{"id":"https://openalex.org/W2085126194","doi":"https://doi.org/10.1177/0278364913476124","title":"Variable risk control via stochastic optimization","display_name":"Variable risk control via stochastic optimization","publication_year":2013,"publication_date":"2013-06-01","ids":{"openalex":"https://openalex.org/W2085126194","doi":"https://doi.org/10.1177/0278364913476124","mag":"2085126194"},"language":"en","primary_location":{"id":"doi:10.1177/0278364913476124","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913476124","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5049981830","display_name":"Scott Kuindersma","orcid":"https://orcid.org/0000-0003-0645-6626"},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Scott R Kuindersma","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Computer Science, University of Massachusetts Amherst, Amherst, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Computer Science, University of Massachusetts Amherst, Amherst, MA, USA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111628193","display_name":"Roderic A. Grupen","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roderic A Grupen","raw_affiliation_strings":["Department of Computer Science, University of Massachusetts Amherst, Amherst, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Massachusetts Amherst, Amherst, MA, USA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089808068","display_name":"Andrew G. Barto","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew G Barto","raw_affiliation_strings":["Department of Computer Science, University of Massachusetts Amherst, Amherst, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Massachusetts Amherst, Amherst, MA, USA","institution_ids":["https://openalex.org/I24603500"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5049981830"],"corresponding_institution_ids":["https://openalex.org/I24603500","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.9645,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.91832986,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"32","issue":"7","first_page":"806","last_page":"825"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9990000128746033,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9990000128746033,"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"}},{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9972000122070312,"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":0.6682380437850952},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5490782260894775},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5275941491127014},{"id":"https://openalex.org/keywords/control-variable","display_name":"Control variable","score":0.48244625329971313},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.4642278552055359},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4604971408843994},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.45972177386283875},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.42894411087036133},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.38130685687065125},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3752487003803253},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.16652414202690125},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15501675009727478},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.138075053691864}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6682380437850952},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5490782260894775},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5275941491127014},{"id":"https://openalex.org/C153240184","wikidata":"https://www.wikidata.org/wiki/Q3243772","display_name":"Control variable","level":2,"score":0.48244625329971313},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.4642278552055359},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4604971408843994},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.45972177386283875},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.42894411087036133},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38130685687065125},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3752487003803253},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.16652414202690125},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15501675009727478},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.138075053691864},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","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/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364913476124","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364913476124","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.278.6010","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.278.6010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www-anw.cs.umass.edu/pubs/2013/kuindersma_g_b_ijrr13.