{"id":"https://openalex.org/W4304616942","doi":"https://doi.org/10.1145/3561975.3562943","title":"Learning High-Risk High-Precision Motion Control","display_name":"Learning High-Risk High-Precision Motion Control","publication_year":2022,"publication_date":"2022-10-11","ids":{"openalex":"https://openalex.org/W4304616942","doi":"https://doi.org/10.1145/3561975.3562943"},"language":"en","primary_location":{"id":"doi:10.1145/3561975.3562943","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3561975.3562943","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3561975.3562943","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 15th ACM SIGGRAPH Conference on Motion, Interaction and Games","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3561975.3562943","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100626788","display_name":"Nam Hee Kim","orcid":"https://orcid.org/0000-0002-3087-5276"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Nam Hee Kim","raw_affiliation_strings":["Aalto University, Finland"],"affiliations":[{"raw_affiliation_string":"Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078594214","display_name":"Markus Kirjonen","orcid":"https://orcid.org/0000-0002-4382-2165"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Markus Kirjonen","raw_affiliation_strings":["Aalto University, Finland"],"affiliations":[{"raw_affiliation_string":"Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060951467","display_name":"Perttu H\u00e4m\u00e4l\u00e4inen","orcid":"https://orcid.org/0000-0001-7764-3459"},"institutions":[{"id":"https://openalex.org/I9927081","display_name":"Aalto University","ror":"https://ror.org/020hwjq30","country_code":"FI","type":"education","lineage":["https://openalex.org/I9927081"]}],"countries":["FI"],"is_corresponding":false,"raw_author_name":"Perttu H\u00e4m\u00e4l\u00e4inen","raw_affiliation_strings":["Aalto University, Finland"],"affiliations":[{"raw_affiliation_string":"Aalto University, Finland","institution_ids":["https://openalex.org/I9927081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100626788"],"corresponding_institution_ids":["https://openalex.org/I9927081"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11983122,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"10"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9990000128746033,"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/T12290","display_name":"Human Motion and Animation","score":0.9990000128746033,"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":0.9954000115394592,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.994700014591217,"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":0.6351652145385742},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.49020081758499146},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.48663052916526794},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42972731590270996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3583918809890747},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10058963298797607}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6351652145385742},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49020081758499146},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.48663052916526794},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42972731590270996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3583918809890747},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10058963298797607}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3561975.3562943","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3561975.3562943","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3561975.3562943","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 15th ACM SIGGRAPH Conference on Motion, Interaction and Games","raw_type":"proceedings-article"},{"id":"pmh:oai:aaltodoc.aalto.fi:123456789/118062","is_oa":true,"landing_page_url":"https://research.aalto.fi/en/publications/e374b67f-a7e7-4d84-84bd-5f8f28472238","pdf_url":null,"source":{"id":"https://openalex.org/S4306401662","display_name":"Aaltodoc (Aalto University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9927081","host_organization_name":"Aalto University","host_organization_lineage":["https://openalex.org/I9927081"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"publishedVersion"}],"best_oa_location":{"id":"doi:10.1145/3561975.3562943","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3561975.3562943","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3561975.3562943","source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 15th ACM SIGGRAPH Conference on Motion, Interaction and Games","raw_type":"proceedings-article"},"sustainable_development_goals":[{"score":0.7799999713897705,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G8284766523","display_name":null,"funder_award_id":"(NSERC)","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320332050","display_name":"Finnish Center for Artificial Intelligence","ror":null},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4304616942.pdf","grobid_xml":"https://content.openalex.org/works/W4304616942.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W1964946446","https://openalex.org/W1996626756","https://openalex.org/W1998496300","https://openalex.org/W2010417526","https://openalex.org/W2022424129","https://openalex.org/W2053621240","https://openalex.org/W2076806230","https://openalex.org/W2087617385","https://openalex.org/W2089059393","https://openalex.org/W2132083787","https://openalex.org/W2296073425","https://openalex.org/W2737372623","https://openalex.org/W2739232183","https://openalex.org/W2806872887","https://openalex.org/W2975583152","https://openalex.org/W2987886924","https://openalex.org/W3048659003","https://openalex.org/W3048710353","https://openalex.org/W3080217188","https://openalex.org/W3094027362","https://openalex.org/W3120954497","https://openalex.org/W3147968035","https://openalex.org/W3181074849","https://openalex.org/W4246555273"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"Deep":[0],"reinforcement":[1],"learning":[2,140,160],"(DRL)":[3],"algorithms":[4],"for":[5,173],"movement":[6],"control":[7,45],"are":[8],"typically":[9],"evaluated":[10],"and":[11,55,75,138,168],"benchmarked":[12],"on":[13,37,86,108,129],"sequential":[14],"decision":[15],"tasks":[16],"where":[17,47],"imprecise":[18],"actions":[19,48],"may":[20],"be":[21],"corrected":[22],"with":[23,30,90],"later":[24],"actions,":[25],"thus":[26],"allowing":[27,102],"high":[28,165],"returns":[29],"noisy":[31],"actions.":[32],"In":[33],"contrast,":[34],"we":[35,73],"focus":[36],"an":[38],"under-researched":[39],"class":[40],"of":[41,70],"high-risk,":[42],"high-precision":[43],"motion":[44],"problems":[46],"carry":[49],"irreversible":[50],"outcomes,":[51],"driving":[52],"sharp":[53],"peaks":[54],"ridges":[56],"to":[57,105,109,121,142,149],"plague":[58],"the":[59,103,110,130,150],"state-action":[60],"reward":[61,125],"landscape.":[62],"Using":[63],"computational":[64],"pool":[65],"as":[66],"a":[67,80,117,134,139,174],"representative":[68],"example":[69],"such":[71],"problems,":[72],"propose":[74],"evaluate":[76],"State-Conditioned":[77],"Shooting":[78],"(SCOOT),":[79],"novel":[81],"DRL":[82],"algorithm":[83],"that":[84],"builds":[85],"advantage-weighted":[87],"regression":[88],"(AWR)":[89],"three":[91],"key":[92],"modifications:":[93],"1)":[94],"Performing":[95],"policy":[96,104],"optimization":[97],"only":[98],"using":[99],"elite":[100],"samples,":[101],"better":[106],"latch":[107],"rare":[111],"high-reward":[112],"action":[113,166],"samples;":[114],"2)":[115],"Utilizing":[116],"mixture-of-experts":[118],"(MoE)":[119],"policy,":[120],"allow":[122],"switching":[123],"between":[124],"landscape":[126],"modes":[127],"depending":[128],"state;":[131],"3)":[132],"Adding":[133],"distance":[135],"regularization":[136],"term":[137],"curriculum":[141],"encourage":[143],"exploring":[144],"diverse":[145],"strategies":[146,172],"before":[147],"adapting":[148],"most":[151],"advantageous":[152],"samples.":[153],"We":[154],"showcase":[155],"our":[156],"features\u2019":[157],"performance":[158],"in":[159],"physically-based":[161],"billiard":[162],"shots":[163],"demonstrating":[164],"precision":[167],"discovering":[169],"multiple":[170],"shot":[171],"given":[175],"ball":[176],"configuration.":[177]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}