{"id":"https://openalex.org/W4387407795","doi":"https://doi.org/10.3390/s23198278","title":"Soft DAgger: Sample-Efficient Imitation Learning for Control of Soft Robots","display_name":"Soft DAgger: Sample-Efficient Imitation Learning for Control of Soft Robots","publication_year":2023,"publication_date":"2023-10-06","ids":{"openalex":"https://openalex.org/W4387407795","doi":"https://doi.org/10.3390/s23198278","pmid":"https://pubmed.ncbi.nlm.nih.gov/37837107"},"language":"en","primary_location":{"id":"doi:10.3390/s23198278","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23198278","pdf_url":"https://www.mdpi.com/1424-8220/23/19/8278/pdf?version=1696593982","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/23/19/8278/pdf?version=1696593982","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103095691","display_name":"Muhammad Sunny Nazeer","orcid":"https://orcid.org/0000-0001-9341-8665"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Muhammad Sunny Nazeer","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, 56125 Pisa, Italy","The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56025 Pontedera, Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa 56125, Italy","The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera 56025, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, 56125 Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56025 Pontedera, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa 56125, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera 56025, Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045065209","display_name":"Cecilia Laschi","orcid":"https://orcid.org/0000-0001-5248-1043"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Cecilia Laschi","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore 117575, Singapore"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore 117575, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033570527","display_name":"Egidio Falotico","orcid":"https://orcid.org/0000-0001-8060-8080"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Egidio Falotico","raw_affiliation_strings":["Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, 56125 Pisa, Italy","The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56025 Pontedera, Italy","The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera 56025, Italy","Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa 56125, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant\u2019Anna, 56125 Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56025 Pontedera, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera 56025, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Pisa 56125, Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103095691"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":1.7585,"has_fulltext":true,"cited_by_count":16,"citation_normalized_percentile":{"value":0.83884002,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"23","issue":"19","first_page":"8278","last_page":"8278"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","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/T10868","display_name":"Soft Robotics and Applications","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":0.9894000291824341,"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/T14011","display_name":"Elevator Systems and Control","score":0.9745000004768372,"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/robot","display_name":"Robot","score":0.7323930263519287},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6848179697990417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5954261422157288},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5949128270149231},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.5827322006225586},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5823279619216919},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.47794225811958313},{"id":"https://openalex.org/keywords/soft-computing","display_name":"Soft computing","score":0.4664437472820282},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4404640793800354},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.36447641253471375},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22956693172454834},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.15738916397094727},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1392497420310974},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07470455765724182}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7323930263519287},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6848179697990417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5954261422157288},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5949128270149231},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.5827322006225586},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5823279619216919},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.47794225811958313},{"id":"https://openalex.org/C140073362","wikidata":"https://www.wikidata.org/wiki/Q738759","display_name":"Soft computing","level":3,"score":0.4664437472820282},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4404640793800354},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.36447641253471375},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22956693172454834},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.15738916397094727},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1392497420310974},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07470455765724182},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s23198278","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23198278","pdf_url":"https://www.mdpi.com/1424-8220/23/19/8278/pdf?version=1696593982","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:37837107","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37837107","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:10574889","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10574889","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10574889/pdf/sensors-23-08278.