{"id":"https://openalex.org/W7148536846","doi":"https://doi.org/10.48550/arxiv.2604.01142","title":"Deep Reinforcement Learning for Robotic Manipulation under Distribution Shift with Bounded Extremum Seeking","display_name":"Deep Reinforcement Learning for Robotic Manipulation under Distribution Shift with Bounded Extremum Seeking","publication_year":2026,"publication_date":"2026-04-01","ids":{"openalex":"https://openalex.org/W7148536846","doi":"https://doi.org/10.48550/arxiv.2604.01142"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2604.01142","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01142","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2604.01142","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132765599","display_name":"Shaifalee Saxena","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Saxena, Shaifalee","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074464769","display_name":"Rafael Fierro","orcid":"https://orcid.org/0000-0002-5574-7246"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fierro, Rafael","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132788169","display_name":"Alexander Scheinker","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Scheinker, Alexander","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14083","display_name":"Extremum Seeking Control Systems","score":0.9569000005722046,"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/T14083","display_name":"Extremum Seeking Control Systems","score":0.9569000005722046,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.011300000362098217,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.008500000461935997,"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/bounded-function","display_name":"Bounded function","score":0.8248000144958496},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7542999982833862},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7324000000953674},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6764000058174133},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5389000177383423},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4343999922275543}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.8248000144958496},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7542999982833862},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7324000000953674},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6764000058174133},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5562999844551086},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5389000177383423},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4343999922275543},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4025999903678894},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4007999897003174},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3732999861240387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.373199999332428},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30559998750686646},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.29829999804496765},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.2840999960899353},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.2624000012874603}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2604.01142","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01142","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2604.01142","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2604.01142","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.466083288192749}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Reinforcement":[0],"learning":[1,65],"has":[2],"shown":[3],"strong":[4],"performance":[5,15],"in":[6,14,29,39],"robotic":[7,93],"manipulation,":[8],"but":[9],"learned":[10],"policies":[11,85],"often":[12],"degrade":[13],"when":[16,126],"test":[17],"conditions":[18,90,128],"differ":[19],"from":[20,130],"the":[21,48,77,92,120],"training":[22],"distribution.":[23],"This":[24],"limitation":[25],"is":[26,138],"especially":[27],"important":[28],"contact-rich":[30],"tasks":[31],"such":[32,74],"as":[33],"pushing":[34,94],"and":[35,95,98,147],"pick-and-place,":[36],"where":[37],"changes":[38],"goals,":[40],"contact":[41],"conditions,":[42],"or":[43],"robot":[44],"dynamics":[45],"can":[46],"drive":[47],"system":[49],"out-of-distribution":[50,142],"at":[51],"inference":[52],"time.":[53],"In":[54,76],"this":[55],"paper,":[56],"we":[57],"investigate":[58],"a":[59],"hybrid":[60],"controller":[61,122,137],"that":[62],"combines":[63],"reinforcement":[64],"with":[66,102],"bounded":[67,103,115],"extremum":[68],"seeking":[69],"to":[70,123],"improve":[71],"robustness":[72,118],"under":[73,88,140],"conditions.":[75],"proposed":[78],"approach,":[79],"deep":[80],"deterministic":[81],"policy":[82,109],"gradient":[83],"(DDPG)":[84],"are":[86,99],"trained":[87],"standard":[89],"on":[91],"pick-and-place":[96],"tasks,":[97],"then":[100],"combined":[101],"ES":[104,116],"during":[105,133],"deployment.":[106],"The":[107,135],"RL":[108],"provides":[110],"fast":[111],"manipulation":[112],"behavior,":[113],"while":[114],"ensures":[117],"of":[119],"overall":[121],"time":[124],"variations":[125],"operating":[127],"depart":[129],"those":[131],"seen":[132],"training.":[134],"resulting":[136],"evaluated":[139],"several":[141],"settings,":[143],"including":[144],"time-varying":[145],"goals":[146],"spatially":[148],"varying":[149],"friction":[150],"patches.":[151]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-03T00:00:00"}
