{"id":"https://openalex.org/W4280511593","doi":"https://doi.org/10.1109/tro.2022.3200546","title":"Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach","display_name":"Global Model Learning for Large Deformation Control of Elastic Deformable Linear Objects: An Efficient and Adaptive Approach","publication_year":2022,"publication_date":"2022-09-13","ids":{"openalex":"https://openalex.org/W4280511593","doi":"https://doi.org/10.1109/tro.2022.3200546"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3200546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3200546","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2205.04004","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049774090","display_name":"Mingrui Yu","orcid":"https://orcid.org/0000-0002-8928-8121"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Mingrui Yu","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8928-8121","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063536734","display_name":"Kangchen Lv","orcid":"https://orcid.org/0000-0001-5748-7372"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kangchen Lv","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5748-7372","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031855148","display_name":"Hanzhong Zhong","orcid":"https://orcid.org/0000-0002-2539-9252"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanzhong Zhong","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2539-9252","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068624597","display_name":"Shiji Song","orcid":"https://orcid.org/0000-0001-7361-9283"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiji Song","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7361-9283","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I4210105229","display_name":"City University of Hong Kong, Shenzhen Research Institute","ror":"https://ror.org/00xc0ma20","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210105229"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Department of Automation, Tsinghua University, Beijing, China","CUHK Shenzhen Research Institute, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-0699-1904","affiliations":[{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"CUHK Shenzhen Research Institute, Shenzhen, China","institution_ids":["https://openalex.org/I4210105229","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5049774090"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":8.8583,"has_fulltext":false,"cited_by_count":81,"citation_normalized_percentile":{"value":0.98630846,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"39","issue":"1","first_page":"417","last_page":"436"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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":0.9995999932289124,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9986000061035156,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9961000084877014,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5535050630569458},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5487622618675232},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5339136719703674},{"id":"https://openalex.org/keywords/online-model","display_name":"Online model","score":0.47410091757774353},{"id":"https://openalex.org/keywords/offline-learning","display_name":"Offline learning","score":0.4502517580986023},{"id":"https://openalex.org/keywords/deformation","display_name":"Deformation (meteorology)","score":0.4252541661262512},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4118836522102356},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3795798420906067},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.361425518989563},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3485240936279297},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25500544905662537},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2100553810596466},{"id":"https://openalex.org/keywords/online-learning","display_name":"Online learning","score":0.2038469910621643}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5535050630569458},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5487622618675232},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5339136719703674},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.47410091757774353},{"id":"https://openalex.org/C2780490138","wikidata":"https://www.wikidata.org/wiki/Q7079636","display_name":"Offline learning","level":3,"score":0.4502517580986023},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.4252541661262512},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4118836522102356},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3795798420906067},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.361425518989563},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3485240936279297},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25500544905662537},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2100553810596466},{"id":"https://openalex.org/C2986087404","wikidata":"https://www.wikidata.org/wiki/Q15946010","display_name":"Online learning","level":2,"score":0.2038469910621643},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2022.3200546","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3200546","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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:arXiv.org:2205.04004","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.04004","pdf_url":"https://arxiv.org/pdf/2205.04004","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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2205.04004","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.04004","pdf_url":"https://arxiv.org/pdf/2205.04004","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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3362685983","display_name":null,"funder_award_id":"52075290","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5792935957","display_name":null,"funder_award_id":"JCYJ20170816164748290","funder_id":"https://openalex.org/F4320329174","funder_display_name":"Shenzhen