{"id":"https://openalex.org/W3017666326","doi":"https://doi.org/10.1109/tcyb.2020.2983923","title":"Path Integral Policy Improvement With Population Adaptation","display_name":"Path Integral Policy Improvement With Population Adaptation","publication_year":2020,"publication_date":"2020-04-22","ids":{"openalex":"https://openalex.org/W3017666326","doi":"https://doi.org/10.1109/tcyb.2020.2983923","mag":"3017666326","pmid":"https://pubmed.ncbi.nlm.nih.gov/32324589"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2020.2983923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2020.2983923","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://nagoya.repo.nii.ac.jp/records/2002686","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075184366","display_name":"Kosuke Yamamoto","orcid":"https://orcid.org/0000-0002-8189-7141"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kosuke Yamamoto","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041139706","display_name":"Ryo Ariizumi","orcid":"https://orcid.org/0000-0002-2791-9979"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryo Ariizumi","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Nagoya University, Nagoya, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2791-9979","affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013128354","display_name":"Tomohiro Hayakawa","orcid":"https://orcid.org/0000-0002-2402-5179"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohiro Hayakawa","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"raw_orcid":"https://orcid.org/0000-0002-2402-5179","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"raw_orcid":"https://orcid.org/0000-0001-9685-3267","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5696,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.6379878,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"52","issue":"1","first_page":"312","last_page":"322"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11663","display_name":"Viral Infectious Diseases and Gene Expression in Insects","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T11663","display_name":"Viral Infectious Diseases and Gene Expression in Insects","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9718000292778015,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7768248319625854},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6807629466056824},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6378685235977173},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6281777620315552},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6116855144500732},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5712341070175171},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5708587169647217},{"id":"https://openalex.org/keywords/population","display_name":"Population","score":0.47799792885780334},{"id":"https://openalex.org/keywords/path-integral-formulation","display_name":"Path integral formulation","score":0.46754565834999084},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.46562522649765015},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.4588812291622162},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4004610776901245},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39465609192848206},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3884086608886719},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20478755235671997},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11269336938858032}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7768248319625854},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6807629466056824},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6378685235977173},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6281777620315552},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6116855144500732},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5712341070175171},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5708587169647217},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.47799792885780334},{"id":"https://openalex.org/C154018700","wikidata":"https://www.wikidata.org/wiki/Q898323","display_name":"Path integral formulation","level":3,"score":0.46754565834999084},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.46562522649765015},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.4588812291622162},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4004610776901245},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39465609192848206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3884086608886719},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20478755235671997},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11269336938858032},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C149923435","wikidata":"https://www.wikidata.org/wiki/Q37732","display_name":"Demography","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C84114770","wikidata":"https://www.wikidata.org/wiki/Q46344","display_name":"Quantum","level":2,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009038","descriptor_name":"Motion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012054","descriptor_name":"Reinforcement, Psychology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012054","descriptor_name":"Reinforcement, Psychology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012054","descriptor_name":"Reinforcement, Psychology","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D057766","descriptor_name":"Policy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D057766","descriptor_name":"Policy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D057766","descriptor_name":"Policy","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/tcyb.2020.2983923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2020.2983923","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Cybernetics","raw_type":"journal-article"},{"id":"pmid:32324589","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/32324589","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null},{"id":"pmh:oai:irdb.nii.ac.jp:01152:0005337843","is_oa":true,"landing_page_url":"https://nagoya.repo.nii.ac.jp/records/2002686","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:01152:0005337843","is_oa":true,"landing_page_url":"https://nagoya.repo.nii.ac.jp/records/2002686","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2392510276","display_name":"Data-driven quasi-optimal control using machine learning techniques","funder_award_id":"19K20375","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G499134498","display_name":"Understanding and realization of swarm intelligence based on ethology and theory life sciences","funder_award_id":"17H01249","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W2027531431","https://openalex.org/W2060914855","https://openalex.org/W2085627234","https://openalex.org/W2101997843","https://openalex.org/W2103285838","https://openalex.org/W2109272040","https://openalex.org/W2110029398","https://openalex.org/W2112036188","https://openalex.org/W2118459920","https://openalex.org/W2118556122","https://openalex.org/W2119717200","https://openalex.org/W2125612430","https://openalex.org/W2136719407","https://openalex.org/W2157069634","https://openalex.org/W2160088187","https://openalex.org/W2167647761","https://openalex.org/W2187471809","https://openalex.org/W2194594451","https://openalex.org/W2257979135","https://openalex.org/W2561397319","https://openalex.org/W2575705757","https://openalex.org/W2593272389","https://openalex.org/W2806988267","https://openalex.org/W2887407101","https://openalex.org/W2904355162","https://openalex.org/W2944306386","https://openalex.org/W2952498592","https://openalex.org/W2963900541","https://openalex.org/W2997896361","https://openalex.org/W3005581722","https://openalex.org/W4211049957","https://openalex.org/W4214717370","https://openalex.org/W6640290305","https://openalex.org/W6674872077","https://openalex.org/W6750645735"],"related_works":["https://openalex.org/W2075768550","https://openalex.org/W3022218857","https://openalex.org/W2369178846","https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153"],"abstract_inverted_index":{"Path":[0],"integral":[1],"policy":[2],"improvement":[3],"(PI":[4],"<sup":[5,30,54],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[6,31,55],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[7,32,56],")":[8],"is":[9,23],"known":[10],"to":[11,78,101,125],"be":[12],"an":[13,50],"efficient":[14],"reinforcement":[15],"learning":[16],"algorithm,":[17],"particularly,":[18],"if":[19],"the":[20,43,61,80,83,90,96,99,103,109,116,127,130],"target":[21],"system":[22],"a":[24,119],"high-dimensional":[25],"dynamical":[26],"system.":[27],"However,":[28],"PI":[29,53],",":[33],"and":[34],"its":[35],"existing":[36],"extensions,":[37],"have":[38],"adjustable":[39],"parameters,":[40],"on":[41,98],"which":[42],"efficiency":[44],"depends":[45],"significantly.":[46,112],"This":[47],"article":[48],"proposes":[49],"extension":[51],"of":[52,60,72,82,115,129],"that":[57,89],"adjusts":[58],"all":[59],"critical":[62],"parameters":[63,104],"automatically.":[64],"Motion":[65],"acquisition":[66],"tasks":[67],"for":[68],"three":[69],"different":[70],"types":[71],"simulated":[73],"legged":[74],"robots":[75],"were":[76],"performed":[77],"test":[79],"efficacy":[81],"proposed":[84,91],"algorithm.":[85],"The":[86],"results":[87],"show":[88,126],"method":[92],"cannot":[93],"only":[94],"eliminate":[95],"burden":[97],"user":[100],"set":[102],"appropriately":[105],"but":[106],"also":[107],"improve":[108],"optimization":[110],"performance":[111],"For":[113],"one":[114],"acquired":[117],"motions,":[118],"real":[120],"robot":[121],"experiment":[122],"was":[123],"conducted":[124],"validity":[128],"motion.":[131]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
