_code":"CH","type":null,"lineage":["https://openalex.org/I200744771"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alisa Rupenyan","raw_affiliation_strings":["ZHAW Zurich University for Applied Sciences, ZHAW Centre for AI, Winterthur, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-2170-8564","affiliations":[{"raw_affiliation_string":"ZHAW Zurich University for Applied Sciences, ZHAW Centre for AI, Winterthur, Switzerland","institution_ids":["https://openalex.org/I200744771"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.4058,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.96503213,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"11","issue":"5","first_page":"5294","last_page":"5301"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.5056999921798706,"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"}},"topics":[{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.5056999921798706,"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"}},{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.09290000051259995,"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/T11206","display_name":"Model Reduction and Neural Networks","score":0.08839999884366989,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.7531999945640564},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5497999787330627},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.5403000116348267},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4787999987602234},{"id":"https://openalex.org/keywords/data-acquisition","display_name":"Data acquisition","score":0.4291999936103821},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4189000129699707},{"id":"https://openalex.org/keywords/digital-control","display_name":"Digital control","score":0.3522999882698059}],"concepts":[{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.7531999945640564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6917999982833862},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5497999787330627},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.5403000116348267},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4787999987602234},{"id":"https://openalex.org/C163985040","wikidata":"https://www.wikidata.org/wiki/Q1172399","display_name":"Data acquisition","level":2,"score":0.4291999936103821},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4189000129699707},{"id":"https://openalex.org/C158411068","wikidata":"https://www.wikidata.org/wiki/Q2720568","display_name":"Digital control","level":2,"score":0.3522999882698059},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34850001335144043},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.34209999442100525},{"id":"https://openalex.org/C160234255","wikidata":"https://www.wikidata.org/wiki/Q812535","display_name":"Bayesian inference","level":3,"score":0.3212999999523163},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3089999854564667},{"id":"https://openalex.org/C131675550","wikidata":"https://www.wikidata.org/wiki/Q7646884","display_name":"Surrogate model","level":2,"score":0.30790001153945923},{"id":"https://openalex.org/C68022304","wikidata":"https://www.wikidata.org/wiki/Q842217","display_name":"Bayes estimator","level":3,"score":0.2777000069618225},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27399998903274536},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.27219998836517334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2508000135421753}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2026.3671557","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3671557","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:digitalcollection.zhaw.ch:11475/36014","is_oa":true,"landing_page_url":"https://digitalcollection.zhaw.ch/handle/11475/36014","pdf_url":null,"source":{"id":"https://openalex.org/S4306401811","display_name":"Z\u00fcrcher Hochschule f\u00fcr Angewandte Wissenschaften digital collection (Zurich University of Applied Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200744771","host_organization_name":"ZHAW Zurich University of Applied Sciences","host_organization_lineage":["https://openalex.org/I200744771"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:digitalcollection.zhaw.ch:11475/36014","is_oa":true,"landing_page_url":"https://digitalcollection.zhaw.ch/handle/11475/36014","pdf_url":null,"source":{"id":"https://openalex.org/S4306401811","display_name":"Z\u00fcrcher Hochschule f\u00fcr Angewandte Wissenschaften digital collection (Zurich University of Applied Sciences)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200744771","host_organization_name":"ZHAW Zurich University of Applied Sciences","host_organization_lineage":["https://openalex.org/I200744771"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2956959256","display_name":null,"funder_award_id":"51NF40 225155","funder_id":"https://openalex.org/F4320309085","funder_display_name":"Center for Selective C-H Functionalization, National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320309085","display_name":"Center for Selective C-H Functionalization, National Science Foundation","ror":"https://ror.org/02h8v7m77"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,40,44],"<italic":[3],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[4],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">guided":[5],"multi-fidelity":[6,41,129],"Bayesian":[7,126],"optimization</i>":[8],"framework":[9],"for":[10],"data-efficient":[11],"controller":[12],"tuning":[13,121],"that":[14,48,93,117],"integrates":[15],"corrected":[16],"digital":[17,50,77],"twin":[18,51,78],"simulations":[19,30,95],"with":[20,28,43],"real-world":[21],"measurements.":[22],"The":[23,76],"method":[24,69,119],"targets":[25],"closed-loop":[26],"systems":[27],"limited-fidelity":[29],"or":[31],"inexpensive":[32],"approximations.":[33],"To":[34],"address":[35],"model":[36,47],"mismatch,":[37],"we":[38],"build":[39],"surrogate":[42],"learned":[45],"correction":[46],"refines":[49],"estimates":[52],"using":[53],"real":[54],"data.":[55],"An":[56],"adaptive":[57],"cost-aware":[58],"acquisition":[59,89],"function":[60],"balances":[61],"expected":[62],"improvement,":[63],"fidelity,":[64],"and":[65,87,112,128],"sampling":[66],"cost.":[67],"Our":[68],"ensures":[70,92],"adaptability":[71],"as":[72],"new":[73],"measurements":[74],"arrive.":[75],"accuracy":[79],"is":[80],"re-estimated,":[81],"dynamically":[82],"adapting":[83],"both":[84],"cross-source":[85],"correlations":[86],"the":[88],"function.":[90],"This":[91],"accurate":[94],"are":[96,104],"used":[97],"more":[98],"frequently,":[99],"while":[100],"inaccurate":[101],"simulation":[102],"data":[103],"appropriately":[105],"downweighted.":[106],"Experiments":[107],"on":[108],"robotic":[109],"drive":[110],"hardware":[111],"supporting":[113],"numerical":[114],"studies":[115],"demonstrate":[116],"our":[118],"enhances":[120],"efficiency":[122],"compared":[123],"to":[124],"standard":[125],"optimization":[127],"methods.":[130]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2026-03-11T00:00:00"}