{"id":"https://openalex.org/W4391935994","doi":"https://doi.org/10.1109/tase.2024.3357816","title":"Data-Efficient Learning Control of Continuum Robots in Constrained Environments","display_name":"Data-Efficient Learning Control of Continuum Robots in Constrained Environments","publication_year":2024,"publication_date":"2024-02-19","ids":{"openalex":"https://openalex.org/W4391935994","doi":"https://doi.org/10.1109/tase.2024.3357816"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2024.3357816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3357816","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5033077344","display_name":"Hangjie Mo","orcid":"https://orcid.org/0000-0001-8628-3838"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hangjie Mo","raw_affiliation_strings":["School of Management, Hefei University of Technology, Hefei, China"],"affiliations":[{"raw_affiliation_string":"School of Management, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085059175","display_name":"Ruofeng Wei","orcid":"https://orcid.org/0000-0002-7071-4135"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ruofeng Wei","raw_affiliation_strings":["Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021779972","display_name":"Xiaowen Kong","orcid":"https://orcid.org/0000-0003-1934-3516"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Xiaowen Kong","raw_affiliation_strings":["Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China","Center of Robotics and Automation, Shenzhen Research Institute, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Center of Robotics and Automation, Shenzhen Research Institute, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yujia Zhai","orcid":"https://orcid.org/0000-0002-0461-8030"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yujia Zhai","raw_affiliation_strings":["Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100707660","display_name":"Yunhui Liu","orcid":"https://orcid.org/0000-0002-3625-6679"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yunhui Liu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100382905","display_name":"Dong Sun","orcid":"https://orcid.org/0000-0003-3945-4037"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]},{"id":"https://openalex.org/I4210104064","display_name":"Shenzhen Academy of Robotics","ror":"https://ror.org/01h027j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210104064"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Dong Sun","raw_affiliation_strings":["Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China","Center of Robotics and Automation, Shenzhen Research Institute, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"Center of Robotics and Automation, Shenzhen Research Institute, Shenzhen, China","institution_ids":["https://openalex.org/I4210104064"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5033077344"],"corresponding_institution_ids":["https://openalex.org/I16365422"],"apc_list":null,"apc_paid":null,"fwci":4.8038,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.95356342,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"22","issue":null,"first_page":"984","last_page":"995"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.994700014591217,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.994700014591217,"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/T13644","display_name":"Control Systems in Engineering","score":0.9771999716758728,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9739000201225281,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7190277576446533},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4949271082878113},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4893576502799988},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4870636761188507},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37801122665405273},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35308241844177246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30557671189308167}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7190277576446533},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4949271082878113},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4893576502799988},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4870636761188507},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37801122665405273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35308241844177246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30557671189308167}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2024.3357816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2024.3357816","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1204841492","display_name":null,"funder_award_id":"62133004","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G142652769","display_name":null,"funder_award_id":"U20A20194","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2791780449","display_name":null,"funder_award_id":"T42-409/18R","funder_id":"https://openalex.org/F4320321592","funder_display_name":"Research Grants Council, University Grants Committee"},{"id":"https://openalex.org/G6764758747","display_name":null,"funder_award_id":"C1134-20G","funder_id":"https://openalex.org/F4320321592","funder_display_name":"Research