{"id":"https://openalex.org/W4225498488","doi":"https://doi.org/10.48550/arxiv.2203.03986","title":"Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems","display_name":"Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems","publication_year":2022,"publication_date":"2022-03-08","ids":{"openalex":"https://openalex.org/W4225498488","doi":"https://doi.org/10.48550/arxiv.2203.03986"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2203.03986","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.03986","pdf_url":"https://arxiv.org/pdf/2203.03986","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2203.03986","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044439834","display_name":"Quentin Le Lidec","orcid":"https://orcid.org/0000-0001-7973-1030"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Lidec, Quentin Le","raw_affiliation_strings":["WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)"],"affiliations":[{"raw_affiliation_string":"WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047333414","display_name":"Fabian Schramm","orcid":"https://orcid.org/0009-0003-4266-6652"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schramm, Fabian","raw_affiliation_strings":["WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)"],"affiliations":[{"raw_affiliation_string":"WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079202056","display_name":"Louis Montaut","orcid":"https://orcid.org/0000-0002-8399-7533"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Montaut, Louis","raw_affiliation_strings":["CIIRC - Czech Institute of Informatics, Robotics and Cybernetics [Prague] (Czech Technical University in Prague - Czech Republic)","WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)"],"affiliations":[{"raw_affiliation_string":"CIIRC - Czech Institute of Informatics, Robotics and Cybernetics [Prague] (Czech Technical University in Prague - Czech Republic)","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109890544","display_name":"Cordelia Schmid","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Schmid, Cordelia","raw_affiliation_strings":["WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)"],"affiliations":[{"raw_affiliation_string":"WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087781064","display_name":"Ivan Laptev","orcid":"https://orcid.org/0000-0001-7072-3325"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Laptev, Ivan","raw_affiliation_strings":["WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)"],"affiliations":[{"raw_affiliation_string":"WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059986205","display_name":"Justin Carpentier","orcid":"https://orcid.org/0000-0001-6585-2894"},"institutions":[{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"funder","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210161954","display_name":"D\u00e9partement d'Informatique","ror":"https://ror.org/05y6rqs46","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I2746051580","https://openalex.org/I29607241","https://openalex.org/I4210159245","https://openalex.org/I4210161954"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Carpentier, Justin","raw_affiliation_strings":["Inria de Paris (48 Rue Barrault, 75013 Paris - France)","DI-ENS - D\u00e9partement d'informatique - ENS Paris (\u00c9cole normale sup\u00e9rieure 45 rue d'Ulm F-75230 Paris Cedex 05 - France)","WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)"],"affiliations":[{"raw_affiliation_string":"Inria de Paris (48 Rue Barrault, 75013 Paris - France)","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"DI-ENS - D\u00e9partement d'informatique - ENS Paris (\u00c9cole normale sup\u00e9rieure 45 rue d'Ulm F-75230 Paris Cedex 05 - France)","institution_ids":["https://openalex.org/I29607241","https://openalex.org/I4210161954"]},{"raw_affiliation_string":"WILLOW - Models of visual object recognition and scene understanding (48 Rue Barrault, 75013 Paris - France)","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5044439834"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9995999932289124,"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":0.9995999932289124,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9887999892234802,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9825000166893005,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/smoothing","display_name":"Smoothing","score":0.6747212409973145},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.6506699323654175},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.6289615035057068},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.602931559085846},{"id":"https://openalex.org/keywords/classification-of-discontinuities","display_name":"Classification of discontinuities","score":0.6004704833030701},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5894348621368408},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5624776482582092},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5234891176223755},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.5064846277236938},{"id":"https://openalex.org/keywords/differential-dynamic-programming","display_name":"Differential dynamic programming","score":0.5014815330505371},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4906376898288727},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.488137811422348},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.46239954233169556},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3039531111717224},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3016510605812073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21247288584709167},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.06901252269744873}],"concepts":[{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.6747212409973145},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.6506699323654175},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.6289615035057068},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.602931559085846},{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.6004704833030701},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5894348621368408},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5624776482582092},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5234891176223755},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.5064846277236938},{"id":"https://openalex.org/C92292787","wikidata":"https://www.wikidata.org/wiki/Q5275342","display_name":"Differential