{"id":"https://openalex.org/W4285400430","doi":"https://doi.org/10.1109/ur55393.2022.9826279","title":"Learning-based Motion Stabilizer Leveraging Offline Temporal Optimization","display_name":"Learning-based Motion Stabilizer Leveraging Offline Temporal Optimization","publication_year":2022,"publication_date":"2022-07-04","ids":{"openalex":"https://openalex.org/W4285400430","doi":"https://doi.org/10.1109/ur55393.2022.9826279"},"language":"en","primary_location":{"id":"doi:10.1109/ur55393.2022.9826279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur55393.2022.9826279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 19th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-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/A5050411522","display_name":"Min Sung Ahn","orcid":"https://orcid.org/0000-0002-9987-5696"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Min Sung Ahn","raw_affiliation_strings":["The University of California, Los Angeles (UCLA),Robotics and Mechanisms Laboratory (RoMeLa),Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"The University of California, Los Angeles (UCLA),Robotics and Mechanisms Laboratory (RoMeLa),Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021215670","display_name":"Hosik Chae","orcid":"https://orcid.org/0009-0008-5884-6670"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hosik Chae","raw_affiliation_strings":["The University of California, Los Angeles (UCLA),Robotics and Mechanisms Laboratory (RoMeLa),Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"The University of California, Los Angeles (UCLA),Robotics and Mechanisms Laboratory (RoMeLa),Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074010384","display_name":"Colin Togashi","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Colin Togashi","raw_affiliation_strings":["The University of California, Los Angeles (UCLA),Robotics and Mechanisms Laboratory (RoMeLa),Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"The University of California, Los Angeles (UCLA),Robotics and Mechanisms Laboratory (RoMeLa),Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["The University of California, Los Angeles (UCLA),Robotics and Mechanisms Laboratory (RoMeLa),Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"The University of California, Los Angeles (UCLA),Robotics and Mechanisms Laboratory (RoMeLa),Los Angeles,CA,USA,90095","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089263869","display_name":"Joohyung Kim","orcid":"https://orcid.org/0000-0001-9575-2835"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joohyung Kim","raw_affiliation_strings":["University of Illinois Urbana-Champaign,Electrical and Computer Engineering,Urbana,IL,USA,61801"],"affiliations":[{"raw_affiliation_string":"University of Illinois Urbana-Champaign,Electrical and Computer Engineering,Urbana,IL,USA,61801","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047885515","display_name":"Sungjoon Choi","orcid":"https://orcid.org/0000-0002-3049-8212"},"institutions":[{"id":"https://openalex.org/I4210112184","display_name":"Center for Art Studies","ror":"https://ror.org/01zbb0s29","country_code":"KR","type":"facility","lineage":["https://openalex.org/I4210112184"]},{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sungjoon Choi","raw_affiliation_strings":["Korea University,School of Artificial Intelligence,Seoul,Korea","School of Artificial Intelligence, Korea University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Korea University,School of Artificial Intelligence,Seoul,Korea","institution_ids":["https://openalex.org/I4210112184"]},{"raw_affiliation_string":"School of Artificial Intelligence, Korea University, Seoul, Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5050411522"],"corresponding_institution_ids":["https://openalex.org/I161318765"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07335554,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"129","last_page":"136"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9991000294685364,"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/computer-science","display_name":"Computer science","score":0.726819634437561},{"id":"https://openalex.org/keywords/stabilizer","display_name":"Stabilizer (aeronautics)","score":0.6838478446006775},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4789165258407593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42763689160346985},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.413780152797699},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10139074921607971},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06333863735198975}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.726819634437561},{"id":"https://openalex.org/C2777502316","wikidata":"https://www.wikidata.org/wiki/Q2712515","display_name":"Stabilizer (aeronautics)","level":2,"score":0.6838478446006775},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4789165258407593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42763689160346985},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.413780152797699},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10139074921607971},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06333863735198975}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur55393.2022.9826279","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur55393.2022.9826279","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 19th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1965069692","https://openalex.org/W1970101292","https://openalex.org/W1983864916","https://openalex.org/W2004710335","https://openalex.org/W2013439434","https://openalex.org/W2037729465","https://openalex.org/W2099454002","https://openalex.org/W2108234997","https://openalex.org/W2109606373","https://openalex.org/W2122825543","https://openalex.org/W2123871098","https://openalex.org/W2127763473","https://openalex.org/W2133859362","https://openalex.org/W2162218551","https://openalex.org/W2562548250","https://openalex.org/W2788030459","https://openalex.org/W2908590185","https://openalex.org/W2910246538","https://openalex.org/W2912365230","https://openalex.org/W2925761457","https://openalex.org/W2944561196","https://openalex.org/W2961649484","https://openalex.org/W2964021722","https://openalex.org/W2980792850","https://openalex.org/W3041790910","https://openalex.org/W3105570727","https://openalex.org/W4250589301","https://openalex.org/W4295312788","https://openalex.org/W6766978945"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2392919231","https://openalex.org/W2373888082","https://openalex.org/W2384382117","https://openalex.org/W2043828253","https://openalex.org/W4252630758","https://openalex.org/W2368845495","https://openalex.org/W2352943411","https://openalex.org/W2369119520"],"abstract_inverted_index":{"During":[0],"loco-manipulation,":[1],"instabilities":[2],"to":[3,38],"the":[4,11,21,26,52,59],"robot\u2019s":[5],"base":[6],"can":[7,55],"be":[8,56],"introduced":[9],"by":[10],"manipulator\u2019s":[12],"motions.":[13],"Trajectories":[14],"that":[15,51],"are":[16,63],"generated":[17],"on-the-fly":[18],"may":[19],"jeopardize":[20],"stability":[22],"and":[23,28,67,77],"safety":[24],"of":[25],"robot":[27,41],"its":[29,78],"surroundings.":[30],"This":[31],"work":[32],"proposes":[33],"a":[34,40,45,71,83],"self-supervised":[35],"learning-based":[36],"pipeline":[37],"keep":[39],"stable":[42],"while":[43],"executing":[44],"given":[46],"trajectory.":[47],"Empirical":[48],"results":[49],"show":[50],"desired":[53],"objective":[54],"achieved":[57],"with":[58],"proposed":[60],"pipeline.":[61],"Experiments":[62],"done":[64],"in":[65],"simulation":[66],"on":[68,70,82],"hardware":[69],"unique":[72],"multi-modal,":[73],"manipulation-capable":[74],"legged":[75],"robot,":[76],"scalability":[79],"is":[80],"tested":[81],"conventional":[84],"manipulator.":[85]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
