{"id":"https://openalex.org/W2965243272","doi":"https://doi.org/10.1109/tro.2019.2926388","title":"Inverse Optimal Control for Multiphase Cost Functions","display_name":"Inverse Optimal Control for Multiphase Cost Functions","publication_year":2019,"publication_date":"2019-07-29","ids":{"openalex":"https://openalex.org/W2965243272","doi":"https://doi.org/10.1109/tro.2019.2926388","mag":"2965243272"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2019.2926388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2926388","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1525702","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5017350249","display_name":"Wanxin Jin","orcid":"https://orcid.org/0000-0001-5330-855X"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wanxin Jin","raw_affiliation_strings":["School of Aeronautics and Astronautics, Purdue University, West Lafayette, USA"],"raw_orcid":"https://orcid.org/0000-0001-5330-855X","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Purdue University, West Lafayette, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072377971","display_name":"Dana Kuli\u0107","orcid":"https://orcid.org/0000-0002-4169-2141"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Dana Kulic","raw_affiliation_strings":["Monash University, Melbourne, Australia"],"raw_orcid":"https://orcid.org/0000-0002-4169-2141","affiliations":[{"raw_affiliation_string":"Monash University, Melbourne, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020793193","display_name":"Jonathan Feng-Shun Lin","orcid":"https://orcid.org/0000-0002-0008-7199"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jonathan Feng-Shun Lin","raw_affiliation_strings":["Department of Electrical Computer Engineering, University of Waterloo, Waterloo, Canada"],"raw_orcid":"https://orcid.org/0000-0002-0008-7199","affiliations":[{"raw_affiliation_string":"Department of Electrical Computer Engineering, University of Waterloo, Waterloo, Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070733769","display_name":"Shaoshuai Mou","orcid":"https://orcid.org/0000-0002-3698-4238"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shaoshuai Mou","raw_affiliation_strings":["School of Aeronautics and Astronautics, Purdue University, West Lafayette, USA"],"raw_orcid":"https://orcid.org/0000-0002-3698-4238","affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Purdue University, West Lafayette, USA","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandra Hirche","raw_affiliation_strings":["Chair of Information-oriented Control, Technical University of Munich, Munich, Germany"],"raw_orcid":"https://orcid.org/0000-0001-7819-5926","affiliations":[{"raw_affiliation_string":"Chair of Information-oriented Control, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.27,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.94674873,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"35","issue":"6","first_page":"1387","last_page":"1398"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9944000244140625,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9944000244140625,"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/T10982","display_name":"Motor Control and Adaptation","score":0.9926000237464905,"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"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/trajectory","display_name":"Trajectory","score":0.8028210401535034},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.582412838935852},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5702943801879883},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5193653702735901},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.5031601786613464},{"id":"https://openalex.org/keywords/segmentation","display_name":"Segmentation","score":0.48673510551452637},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4761933386325836},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.45701152086257935},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4453083276748657},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4146645963191986},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.380169540643692},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32110440731048584},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29968172311782837},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2306385636329651},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0846375823020935},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07347390055656433}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8028210401535034},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.582412838935852},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5702943801879883},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5193653702735901},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.5031601786613464},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.48673510551452637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4761933386325836},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.45701152086257935},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4453083276748657},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4146645963191986},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.380169540643692},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32110440731048584},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29968172311782837},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2306385636329651},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0846375823020935},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07347390055656433},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2019.2926388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2926388","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1525702","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1525702","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1525702","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1525702","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320308204","display_name":"Northrop Grumman","ror":"https://ror.org/05kewds18"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W1496777766","https://openalex.org/W1527702126","https://openalex.org/W1568448898","https://openalex.org/W1801976851","https://openalex.org/W1999874108","https://openalex.org/W2018636632","https://openalex.org/W2021300704","https://openalex.org/W2027161089","https://openalex.org/W2029776687","https://openalex.org/W2037997802","https://openalex.org/W2053936014","https://openalex.org/W2057134775","https://openalex.org/W2067910439","https://openalex.org/W2098774185","https://openalex.org/W2107308405","https://openalex.org/W2120446293","https://openalex.org/W2130527887","https://openalex.org/W2155141792","https://openalex.org/W2169498096","https://openalex.org/W2188585002","https://openalex.org/W2418222507","https://openalex.org/W2569048919","https://openalex.org/W2737702598","https://openalex.org/W2765164677","https://openalex.org/W2791173582","https://openalex.org/W3001928911","https://openalex.org/W4254475186","https://openalex.org/W6638440308","https://openalex.org/W6674884181","https://openalex.org/W6749379201","https://openalex.org/W6772701940"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2383578611","https://openalex.org/W2987583674"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"consider":[4],"a":[5,11,15,27,75,98,113,121,127,157],"dynamical":[6],"system":[7],"whose":[8],"trajectory":[9,155],"is":[10,23,67,72,87,109],"result":[12],"of":[13,30,58,105,123,129,144,151],"minimizing":[14],"multiphase":[16,20],"cost":[17,21,56,100,142],"function.":[18],"The":[19,69,103,132],"function":[22,143],"assumed":[24],"to":[25,73],"be":[26],"weighted":[28],"sum":[29],"specified":[31],"features":[32],"(or":[33],"basis":[34],"functions)":[35],"with":[36,156],"phase-dependent":[37],"weights":[38,57],"that":[39,95,135],"switch":[40],"at":[41],"some":[42],"unknown":[43],"phase":[44,60,64,146,150],"transition":[45,65],"points.":[46],"A":[47],"new":[48],"inverse":[49],"optimal":[50],"control":[51],"approach":[52],"for":[53,97],"recovering":[54],"the":[55,63,80,84,91,106,136,141,154],"each":[59,145,149],"and":[61,117,147],"estimating":[62],"points":[66],"proposed.":[68],"key":[70],"idea":[71],"use":[74],"length-adapted":[76],"window":[77,85],"moving":[78],"along":[79],"observed":[81],"trajectory,":[82],"where":[83],"length":[86,94],"determined":[88],"by":[89],"finding":[90],"minimal":[92],"observation":[93],"suffices":[96],"successful":[99],"weight":[101],"recovery.":[102],"effectiveness":[104],"proposed":[107,137],"method":[108,138],"first":[110],"evaluated":[111],"on":[112,120],"simulated":[114],"robot":[115],"arm,":[116],"then,":[118],"demonstrated":[119],"dataset":[122],"human":[124],"participants":[125],"performing":[126],"series":[128],"squatting":[130],"tasks.":[131],"results":[133],"demonstrate":[134],"reliably":[139],"retrieves":[140],"segments":[148],"motion":[152],"from":[153],"segmentation":[158],"accuracy":[159],"above":[160],"90%.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}