{"id":"https://openalex.org/W3045611977","doi":"https://doi.org/10.1109/ro-man47096.2020.9223465","title":"Natural Gradient Shared Control","display_name":"Natural Gradient Shared Control","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3045611977","doi":"https://doi.org/10.1109/ro-man47096.2020.9223465","mag":"3045611977"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man47096.2020.9223465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man47096.2020.9223465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2007.15308","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067827164","display_name":"Yoojin Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Yoojin Oh","raw_affiliation_strings":["Machine Learning and Robotics Lab, University of Stuttgart, Germany","University of Stuttgart,Machine Learning and Robotics Lab,Germany"],"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics Lab, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"University of Stuttgart,Machine Learning and Robotics Lab,Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022475446","display_name":"Shao-Wen Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shao-Wen Wu","raw_affiliation_strings":["Machine Learning and Robotics Lab, University of Stuttgart, Germany","University of Stuttgart,Machine Learning and Robotics Lab,Germany"],"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics Lab, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"University of Stuttgart,Machine Learning and Robotics Lab,Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065672819","display_name":"Marc Toussaint","orcid":"https://orcid.org/0000-0002-5487-6767"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Toussaint","raw_affiliation_strings":["Learning and Intelligent Systems Lab, TU Berlin, Berlin, Germany","Machine Learning and Robotics Lab, University of Stuttgart, Germany","Univ. of Stuttgart#TAB#"],"affiliations":[{"raw_affiliation_string":"Learning and Intelligent Systems Lab, TU Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"Machine Learning and Robotics Lab, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Univ. of Stuttgart#TAB#","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064890344","display_name":"Jim Mainprice","orcid":"https://orcid.org/0000-0002-0503-2218"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jim Mainprice","raw_affiliation_strings":["Machine Learning and Robotics Lab, University of Stuttgart, Germany","Max Planck Institute for Intelligent Systems, IS-MPI, T\u00fcbingen, Germany","University of Stuttgart,Machine Learning and Robotics Lab,Germany"],"affiliations":[{"raw_affiliation_string":"Machine Learning and Robotics Lab, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, IS-MPI, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"University of Stuttgart,Machine Learning and Robotics Lab,Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5067827164"],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08505478,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1223","last_page":"1229"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6806836128234863},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.592404305934906},{"id":"https://openalex.org/keywords/baseline","display_name":"Baseline (sea)","score":0.5802410244941711},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5789859890937805},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.5639007687568665},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5616992115974426},{"id":"https://openalex.org/keywords/formalism","display_name":"Formalism (music)","score":0.5202875733375549},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4948393702507019},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.44705361127853394},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.42281997203826904},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.4101962149143219},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3513000011444092},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13815957307815552}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6806836128234863},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.592404305934906},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.5802410244941711},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5789859890937805},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.5639007687568665},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5616992115974426},{"id":"https://openalex.org/C73301696","wikidata":"https://www.wikidata.org/wiki/Q5469984","display_name":"Formalism (music)","level":3,"score":0.5202875733375549},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4948393702507019},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.44705361127853394},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.42281997203826904},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.4101962149143219},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3513000011444092},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13815957307815552},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C558565934","wikidata":"https://www.wikidata.org/wiki/Q2743","display_name":"Musical","level":2,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/ro-man47096.2020.9223465","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man47096.2020.9223465","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2007.15308","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.15308","pdf_url":"https://arxiv.org/pdf/2007.15308","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3045611977","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2007.15308","pdf_url":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2007.15308","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2007.15308","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2007.15308","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.15308","pdf_url":"https://arxiv.org/pdf/2007.15308","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320317967","display_name":"International Max Planck Research School for Environmental, Cellular and Molecular Microbiology","ror":null},{"id":"https://openalex.org/F4320327553","display_name":"International Max Planck Research School for Advanced Methods in Process and Systems Engineering","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3045611977.pdf","grobid_xml":"https://content.openalex.org/works/W3045611977.grobid-xml"},"referenced_works_count":35,"referenced_works":["https://openalex.org/W1689445748","https://openalex.org/W1771410628","https://openalex.org/W1970789124","https://openalex.org/W1986081132","https://openalex.org/W2071661870","https://openalex.org/W2091006645","https://openalex.org/W2101821104","https://openalex.org/W2105925198","https://openalex.org/W2108046207","https://openalex.org/W2121095571","https://openalex.org/W2130801532","https://openalex.org/W2157701998","https://openalex.org/W2166556062","https://openalex.org/W2172968643","https://openalex.org/W2238741970","https://openalex.org/W2483674195","https://openalex.org/W2554260549","https://openalex.org/W2563829853","https://openalex.org/W2786110872","https://openalex.org/W2911273949","https://openalex.org/W2949608212","https://openalex.org/W2951434890","https://openalex.org/W2953798991","https://openalex.org/W2962776080","https://openalex.org/W2963507484","https://openalex.org/W2964145656","https://openalex.org/W2964155733","https://openalex.org/W3023807751","https://openalex.org/W3086499488","https://openalex.org/W4210969899","https://openalex.org/W6638018090","https://openalex.org/W6679257226","https://openalex.org/W6721263324","https://openalex.org/W6763856595","https://openalex.org/W6764476505"],"related_works":["https://openalex.org/W2264407643","https://openalex.org/W2330252946","https://openalex.org/W2945508212","https://openalex.org/W2126862637","https://openalex.org/W2053015880","https://openalex.org/W2789896918","https://openalex.org/W2942394565","https://openalex.org/W2621313790","https://openalex.org/W3005657850","https://openalex.org/W2951175080","https://openalex.org/W1951679778","https://openalex.org/W2923254569","https://openalex.org/W2758318878","https://openalex.org/W2536033061","https://openalex.org/W31912503","https://openalex.org/W3193567232","https://openalex.org/W2252763575","https://openalex.org/W2973843138","https://openalex.org/W1763138115","https://openalex.org/W2977324759"],"abstract_inverted_index":{"We":[0,78],"propose":[1],"a":[2,13,85,106,124],"formalism":[3],"for":[4,114],"shared":[5,27,76],"control,":[6],"which":[7],"is":[8,30,57],"the":[9,26,38,42,55,68,72,75,80,91,96],"problem":[10],"of":[11,126],"defining":[12],"policy":[14,88],"that":[15,110],"blends":[16],"user":[17,33,97,102],"control":[18,34,98,121],"and":[19,74,89],"autonomous":[20],"control.":[21],"The":[22],"challenge":[23],"posed":[24],"by":[25,48,83],"autonomy":[28],"system":[29],"to":[31,40,94],"maintain":[32],"authority":[35,122],"while":[36,119],"allowing":[37],"robot":[39,73,87],"support":[41],"user.":[43],"This":[44],"can":[45],"be":[46],"done":[47],"enforcing":[49],"constraints":[50],"or":[51],"acting":[52],"optimally":[53],"when":[54,99],"intent":[56],"clear.":[58],"Our":[59],"proposed":[60],"solution":[61],"relies":[62],"on":[63,105],"natural":[64],"gradients":[65],"emerging":[66],"from":[67],"divergence":[69],"constraint":[70],"between":[71],"policy.":[77],"approximate":[79],"Fisher":[81],"information":[82],"sampling":[84],"learned":[86],"computing":[90],"local":[92],"gradient":[93],"augment":[95],"necessary.":[100],"A":[101],"study":[103],"performed":[104],"manipulation":[107],"task":[108,117],"demonstrates":[109],"our":[111],"approach":[112],"allows":[113],"more":[115],"efficient":[116],"completion":[118],"keeping":[120],"against":[123],"number":[125],"baseline":[127],"methods.":[128]},"counts_by_year":[],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
