{"id":"https://openalex.org/W2897737355","doi":"https://doi.org/10.1145/3178903","title":"Tradeoffs in Neuroevolutionary Learning-Based Real-Time Robotic Task Design in the Imprecise Computation Framework","display_name":"Tradeoffs in Neuroevolutionary Learning-Based Real-Time Robotic Task Design in the Imprecise Computation Framework","publication_year":2018,"publication_date":"2018-10-10","ids":{"openalex":"https://openalex.org/W2897737355","doi":"https://doi.org/10.1145/3178903","mag":"2897737355"},"language":"en","primary_location":{"id":"doi:10.1145/3178903","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3178903","pdf_url":null,"source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","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/A5064028977","display_name":"Pei-Chi Huang","orcid":"https://orcid.org/0000-0002-7163-2772"},"institutions":[{"id":"https://openalex.org/I122266389","display_name":"University of Nebraska at Omaha","ror":"https://ror.org/04yrkc140","country_code":"US","type":"education","lineage":["https://openalex.org/I122266389"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Pei-Chi Huang","raw_affiliation_strings":["University of Nebraska at Omaha, Omaha, NE"],"affiliations":[{"raw_affiliation_string":"University of Nebraska at Omaha, Omaha, NE","institution_ids":["https://openalex.org/I122266389"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["University of Texas at Austin, USA"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053798319","display_name":"Joel Lehman","orcid":"https://orcid.org/0000-0002-9535-1123"},"institutions":[{"id":"https://openalex.org/I83467386","display_name":"IT University of Copenhagen","ror":"https://ror.org/02309jg23","country_code":"DK","type":"education","lineage":["https://openalex.org/I83467386"]}],"countries":["DK"],"is_corresponding":false,"raw_author_name":"Joel Lehman","raw_affiliation_strings":["IT University of Copenhagen, Denmark"],"affiliations":[{"raw_affiliation_string":"IT University of Copenhagen, Denmark","institution_ids":["https://openalex.org/I83467386"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086418276","display_name":"Chien\u2010Liang Fok","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chien-Liang Fok","raw_affiliation_strings":["University of Texas at Austin, USA"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028305433","display_name":"Aloysius K. Mok","orcid":"https://orcid.org/0000-0003-1309-8425"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aloysius K. Mok","raw_affiliation_strings":["University of Texas at Austin, USA"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020441009","display_name":"Risto Miikkulainen","orcid":"https://orcid.org/0000-0002-0062-0037"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Risto Miikkulainen","raw_affiliation_strings":["University of Texas at Austin, USA"],"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5064028977"],"corresponding_institution_ids":["https://openalex.org/I122266389"],"apc_list":null,"apc_paid":null,"fwci":0.5518,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.68065026,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"3","issue":"2","first_page":"1","last_page":"29"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular 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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9926000237464905,"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/computer-science","display_name":"Computer science","score":0.7350057363510132},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6743793487548828},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6399267911911011},{"id":"https://openalex.org/keywords/avatar","display_name":"Avatar","score":0.6227315664291382},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5144262909889221},{"id":"https://openalex.org/keywords/neuroevolution","display_name":"Neuroevolution","score":0.5082635283470154},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4684367775917053},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.43789204955101013},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4341578781604767},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4131265878677368},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.16437667608261108},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12842810153961182},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.09353786706924438}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7350057363510132},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6743793487548828},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6399267911911011},{"id":"https://openalex.org/C2777365542","wikidata":"https://www.wikidata.org/wiki/Q83090","display_name":"Avatar","level":2,"score":0.6227315664291382},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5144262909889221},{"id":"https://openalex.org/C118070581","wikidata":"https://www.wikidata.org/wiki/Q2060528","display_name":"Neuroevolution","level":3,"score":0.5082635283470154},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4684367775917053},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.43789204955101013},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4341578781604767},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4131265878677368},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.16437667608261108},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12842810153961182},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.09353786706924438},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3178903","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3178903","pdf_url":null,"source":{"id":"https://openalex.org/S2506189754","display_name":"ACM