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:5b1c0029872f4b24a1e7956e40fc36eb","is_oa":true,"landing_page_url":"https://doaj.org/article/5b1c0029872f4b24a1e7956e40fc36eb","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 23, Iss 19, p 8278 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s23198278","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s23198278","pdf_url":"https://www.mdpi.com/1424-8220/23/19/8278/pdf?version=1696593982","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8199999928474426,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4387407795.pdf"},"referenced_works_count":56,"referenced_works":["https://openalex.org/W1472557719","https://openalex.org/W1515749184","https://openalex.org/W1931877416","https://openalex.org/W1967825107","https://openalex.org/W1970557511","https://openalex.org/W1977655452","https://openalex.org/W1988003703","https://openalex.org/W1990603682","https://openalex.org/W2011301426","https://openalex.org/W2045330530","https://openalex.org/W2053614949","https://openalex.org/W2065009170","https://openalex.org/W2079574144","https://openalex.org/W2101667962","https://openalex.org/W2107489452","https://openalex.org/W2335997780","https://openalex.org/W2495535193","https://openalex.org/W2621077460","https://openalex.org/W2741086304","https://openalex.org/W2755546070","https://openalex.org/W2782435507","https://openalex.org/W2786905609","https://openalex.org/W2790972108","https://openalex.org/W2795456897","https://openalex.org/W2843252114","https://openalex.org/W2889879939","https://openalex.org/W2901112449","https://openalex.org/W2908901353","https://openalex.org/W2910273746","https://openalex.org/W2911383979","https://openalex.org/W2913358857","https://openalex.org/W2953671406","https://openalex.org/W2963713397","https://openalex.org/W2965100203","https://openalex.org/W2966994213","https://openalex.org/W3003342008","https://openalex.org/W3004554579","https://openalex.org/W3032958018","https://openalex.org/W3042616176","https://openalex.org/W3090650016","https://openalex.org/W3101780148","https://openalex.org/W3106220481","https://openalex.org/W3133349997","https://openalex.org/W3202992521","https://openalex.org/W4205518863","https://openalex.org/W4205520488","https://openalex.org/W4207044233","https://openalex.org/W4210478179","https://openalex.org/W4226256030","https://openalex.org/W4283733815","https://openalex.org/W4285102499","https://openalex.org/W4297830661","https://openalex.org/W4312372540","https://openalex.org/W6640174482","https://openalex.org/W6676195927","https://openalex.org/W6747311492"],"related_works":["https://openalex.org/W4387497383","https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2778153218","https://openalex.org/W2758277628","https://openalex.org/W1531601525","https://openalex.org/W2047027848","https://openalex.org/W2491857825"],"abstract_inverted_index":{"This":[0,95],"paper":[1],"presents":[2],"Soft":[3,44,144],"DAgger,":[4],"an":[5,170],"efficient":[6],"imitation":[7,174],"learning-based":[8,108],"approach":[9],"for":[10,14,74,79,179],"training":[11],"control":[12,117,149],"solutions":[13],"soft":[15,31,53,81,159,180],"robots.":[16,160],"To":[17,161],"demonstrate":[18,120],"the":[19,22,36,52,57,76,80,116,138,162],"effectiveness":[20],"of":[21,38,51,115,164,173],"proposed":[23],"algorithm,":[24],"we":[25],"implement":[26],"it":[27],"on":[28,84,102],"a":[29,47,69,134,147],"two-module":[30],"robotic":[32],"arm":[33],"involved":[34],"in":[35,41,137,155],"task":[37,59,127],"writing":[39],"letters":[40],"3D":[42],"space.":[43,64],"DAgger":[45,145],"uses":[46],"dynamic":[48],"behavioral":[49],"map":[50,66],"robot,":[54],"which":[55],"maps":[56],"robot's":[58],"space":[60],"to":[61,151],"its":[62,85],"actuation":[63],"The":[65],"acts":[67],"as":[68],"teacher":[70],"and":[71,92,119,125,141],"is":[72,169],"responsible":[73],"predicting":[75],"optimal":[77],"actions":[78],"robot":[82,181],"based":[83],"previous":[86],"state":[87],"action":[88],"history,":[89],"expert":[90],"demonstrations,":[91],"current":[93],"position.":[94],"algorithm":[96,118],"achieves":[97],"generalization":[98,123],"ability":[99],"without":[100],"depending":[101],"costly":[103],"exploration":[104,172],"techniques":[105],"or":[106],"reinforcement":[107],"synthetic":[109],"agents.":[110],"We":[111],"propose":[112],"two":[113],"variants":[114],"that":[121],"good":[122],"capabilities":[124],"improved":[126],"reproducibility":[128],"can":[129],"be":[130],"achieved,":[131],"along":[132],"with":[133,158,176],"consistent":[135],"decrease":[136],"optimization":[139,178],"time":[140],"samples.":[142],"Overall,":[143],"provides":[146],"practical":[148],"solution":[150],"perform":[152],"complex":[153],"tasks":[154],"fewer":[156],"samples":[157],"best":[163],"our":[165,167],"knowledge,":[166],"study":[168],"initial":[171],"learning":[175],"online":[177],"control.":[182]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":11}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
