{"id":"https://openalex.org/W4285981756","doi":"https://doi.org/10.1145/3528233.3530719","title":"Deep Compliant Control","display_name":"Deep Compliant Control","publication_year":2022,"publication_date":"2022-07-20","ids":{"openalex":"https://openalex.org/W4285981756","doi":"https://doi.org/10.1145/3528233.3530719"},"language":"en","primary_location":{"id":"doi:10.1145/3528233.3530719","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3528233.3530719","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Special Interest Group on Computer Graphics and Interactive Techniques Conference Proceedings","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/A5112258734","display_name":"Seunghwan Lee","orcid":"https://orcid.org/0009-0000-6994-0808"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seunghwan Lee","raw_affiliation_strings":["Seoul National University, South Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086082858","display_name":"Phil Sik Chang","orcid":"https://orcid.org/0000-0002-0086-9502"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Phil Sik Chang","raw_affiliation_strings":["Seoul National University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100366271","display_name":"Jehee Lee","orcid":"https://orcid.org/0000-0003-1023-1868"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I4210135449","display_name":"NCSOFT (South Korea)","ror":"https://ror.org/03q4mza74","country_code":"KR","type":"company","lineage":["https://openalex.org/I4210135449"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jehee Lee","raw_affiliation_strings":["NCSOFT, South Korea and Seoul National University, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"NCSOFT, South Korea and Seoul National University, Republic of Korea","institution_ids":["https://openalex.org/I4210135449","https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5112258734"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":null,"apc_paid":null,"fwci":1.2008,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.756646,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9955000281333923,"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/doors","display_name":"Doors","score":0.6750549674034119},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6698983907699585},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5648719072341919},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5629415512084961},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5413174629211426},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5356504321098328},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47921091318130493},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46509209275245667},{"id":"https://openalex.org/keywords/ranging","display_name":"Ranging","score":0.4603779911994934},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3793550431728363},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3778175115585327},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3243950605392456},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2897428870201111},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2304956316947937}],"concepts":[{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.6750549674034119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6698983907699585},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5648719072341919},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5629415512084961},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5413174629211426},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5356504321098328},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47921091318130493},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46509209275245667},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.4603779911994934},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3793550431728363},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3778175115585327},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3243950605392456},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2897428870201111},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2304956316947937},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3528233.3530719","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3528233.3530719","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Special Interest Group on Computer Graphics and Interactive Techniques Conference Proceedings","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1498686692","https://openalex.org/W1965852706","https://openalex.org/W1967377907","https://openalex.org/W1975836250","https://openalex.org/W1995090200","https://openalex.org/W2005478758","https://openalex.org/W2018571963","https://openalex.org/W2035306010","https://openalex.org/W2073531546","https://openalex.org/W2088806978","https://openalex.org/W2105360813","https://openalex.org/W2109383252","https://openalex.org/W2111253117","https://openalex.org/W2134615047","https://openalex.org/W2156102255","https://openalex.org/W2162207896","https://openalex.org/W2330589301","https://openalex.org/W2539915646","https://openalex.org/W2739330054","https://openalex.org/W2784449021","https://openalex.org/W2793955514","https://openalex.org/W2796290181","https://openalex.org/W2811441028","https://openalex.org/W2902791462","https://openalex.org/W2903078559","https://openalex.org/W2914066120","https://openalex.org/W2958043083","https://openalex.org/W2968095426","https://openalex.org/W2984579799","https://openalex.org/W2987886924","https://openalex.org/W2988458564","https://openalex.org/W3003629310","https://openalex.org/W3021055704","https://openalex.org/W3044718039","https://openalex.org/W3048710353","https://openalex.org/W3099126917","https://openalex.org/W3104515094","https://openalex.org/W3105609823","https://openalex.org/W3147968035","https://openalex.org/W3181074849","https://openalex.org/W3184085787","https://openalex.org/W3184482500"],"related_works":["https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2935909890","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2783354812","https://openalex.org/W4384112194"],"abstract_inverted_index":{"In":[0],"many":[1],"physical":[2,61],"interactions":[3,44],"such":[4],"as":[5],"opening":[6,134],"doors":[7],"and":[8,36,78,115,121,139],"playing":[9],"sports,":[10],"humans":[11],"act":[12],"compliantly":[13],"to":[14,19,24,30,59,63,106],"move":[15],"in":[16,142],"various":[17,130],"ways":[18],"avoid":[20],"large":[21],"impacts":[22],"or":[23],"manipulate":[25],"objects.":[26],"This":[27],"paper":[28],"aims":[29],"build":[31],"a":[32,50,89,137],"framework":[33],"for":[34,119],"simulation":[35],"control":[37,91,117],"of":[38,53,126],"humanoids":[39],"that":[40,98],"creates":[41],"physically":[42,75],"compliant":[43],"with":[45,66,129],"surroundings.":[46],"We":[47],"can":[48],"generate":[49],"broad":[51],"spectrum":[52],"movements":[54,101],"ranging":[55],"from":[56],"passive":[57],"reactions":[58],"external":[60,107],"perturbations,":[62],"active":[64],"manipulations":[65],"clear":[67],"intentions.":[68],"Technical":[69],"challenges":[70],"include":[71],"defining":[72],"compliance,":[73],"reproducing":[74],"reliable":[76],"movements,":[77],"robustly":[79],"controlling":[80],"under-actuated":[81],"dynamical":[82],"systems.":[83],"The":[84,109],"key":[85],"technical":[86],"contribution":[87],"is":[88],"two-level":[90],"architecture":[92],"based":[93],"on":[94],"deep":[95],"reinforcement":[96],"learning":[97],"imitates":[99],"human":[100],"while":[102],"adjusting":[103],"their":[104],"bodies":[105],"perturbations.":[108],"controller":[110,128],"minimizes":[111],"the":[112,116,124,127],"interaction":[113],"forces":[114],"torques":[118],"imitation,":[120],"we":[122],"demonstrate":[123],"effectiveness":[125],"motor":[131],"skills":[132],"including":[133],"doors,":[135],"balancing":[136],"ball,":[138],"running":[140],"hand":[141],"hand.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}