{"id":"https://openalex.org/W4387802985","doi":"https://doi.org/10.1146/annurev-control-061523-102310","title":"Robot Model Identification and Learning: A Modern Perspective","display_name":"Robot Model Identification and Learning: A Modern Perspective","publication_year":2023,"publication_date":"2023-10-20","ids":{"openalex":"https://openalex.org/W4387802985","doi":"https://doi.org/10.1146/annurev-control-061523-102310"},"language":"en","primary_location":{"id":"doi:10.1146/annurev-control-061523-102310","is_oa":true,"landing_page_url":"https://doi.org/10.1146/annurev-control-061523-102310","pdf_url":null,"source":{"id":"https://openalex.org/S4210191328","display_name":"Annual Review of Control Robotics and Autonomous Systems","issn_l":"2573-5144","issn":["2573-5144"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320373","host_organization_name":"Annual Reviews","host_organization_lineage":["https://openalex.org/P4310320373"],"host_organization_lineage_names":["Annual Reviews"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual Review of Control, Robotics, and Autonomous Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1146/annurev-control-061523-102310","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102867268","display_name":"Taeyoon Lee","orcid":"https://orcid.org/0000-0002-4240-2767"},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Taeyoon Lee","raw_affiliation_strings":["1Naver Labs, Seongnam, South Korea; email: ty-lee@naverlabs.com, jaewoon.kwon@naverlabs.com"],"affiliations":[{"raw_affiliation_string":"1Naver Labs, Seongnam, South Korea; email: ty-lee@naverlabs.com, jaewoon.kwon@naverlabs.com","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024959229","display_name":"Jaewoon Kwon","orcid":"https://orcid.org/0000-0002-9210-2543"},"institutions":[{"id":"https://openalex.org/I60922564","display_name":"Naver (South Korea)","ror":"https://ror.org/04nzrnx83","country_code":"KR","type":"company","lineage":["https://openalex.org/I60922564"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaewoon Kwon","raw_affiliation_strings":["1Naver Labs, Seongnam, South Korea; email: ty-lee@naverlabs.com, jaewoon.kwon@naverlabs.com"],"affiliations":[{"raw_affiliation_string":"1Naver Labs, Seongnam, South Korea; email: ty-lee@naverlabs.com, jaewoon.kwon@naverlabs.com","institution_ids":["https://openalex.org/I60922564"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029126529","display_name":"Patrick M. Wensing","orcid":"https://orcid.org/0000-0002-9041-5175"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick M. Wensing","raw_affiliation_strings":["2Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, Indiana, USA; email: pwensing@nd.edu"],"affiliations":[{"raw_affiliation_string":"2Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, Indiana, USA; email: pwensing@nd.edu","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009036246","display_name":"Frank C. Park","orcid":"https://orcid.org/0000-0002-0293-6975"},"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":"Frank C. Park","raw_affiliation_strings":["3Department of Mechanical Engineering, Seoul National University, Seoul, South Korea; email: fcp@snu.ac.kr"],"affiliations":[{"raw_affiliation_string":"3Department of Mechanical Engineering, Seoul National University, Seoul, South Korea; email: fcp@snu.ac.kr","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5102867268"],"corresponding_institution_ids":["https://openalex.org/I60922564"],"apc_list":null,"apc_paid":null,"fwci":3.7421,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.9376357,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"7","issue":"1","first_page":"311","last_page":"334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9933000206947327,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9933000206947327,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9871000051498413,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9793000221252441,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6983394622802734},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6658798456192017},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6505767107009888},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6229031682014465},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5867846012115479},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5305858850479126},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4602154493331909},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.4541492164134979},{"id":"https://openalex.org/keywords/data-science","display_name":"Data science","score":0.43173977732658386},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.4316312074661255},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4293265640735626},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4272492229938507},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4191586673259735},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.38572078943252563},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32020217180252075},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10656896233558655}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6983394622802734},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6658798456192017},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6505767107009888},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6229031682014465},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5867846012115479},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5305858850479126},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4602154493331909},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.4541492164134979},{"id":"https://openalex.org/C2522767166","wikidata":"https://www.wikidata.org/wiki/Q2374463","display_name":"Data science","level":1,"score":0.43173977732658386},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.4316312074661255},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4293265640735626},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4272492229938507},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4191586673259735},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38572078943252563},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32020217180252075},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10656896233558655},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1146/annurev-control-061523-102310","is_oa":true,"landing_page_url":"https://doi.org/10.1146/annurev-control-061523-102310","pdf_url":null,"source":{"id":"https://openalex.org/S4210191328","display_name":"Annual