{"id":"https://openalex.org/W4404623545","doi":"https://doi.org/10.5220/0012945500003822","title":"RoboMorph: In-Context Meta-Learning for Robot Dynamics Modeling","display_name":"RoboMorph: In-Context Meta-Learning for Robot Dynamics Modeling","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4404623545","doi":"https://doi.org/10.5220/0012945500003822"},"language":"en","primary_location":{"id":"doi:10.5220/0012945500003822","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0012945500003822","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.5220/0012945500003822","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059901054","display_name":"Marwa Bazzi","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel Bazzi","raw_affiliation_strings":["Department of Mechanical Engineering, Politecnico di Milano, Italy","Department of Mechanical Engineering, Politecnico di Milano, Italy, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Italy, --- Select a Country ---","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003810719","display_name":"Asad Ali Shahid","orcid":"https://orcid.org/0009-0001-0312-9657"},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Asad Shahid","raw_affiliation_strings":["Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy","Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy","institution_ids":["https://openalex.org/I2614128279"]},{"raw_affiliation_string":"Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy, --- Select a Country ---","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084514643","display_name":"Christopher Agia","orcid":"https://orcid.org/0000-0002-1208-2539"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher Agia","raw_affiliation_strings":["Stanford University, U.S.A","Stanford University, U.S.A., --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, U.S.A","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University, U.S.A., --- Select a Country ---","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084262616","display_name":"John Irvin Alora","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Alora","raw_affiliation_strings":["Stanford University, U.S.A","Stanford University, U.S.A., --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, U.S.A","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University, U.S.A., --- Select a Country ---","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034862814","display_name":"Marco Forgione","orcid":"https://orcid.org/0000-0001-6772-1580"},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Forgione","raw_affiliation_strings":["Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy","Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy","institution_ids":["https://openalex.org/I2614128279"]},{"raw_affiliation_string":"Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy, --- Select a Country ---","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046585507","display_name":"Dario Piga","orcid":"https://orcid.org/0000-0001-7691-4886"},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Piga","raw_affiliation_strings":["Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy","Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy","institution_ids":["https://openalex.org/I2614128279"]},{"raw_affiliation_string":"Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy, --- Select a Country ---","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050750282","display_name":"Francesco Braghin","orcid":"https://orcid.org/0000-0002-0476-4118"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Braghin","raw_affiliation_strings":["Department of Mechanical Engineering, Politecnico di Milano, Italy","Department of Mechanical Engineering, Politecnico di Milano, Italy, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Italy, --- Select a Country ---","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050003000","display_name":"Marco Pavone","orcid":"https://orcid.org/0000-0002-0206-4337"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marco Pavone","raw_affiliation_strings":["Stanford University, U.S.A","Stanford University, U.S.A., --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, U.S.A","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University, U.S.A., --- Select a Country ---","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086291668","display_name":"Loris Roveda","orcid":"https://orcid.org/0000-0002-4427-536X"},"institutions":[{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["CH","US"],"is_corresponding":false,"raw_author_name":"Loris Roveda","raw_affiliation_strings":["Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy","Stanford University, U.S.A","Stanford University, U.S.A., --- Select a Country ---","Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy, --- Select a Country ---"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy","institution_ids":["https://openalex.org/I2614128279"]},{"raw_affiliation_string":"Stanford University, U.S.A","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University, U.S.A., --- Select a Country ---","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Istituto Dalle Molle di Studi Sull\u2019Intelligenza Artificiale (IDSIA USI-SUPSI), Scuola Universitaria Professionale della Svizzera Italiana, DTI , Italy, --- Select a Country ---","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6109,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.75147,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"149","last_page":"156"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9373000264167786,"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":0.9373000264167786,"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/T12205","display_name":"Time Series Analysis and Forecasting","score":0.9320999979972839,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"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/T12761","display_name":"Data Stream Mining Techniques","score":0.9289000034332275,"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":0.7201361060142517},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.7128972411155701},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6208526492118835},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5537975430488586},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.420405775308609},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05920100212097168},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.049458980560302734}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7201361060142517},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.7128972411155701},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6208526492118835},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5537975430488586},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.420405775308609},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05920100212097168},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.049458980560302734},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.5220/0012945500003822","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0012945500003822","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1311447","is_oa":false,"landing_page_url":"https://hdl.handle.net/11311/1311447","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"doi:10.5220/0012945500003822","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0012945500003822","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0,112,148],"landscape":[1],"of":[2,14,89,107,118,170,173,185,191],"Deep":[3,141],"Learning":[4],"has":[5],"experienced":[6],"a":[7,81,86,90,101,138],"major":[8],"shift":[9],"with":[10,64],"the":[11,96,108,126,151,159,162,171,174,183],"pervasive":[12],"adoption":[13],"Transformerbased":[15],"architectures,":[16],"particularly":[17],"in":[18,41,146,181],"Natural":[19],"Language":[20],"Processing":[21],"(NLP).":[22],"Novel":[23],"avenues":[24],"for":[25,129,140,161],"physical":[26,92,110,192],"applications,":[27],"such":[28,94],"as":[29,95,137],"solving":[30],"Partial":[31],"Differential":[32],"Equations":[33],"and":[34,122,155,157,196],"Image":[35],"Vision,":[36],"have":[37,58,71],"been":[38,59,72],"explored.":[39],"However,":[40],"challenging":[42],"domains":[43],"like":[44],"robotics,":[45],"where":[46],"high":[47],"non-linearity":[48],"poses":[49],"significant":[50],"challenges,":[51],"Transformer-based":[52,102],"applications":[53],"are":[54],"scarce.":[55],"While":[56],"Transformers":[57],"used":[60],"to":[61,74,84,115],"provide":[62],"robots":[63],"knowledge":[65,106,190],"about":[66],"high-level":[67],"tasks,":[68],"few":[69],"efforts":[70],"made":[73],"perform":[75],"system":[76],"identification.":[77],"This":[78,132,165],"paper":[79],"proposes":[80],"novel":[82],"methodology":[83],"learn":[85],"meta-dynamical":[87],"model":[88],"high-dimensional":[91],"system,":[93],"Franka":[97],"robotic":[98,186],"arm,":[99],"using":[100],"architecture":[103],"without":[104,188],"prior":[105],"system\u2019s":[109],"parameters.":[111,193],"objective":[113],"is":[114],"predict":[116],"quantities":[117],"interest":[119],"(end-effector":[120],"pose":[121],"joint":[123],"positions)":[124],"given":[125],"torque":[127],"signals":[128],"each":[130],"joint.":[131],"prediction":[133],"can":[134,199],"be":[135,200],"useful":[136],"component":[139],"Model":[142],"Predictive":[143],"Control":[144],"frameworks":[145],"robotics.":[147],"meta-model":[149],"establishes":[150],"correlation":[152],"between":[153],"torques":[154],"positions":[156],"predicts":[158],"output":[160],"complete":[163],"trajectory.":[164],"work":[166],"provides":[167],"empirical":[168],"evidence":[169],"efficacy":[172],"in-context":[175],"learning":[176,182],"paradigm,":[177],"suggesting":[178],"future":[179],"improvements":[180],"dynamics":[184],"systems":[187],"explicit":[189],"Code,":[194],"videos,":[195],"supplementary":[197],"materials":[198],"found":[201],"at":[202],"project":[203],"website.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}