Grants Council, University Grants Committee"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321592","display_name":"Research Grants Council, University Grants Committee","ror":"https://ror.org/00djwmt25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1499925623","https://openalex.org/W1934410567","https://openalex.org/W1988003703","https://openalex.org/W2007864935","https://openalex.org/W2018705428","https://openalex.org/W2035654409","https://openalex.org/W2053485789","https://openalex.org/W2060016034","https://openalex.org/W2064649305","https://openalex.org/W2073677587","https://openalex.org/W2097770951","https://openalex.org/W2101667962","https://openalex.org/W2107802551","https://openalex.org/W2146031911","https://openalex.org/W2169462064","https://openalex.org/W2335997780","https://openalex.org/W2560730116","https://openalex.org/W2731869155","https://openalex.org/W2739636222","https://openalex.org/W2770049904","https://openalex.org/W2809121112","https://openalex.org/W2818096018","https://openalex.org/W2897791698","https://openalex.org/W2901112449","https://openalex.org/W2908901353","https://openalex.org/W2945448824","https://openalex.org/W2954561861","https://openalex.org/W2967429195","https://openalex.org/W2993412239","https://openalex.org/W3003514119","https://openalex.org/W3008784897","https://openalex.org/W3035790680","https://openalex.org/W3102460082","https://openalex.org/W3105730811","https://openalex.org/W3119715644","https://openalex.org/W3125605919","https://openalex.org/W3127111062","https://openalex.org/W3194607169","https://openalex.org/W3202992521","https://openalex.org/W4211049957","https://openalex.org/W6680657880"],"related_works":["https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2160609742","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W2979526210","https://openalex.org/W2004736176","https://openalex.org/W1997414638","https://openalex.org/W2031091109"],"abstract_inverted_index":{"This":[0,219],"research":[1,149,220],"investigates":[2],"learning-based":[3],"control":[4,21,95,114,189,224,228],"of":[5,125,147,155,164],"continuum":[6,131,157,165,177,231],"robots":[7,132,158,166],"in":[8,85,133,159,233],"constrained":[9,134,234],"environments":[10,135,235],"without":[11],"relying":[12],"on":[13,105,194],"analytical":[14],"models.":[15],"We":[16],"propose":[17],"a":[18,86,91,198,222,229],"data-efficient":[19],"stochastic":[20,64],"strategy":[22],"incorporating":[23],"online":[24,80],"model":[25,61,81,93],"updates":[26,82],"to":[27,38,54,121,143,151,185,201,214,250],"achieve":[28],"precise":[29],"manipulation":[30,170],"even":[31,241],"when":[32,242],"arbitrary":[33],"robot":[34,178,232,244],"deformations":[35,248],"occur":[36],"due":[37,249],"environmental":[39,180,217],"interactions.":[40],"A":[41],"localized":[42],"Gaussian":[43],"process":[44],"regression":[45],"approach":[46,96,128],"accounting":[47],"for":[48,74,110,129],"state":[49],"stochasticity":[50],"is":[51,108,150],"first":[52],"presented":[53],"approximate":[55],"the":[56,67,98,123,126,153,169,173,176,202,212,243],"forward":[57],"kinematics.":[58],"The":[59,162],"learned":[60,99],"enables":[62],"uncertainty-aware":[63],"predictions":[65],"via":[66],"proposed":[68,127],"scaled":[69],"unscented":[70],"transform":[71],"(SUT)-based":[72],"method":[73,225],"efficient":[75],"exploration.":[76],"Leveraging":[77],"new":[78],"data,":[79,196],"are":[83,119],"performed":[84,120],"highly":[87],"sample-efficient":[88],"manner.":[89],"Furthermore,":[90],"probabilistic":[92],"predictive":[94],"integrating":[97],"models":[100],"and":[101,117,172,179,211,239],"chance":[102],"constraints":[103,181],"based":[104],"Chebyshev\u2019s":[106],"inequality":[107],"developed":[109],"searching":[111],"an":[112],"optimal":[113],"sequence.":[115],"Simulations":[116],"experiments":[118],"demonstrate":[122],"effectiveness":[124],"controlling":[130,156],"using":[136],"limited":[137],"observational":[138],"data.":[139],"<italic":[140],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[141],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">Note":[142],"Practitioners</i>":[144],"\u2014The":[145],"motivation":[146],"this":[148],"solve":[152],"problem":[154],"constraint":[160],"environment.":[161],"flexibility":[163],"significantly":[167],"affects":[168],"accuracy,":[171],"interaction":[174],"between":[175],"can":[182,227],"also":[183],"lead":[184],"unpredictable":[186],"behavior.":[187],"Learning":[188],"methods":[190,207],"that":[191],"rely":[192],"only":[193],"sensory":[195],"provide":[197],"feasible":[199],"solution":[200],"aforementioned":[203],"problem.":[204],"However,":[205],"current":[206],"lack":[208],"sample":[209],"efficiency":[210],"capability":[213],"handle":[215],"unknown":[216],"constraints.":[218],"proposes":[221],"learning":[223],"which":[226],"flexible":[230],"with":[236,252],"high":[237],"data-efficiency":[238],"robustness":[240],"shape":[245],"undergoes":[246],"sudden":[247],"contact":[251],"obstacles.":[253]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":3}],"updated_date":"2026-04-15T08:11:43.952461","created_date":"2025-10-10T00:00:00"}