dynamic programming","level":3,"score":0.5014815330505371},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4906376898288727},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.488137811422348},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.46239954233169556},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3039531111717224},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3016510605812073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21247288584709167},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.06901252269744873},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2203.03986","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.03986","pdf_url":"https://arxiv.org/pdf/2203.03986","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"pmh:oai:HAL:hal-03480419v3","is_oa":true,"landing_page_url":"https://hal.science/hal-03480419","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://hal.science/hal-03480419","raw_type":"info:eu-repo/semantics/preprint"},{"id":"doi:10.48550/arxiv.2203.03986","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2203.03986","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":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2203.03986","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.03986","pdf_url":"https://arxiv.org/pdf/2203.03986","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W618254468","https://openalex.org/W1582919213","https://openalex.org/W1697075315","https://openalex.org/W1994616650","https://openalex.org/W2064942524","https://openalex.org/W2087617385","https://openalex.org/W2087771945","https://openalex.org/W2107878631","https://openalex.org/W2108682071","https://openalex.org/W2125612430","https://openalex.org/W2149479912","https://openalex.org/W2158370675","https://openalex.org/W2564446177","https://openalex.org/W2596367596","https://openalex.org/W2804623852","https://openalex.org/W2890326782","https://openalex.org/W2891122218","https://openalex.org/W2911087563","https://openalex.org/W2950048339","https://openalex.org/W2962720772","https://openalex.org/W2964043796","https://openalex.org/W2970028551","https://openalex.org/W2981603589","https://openalex.org/W3004162504","https://openalex.org/W3007035358","https://openalex.org/W3081791272","https://openalex.org/W3112828033","https://openalex.org/W3135508935","https://openalex.org/W3142759415","https://openalex.org/W3177017840","https://openalex.org/W3200128452","https://openalex.org/W3205548345","https://openalex.org/W3207300626","https://openalex.org/W4214717370","https://openalex.org/W4230563027","https://openalex.org/W4234404428","https://openalex.org/W4255034812","https://openalex.org/W4286965151","https://openalex.org/W4288634152","https://openalex.org/W4301014524","https://openalex.org/W4301496368"],"related_works":["https://openalex.org/W4281717838","https://openalex.org/W4315488747","https://openalex.org/W2212478920","https://openalex.org/W2007971149","https://openalex.org/W2052479296","https://openalex.org/W3012421647","https://openalex.org/W1996983632","https://openalex.org/W3207783658","https://openalex.org/W761054003","https://openalex.org/W2061256745"],"abstract_inverted_index":{"Optimal":[0],"control":[1,20],"(OC)":[2],"algorithms":[3,34,62,157,164],"such":[4,31],"as":[5],"Differential":[6,119],"Dynamic":[7,120],"Programming":[8,121],"(DDP)":[9],"take":[10],"advantage":[11],"of":[12,15,27,33,45,53,108,171],"the":[13,16,25,43,48,57,99,106,117],"derivatives":[14,50],"dynamics":[17,49,129],"to":[18,37,42,85,115,143,160,173],"efficiently":[19],"physical":[21],"systems.":[22],"Yet,":[23],"in":[24,47,68,91,130,166],"presence":[26,44],"nonsmooth":[28],"dynamical":[29],"systems,":[30],"class":[32],"are":[35,158],"likely":[36,159],"fail":[38,161],"due,":[39],"for":[40,125],"instance,":[41],"discontinuities":[46],"or":[51],"because":[52],"non-informative":[54],"gradient.":[55],"On":[56],"contrary,":[58],"reinforcement":[59],"learning":[60],"(RL)":[61],"have":[63],"shown":[64],"better":[65],"empirical":[66],"results":[67],"scenarios":[69],"exhibiting":[70],"non-smooth":[71,128],"effects":[72],"(contacts,":[73],"frictions,":[74],"etc).":[75],"Our":[76],"approach":[77],"leverages":[78],"recent":[79],"works":[80],"on":[81,98],"randomized":[82,118],"smoothing":[83],"(RS)":[84],"tackle":[86],"non-smoothness":[87],"issues":[88],"commonly":[89],"encountered":[90],"optimal":[92,176],"control,":[93],"and":[94,103,151,162],"provides":[95],"key":[96],"insights":[97],"interplay":[100],"between":[101],"RL":[102,163],"OC":[104,156],"through":[105],"prism":[107],"RS":[109],"methods.":[110],"This":[111],"naturally":[112],"leads":[113],"us":[114],"introduce":[116],"(R-DDP)":[122],"algorithm":[123],"accounting":[124],"deterministic":[126],"but":[127],"a":[131,168],"very":[132],"sample-efficient":[133],"way.":[134],"The":[135],"experiments":[136],"demonstrate":[137],"that":[138],"our":[139],"method":[140],"is":[141],"able":[142],"solve":[144],"classic":[145],"robotic":[146],"problems":[147],"with":[148],"dry":[149],"friction":[150],"frictional":[152],"contacts,":[153],"where":[154],"classical":[155],"require":[165],"practice":[167],"prohibitive":[169],"number":[170],"samples":[172],"find":[174],"an":[175],"solution.":[177]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T06:51:31.235846","created_date":"2022-05-05T00:00:00"}