Review of Control Robotics and Autonomous Systems","issn_l":"2573-5144","issn":["2573-5144"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320373","host_organization_name":"Annual Reviews","host_organization_lineage":["https://openalex.org/P4310320373"],"host_organization_lineage_names":["Annual Reviews"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual Review of Control, Robotics, and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1146/annurev-control-061523-102310","is_oa":true,"landing_page_url":"https://doi.org/10.1146/annurev-control-061523-102310","pdf_url":null,"source":{"id":"https://openalex.org/S4210191328","display_name":"Annual Review of Control Robotics and Autonomous Systems","issn_l":"2573-5144","issn":["2573-5144"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320373","host_organization_name":"Annual Reviews","host_organization_lineage":["https://openalex.org/P4310320373"],"host_organization_lineage_names":["Annual Reviews"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual Review of Control, Robotics, and Autonomous Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":83,"referenced_works":["https://openalex.org/W120243950","https://openalex.org/W1989517777","https://openalex.org/W1997543377","https://openalex.org/W2001524797","https://openalex.org/W2010409721","https://openalex.org/W2018691083","https://openalex.org/W2022539494","https://openalex.org/W2026214335","https://openalex.org/W2032236594","https://openalex.org/W2051669066","https://openalex.org/W2063016980","https://openalex.org/W2067393913","https://openalex.org/W2078856056","https://openalex.org/W2087431993","https://openalex.org/W2102911553","https://openalex.org/W2115458389","https://openalex.org/W2121501130","https://openalex.org/W2124293649","https://openalex.org/W2130440600","https://openalex.org/W2132965727","https://openalex.org/W2152546852","https://openalex.org/W2157513581","https://openalex.org/W2158782408","https://openalex.org/W2163838766","https://openalex.org/W2166197672","https://openalex.org/W2167571500","https://openalex.org/W2169017219","https://openalex.org/W2170039048","https://openalex.org/W2209762605","https://openalex.org/W2334566956","https://openalex.org/W2419095482","https://openalex.org/W2471547622","https://openalex.org/W2514689415","https://openalex.org/W2520548949","https://openalex.org/W2539678416","https://openalex.org/W2552391307","https://openalex.org/W2556096037","https://openalex.org/W2599113582","https://openalex.org/W2736363424","https://openalex.org/W2766690711","https://openalex.org/W2789839425","https://openalex.org/W2791763507","https://openalex.org/W2792628366","https://openalex.org/W2804072623","https://openalex.org/W2885596080","https://openalex.org/W2899460553","https://openalex.org/W2909615006","https://openalex.org/W2909962969","https://openalex.org/W2911087563","https://openalex.org/W2963092423","https://openalex.org/W2965195404","https://openalex.org/W2978940263","https://openalex.org/W2985146849","https://openalex.org/W2985462853","https://openalex.org/W2991963964","https://openalex.org/W3004137006","https://openalex.org/W3038540964","https://openalex.org/W3041765268","https://openalex.org/W3088691598","https://openalex.org/W3098074920","https://openalex.org/W3104994358","https://openalex.org/W3126078688","https://openalex.org/W3126587741","https://openalex.org/W3127216876","https://openalex.org/W3135849906","https://openalex.org/W3161569736","https://openalex.org/W3173446233","https://openalex.org/W3174011998","https://openalex.org/W3177524785","https://openalex.org/W3180964655","https://openalex.org/W3195968524","https://openalex.org/W3212832470","https://openalex.org/W4221148758","https://openalex.org/W4221161303","https://openalex.org/W4226505391","https://openalex.org/W4283721947","https://openalex.org/W4283819475","https://openalex.org/W4306309415","https://openalex.org/W4306703868","https://openalex.org/W4308945982","https://openalex.org/W4327522269","https://openalex.org/W4365601057","https://openalex.org/W4386942458"],"related_works":["https://openalex.org/W2054685365","https://openalex.org/W2272354214","https://openalex.org/W2252959236","https://openalex.org/W2043010663","https://openalex.org/W2120383820","https://openalex.org/W2667588871","https://openalex.org/W118554674","https://openalex.org/W4235186151","https://openalex.org/W2418035912","https://openalex.org/W2768698792"],"abstract_inverted_index":{"In":[0],"recent":[1,118,129],"years,":[2],"the":[3,14,61,72,88,112,133,136,165,169],"increasing":[4],"complexity":[5],"and":[6,18,116,139],"safety-critical":[7],"nature":[8],"of":[9,16,64,78,90,135],"robotic":[10],"tasks":[11],"have":[12],"highlighted":[13],"importance":[15],"accurate":[17],"reliable":[19],"robot":[20,36,92],"models.":[21],"This":[22],"trend":[23],"has":[24,51],"led":[25],"to":[26,66,82,110,153],"a":[27,53,84,155],"growing":[28],"belief":[29],"that,":[30],"given":[31],"enough":[32],"data,":[33,95],"traditional":[34],"physics-based":[35,57,141],"models":[37,93],"can":[38],"be":[39],"replaced":[40],"by":[41,60],"appropriately":[42],"trained":[43],"deep":[44],"networks":[45],"or":[46,101],"their":[47],"variants.":[48],"Simultaneously,":[49],"there":[50],"been":[52],"renewed":[54],"interest":[55],"in":[56,71,104,120,168],"simulation,":[58],"fueled":[59],"widespread":[62],"use":[63],"simulators":[65],"train":[67],"reinforcement":[68],"learning":[69,103],"algorithms":[70],"sim-to-real":[73],"paradigm.":[74],"The":[75,107],"primary":[76],"objective":[77],"this":[79,159],"review":[80,108],"is":[81],"present":[83],"unified":[85],"perspective":[86],"on":[87,128,158],"process":[89],"determining":[91],"from":[94],"commonly":[96],"known":[97],"as":[98],"system":[99,121],"identification":[100,122,137],"model":[102,146],"different":[105],"subfields.":[106],"aims":[109],"illuminate":[111],"key":[113],"challenges":[114],"encountered":[115],"highlight":[117],"advancements":[119],"for":[123],"robotics.":[124],"Specifically,":[125],"we":[126,151],"focus":[127],"breakthroughs":[130],"that":[131],"leverage":[132],"geometry":[134],"problem":[138],"incorporate":[140],"knowledge":[142],"beyond":[143],"mere":[144],"first-principles":[145],"parameterizations.":[147],"Through":[148],"these":[149],"efforts,":[150],"strive":[152],"provide":[154],"contemporary":[156],"outlook":[157],"problem,":[160],"bridging":[161],"classical":[162],"findings":[163],"with":[164],"latest":[166],"progress":[167],"field.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":6}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}