Municipal Science and Technology Innovation Council"},{"id":"https://openalex.org/G773164479","display_name":null,"funder_award_id":"U21A20517","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320329174","display_name":"Shenzhen Municipal Science and Technology Innovation Council","ror":"https://ror.org/017n8df75"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W1481925965","https://openalex.org/W1487127700","https://openalex.org/W1522301498","https://openalex.org/W1536680647","https://openalex.org/W1969865247","https://openalex.org/W1986953096","https://openalex.org/W1988207416","https://openalex.org/W2006104867","https://openalex.org/W2037201547","https://openalex.org/W2126998703","https://openalex.org/W2151205149","https://openalex.org/W2156441448","https://openalex.org/W2322971354","https://openalex.org/W2738778707","https://openalex.org/W2805530149","https://openalex.org/W2808405904","https://openalex.org/W2859599500","https://openalex.org/W2889873161","https://openalex.org/W2889987506","https://openalex.org/W2901136733","https://openalex.org/W2901496726","https://openalex.org/W2908861886","https://openalex.org/W2909916734","https://openalex.org/W2938604599","https://openalex.org/W2962871243","https://openalex.org/W2981316255","https://openalex.org/W3003169307","https://openalex.org/W3003232400","https://openalex.org/W3003873430","https://openalex.org/W3006125498","https://openalex.org/W3012514211","https://openalex.org/W3035880432","https://openalex.org/W3039664495","https://openalex.org/W3091248659","https://openalex.org/W3104901003","https://openalex.org/W3105162718","https://openalex.org/W3119874910","https://openalex.org/W3159812989","https://openalex.org/W3160350213","https://openalex.org/W3164946289","https://openalex.org/W3192021195","https://openalex.org/W3198779257","https://openalex.org/W3199951390","https://openalex.org/W3205009373","https://openalex.org/W3206241064","https://openalex.org/W3206509851","https://openalex.org/W3206634839","https://openalex.org/W3206646577","https://openalex.org/W3206970255","https://openalex.org/W3207299932","https://openalex.org/W3215104345","https://openalex.org/W4221070022","https://openalex.org/W4287254429","https://openalex.org/W4289690297","https://openalex.org/W4290709364","https://openalex.org/W4303490236","https://openalex.org/W6631190155","https://openalex.org/W6753526802","https://openalex.org/W6756486208","https://openalex.org/W6774733536","https://openalex.org/W6785618536"],"related_works":["https://openalex.org/W4390722922","https://openalex.org/W2084573121","https://openalex.org/W4225619808","https://openalex.org/W2889812635","https://openalex.org/W1984935210","https://openalex.org/W4290709364","https://openalex.org/W3199951390","https://openalex.org/W4225354680","https://openalex.org/W3022807579","https://openalex.org/W2975416010"],"abstract_inverted_index":{"The":[0],"robotic":[1],"manipulation":[2,186],"of":[3,48,178],"deformable":[4],"linear":[5],"objects":[6],"(DLOs)":[7],"has":[8],"broad":[9],"application":[10],"prospects":[11],"in":[12,181,205],"many":[13],"fields.":[14],"However,":[15],"a":[16,69,79,105,143],"key":[17],"issue":[18],"is":[19,50,108],"to":[20,36,118,133],"obtain":[21],"the":[22,45,101,119,135,148,152,169,174,190,206,214],"exact":[23],"deformation":[24,55,81,170,176],"models":[25],"(i.e.,":[26],"how":[27],"robot":[28],"motion":[29],"affects":[30],"DLO":[31],"deformation),":[32],"which":[33],"are":[34,131],"hard":[35],"theoretically":[37],"calculate":[38],"and":[39,60,72,91,122,138,146,157,166,172,183],"vary":[40],"among":[41],"different":[42,199,203],"DLOs.":[43],"Thus,":[44],"shape":[46],"control":[47,56,177],"DLOs":[49,96,180,204],"challenging,":[51],"especially":[52],"for":[53,76,84,94,213],"large":[54,175],"that":[57,161],"requires":[58],"global":[59,80],"more":[61],"accurate":[62,86],"models.":[63],"In":[64],"this":[65],"article,":[66],"we":[67],"propose":[68,142],"coupled":[70],"offline":[71,89,111,215],"online":[73,98,120,125],"data-driven":[74],"method":[75,163],"efficiently":[77,165],"learning":[78,90],"model,":[82],"allowing":[83],"both":[85],"modeling":[87],"through":[88],"further":[92,123],"updating":[93],"new":[95],"via":[97],"adaptation.":[99],"Specifically,":[100],"model":[102,171],"approximated":[103],"by":[104],"neural":[106],"network":[107],"first":[109],"trained":[110],"on":[112,202],"random":[113],"data,":[114],"then":[115],"seamlessly":[116],"migrated":[117],"phase,":[121],"updated":[124],"during":[126],"actual":[127],"manipulation.":[128],"Several":[129],"strategies":[130],"introduced":[132],"improve":[134],"model's":[136],"efficiency":[137],"generalization":[139],"ability.":[140],"We":[141],"convex-optimization-based":[144],"controller":[145],"analyze":[147],"system's":[149],"stability":[150],"using":[151,209],"Lyapunov":[153],"method.":[154],"Detailed":[155],"simulations":[156],"real-world":[158],"experiments":[159],"demonstrate":[160],"our":[162],"can":[164],"precisely":[167],"estimate":[168],"achieve":[173],"untrained":[179],"2-D":[182],"3-D":[184],"dual-arm":[185],"tasks":[187,197],"better":[188],"than":[189],"existing":[191],"methods.":[192],"It":[193],"accomplishes":[194],"all":[195],"24":[196],"with":[198],"desired":[200],"shapes":[201],"real":[207],"world,":[208],"only":[210],"simulation":[211],"data":[212],"learning.":[216]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":32},{"year":2024,"cited_by_count":21},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2022-05-22T00:00:00"}