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":93,"referenced_works":["https://openalex.org/W134786152","https://openalex.org/W802219403","https://openalex.org/W1483202606","https://openalex.org/W1492455351","https://openalex.org/W1573316549","https://openalex.org/W1577316460","https://openalex.org/W1585575029","https://openalex.org/W1588959569","https://openalex.org/W1589395967","https://openalex.org/W1591505807","https://openalex.org/W1591803298","https://openalex.org/W1685912164","https://openalex.org/W1720321157","https://openalex.org/W1746819321","https://openalex.org/W1898967462","https://openalex.org/W1970789124","https://openalex.org/W1971942712","https://openalex.org/W1982921646","https://openalex.org/W1990020728","https://openalex.org/W1990777642","https://openalex.org/W1997927050","https://openalex.org/W2002882646","https://openalex.org/W2021601290","https://openalex.org/W2026667632","https://openalex.org/W2027591506","https://openalex.org/W2033271727","https://openalex.org/W2042882799","https://openalex.org/W2044724603","https://openalex.org/W2061144551","https://openalex.org/W2062691475","https://openalex.org/W2068061708","https://openalex.org/W2078011655","https://openalex.org/W2088413745","https://openalex.org/W2096035449","https://openalex.org/W2096649264","https://openalex.org/W2097495332","https://openalex.org/W2098524868","https://openalex.org/W2098936573","https://openalex.org/W2099201756","https://openalex.org/W2102288976","https://openalex.org/W2103789151","https://openalex.org/W2109008048","https://openalex.org/W2110029398","https://openalex.org/W2119717200","https://openalex.org/W2121658992","https://openalex.org/W2127036288","https://openalex.org/W2127107099","https://openalex.org/W2129017877","https://openalex.org/W2130801532","https://openalex.org/W2131627640","https://openalex.org/W2139914196","https://openalex.org/W2139929624","https://openalex.org/W2140135625","https://openalex.org/W2145498142","https://openalex.org/W2149336365","https://openalex.org/W2149764047","https://openalex.org/W2151238122","https://openalex.org/W2153192722","https://openalex.org/W2156084351","https://openalex.org/W2165197385","https://openalex.org/W2166566250","https://openalex.org/W2167117957","https://openalex.org/W2170078560","https://openalex.org/W2179284380","https://openalex.org/W2187471809","https://openalex.org/W2292999476","https://openalex.org/W2296360731","https://openalex.org/W2559997609","https://openalex.org/W2560674852","https://openalex.org/W2591957553","https://openalex.org/W2597289420","https://openalex.org/W2606211438","https://openalex.org/W2608909910","https://openalex.org/W2613433911","https://openalex.org/W2613680419","https://openalex.org/W2615497679","https://openalex.org/W2801179766","https://openalex.org/W2951665052","https://openalex.org/W2963373084","https://openalex.org/W2963417849","https://openalex.org/W2963613758","https://openalex.org/W2964108826","https://openalex.org/W2964172739","https://openalex.org/W2994310245","https://openalex.org/W4210531937","https://openalex.org/W4211049957","https://openalex.org/W4231255056","https://openalex.org/W4235424703","https://openalex.org/W4240038629","https://openalex.org/W4241584625","https://openalex.org/W4298304389","https://openalex.org/W4299828299","https://openalex.org/W4300223101"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W4312814274","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4285370786","https://openalex.org/W2046837923","https://openalex.org/W1529374794","https://openalex.org/W2393503779"],"abstract_inverted_index":{"We":[0,118],"present":[1,20],"new":[2,29],"global":[3],"and":[4,74,95,108,124],"local":[5,44],"policy":[6,96],"search":[7],"algorithms":[8,27],"suitable":[9],"for":[10,56],"problems":[11],"with":[12,85,126],"policy-dependent":[13,39],"cost":[14,48],"variance":[15],"(or":[16],"risk),":[17],"a":[18,54,77,127],"property":[19],"in":[21,31,76,121,137],"many":[22],"robot":[23],"control":[24],"tasks.":[25],"These":[26],"exploit":[28],"techniques":[30],"non-parametric":[32],"heteroscedastic":[33],"regression":[34],"to":[35,67,71,81,87],"directly":[36],"model":[37,49],"the":[38,46],"distribution":[40],"of":[41,93,133],"cost.":[42],"For":[43],"search,":[45],"learned":[47],"can":[50,64,104,111],"be":[51,65,105,112],"used":[52],"as":[53],"critic":[55],"performing":[57],"risk-sensitive":[58,89,135],"gradient":[59],"descent.":[60],"Alternatively,":[61],"decision-theoretic":[62],"criteria":[63],"applied":[66],"globally":[68],"select":[69],"policies":[70,110,136],"balance":[72],"exploration":[73],"exploitation":[75],"principled":[78],"way,":[79],"or":[80],"perform":[82],"greedy":[83],"minimization":[84],"respect":[86],"various":[88],"criteria.":[90],"This":[91],"separation":[92],"learning":[94,132],"selection":[97],"permits":[98],"variable":[99],"risk":[100],"control,":[101],"where":[102],"risk-sensitivity":[103],"flexibly":[106],"adjusted":[107],"appropriate":[109],"selected":[113],"at":[114],"runtime":[115],"without":[116],"relearning.":[117],"describe":[119],"experiments":[120],"dynamic":[122],"stabilization":[123],"manipulation":[125],"mobile":[128],"manipulator":[129],"that":[130],"demonstrate":[131],"flexible,":[134],"very":[138],"few":[139],"trials.":[140]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