Transactions on Cyber-Physical Systems","issn_l":"2378-962X","issn":["2378-962X","2378-9638"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Cyber-Physical Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W169925467","https://openalex.org/W203400132","https://openalex.org/W774034202","https://openalex.org/W1794703952","https://openalex.org/W1969506947","https://openalex.org/W1977655452","https://openalex.org/W1978580730","https://openalex.org/W1986014385","https://openalex.org/W2010302822","https://openalex.org/W2016876803","https://openalex.org/W2033223309","https://openalex.org/W2036873174","https://openalex.org/W2041376653","https://openalex.org/W2058212397","https://openalex.org/W2066950481","https://openalex.org/W2079246448","https://openalex.org/W2090139585","https://openalex.org/W2098304071","https://openalex.org/W2098578314","https://openalex.org/W2099892262","https://openalex.org/W2106628124","https://openalex.org/W2109163007","https://openalex.org/W2111935653","https://openalex.org/W2112899426","https://openalex.org/W2118253315","https://openalex.org/W2118262422","https://openalex.org/W2123365775","https://openalex.org/W2128543011","https://openalex.org/W2131232094","https://openalex.org/W2136444525","https://openalex.org/W2151083897","https://openalex.org/W2161923944","https://openalex.org/W2167788274","https://openalex.org/W2168071196","https://openalex.org/W2169803171","https://openalex.org/W2207910238","https://openalex.org/W2245197117","https://openalex.org/W2257979135","https://openalex.org/W2295605012","https://openalex.org/W2295968493","https://openalex.org/W2734791212","https://openalex.org/W2919115771","https://openalex.org/W3150997492","https://openalex.org/W4297833447"],"related_works":["https://openalex.org/W3138471234","https://openalex.org/W2168909409","https://openalex.org/W4247958311","https://openalex.org/W2144357723","https://openalex.org/W2950402165","https://openalex.org/W2114981325","https://openalex.org/W4302038648","https://openalex.org/W2099397840","https://openalex.org/W2110944602","https://openalex.org/W3213722473"],"abstract_inverted_index":{"A":[0,158],"cyberphysical":[1,31],"avatar":[2,32],"is":[3,46,145,173],"a":[4,30,75,102,171,176,190,199],"semi-autonomous":[5],"robot":[6,129,192],"that":[7,33,67,115,207],"adjusts":[8],"to":[9,18,59,91,130,138,174,195],"an":[10,83],"unstructured":[11,84],"environment":[12],"and":[13,41,86,147,193],"performs":[14],"physical":[15],"tasks":[16,55],"subject":[17],"critical":[19],"timing":[20],"constraints":[21,88],"while":[22],"under":[23],"human":[24],"supervision.":[25],"This":[26],"article":[27],"first":[28],"realizes":[29],"integrates":[34],"three":[35,108,120],"key":[36],"technologies:":[37],"body-compliant":[38],"control,":[39],"neuroevolution,":[40],"real-time":[42,87],"constraints.":[43],"Body-compliant":[44],"control":[45],"essential":[47],"for":[48,74,111,128,202],"operator":[49],"safety,":[50],"because":[51],"avatars":[52,65],"perform":[53,131,175],"cooperative":[54],"in":[56,82,96,161,210],"close":[57],"proximity":[58],"humans;":[60],"neuroevolution":[61],"(NEAT)":[62],"enables":[63],"\u201cprogramming\u201d":[64],"such":[66],"they":[68],"can":[69],"be":[70],"used":[71],"by":[72,165],"non-experts":[73],"large":[76],"array":[77],"of":[78,125,151,154,182,198,216],"tasks,":[79],"some":[80],"unforeseen,":[81],"environment;":[85],"are":[89],"indispensable":[90],"provide":[92],"predictable,":[93],"bounded-time":[94],"response":[95],"human-avatar":[97],"interaction.":[98],"Then,":[99],"we":[100],"present":[101],"study":[103,160],"on":[104],"the":[105,123,132,135,140,143,149,152,155,167,196,217],"tradeoffs":[106],"between":[107],"design":[109,163],"parameters":[110],"robotic":[112,178,204],"task":[113,141,205],"systems":[114,206,215],"must":[116,208],"incorporate":[117],"at":[118],"least":[119],"dimensions:":[121],"(1)":[122],"amount":[124],"training":[126],"effort":[127],"task,":[133,179],"(2)":[134],"time":[136],"available":[137],"complete":[139],"when":[142],"command":[144],"given,":[146],"(3)":[148],"quality":[150],"result":[153],"performed":[156],"task.":[157],"tradeoff":[159],"this":[162],"space":[164],"using":[166],"imprecise":[168],"computation":[169],"as":[170],"framework":[172],"common":[177],"specifically,":[180],"grasping":[181],"unknown":[183],"objects.":[184],"The":[185],"results":[186],"were":[187],"validated":[188],"with":[189],"real":[191],"contribute":[194],"development":[197],"systematic":[200],"approach":[201],"designing":[203],"function":[209],"environments":[211],"like":[212],"flexible":[213],"manufacturing":[214],"future.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}