{"id":"https://openalex.org/W4226027976","doi":"https://doi.org/10.48550/arxiv.2203.07191","title":"Impedance Adaptation by Reinforcement Learning with Contact Dynamic Movement Primitives","display_name":"Impedance Adaptation by Reinforcement Learning with Contact Dynamic Movement Primitives","publication_year":2022,"publication_date":"2022-03-14","ids":{"openalex":"https://openalex.org/W4226027976","doi":"https://doi.org/10.48550/arxiv.2203.07191"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2203.07191","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.07191","pdf_url":"https://arxiv.org/pdf/2203.07191","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":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2203.07191","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5054696028","display_name":"Chunyang Chang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Chang, Chunyang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002775217","display_name":"Kevin Haninger","orcid":"https://orcid.org/0000-0002-5294-5458"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haninger, Kevin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104125012","display_name":"Yunlei Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Yunlei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088364201","display_name":"Chengjie Yuan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Chengjie","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101705037","display_name":"Zhaopeng Chen","orcid":"https://orcid.org/0000-0003-0375-9146"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Zhaopeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100326970","display_name":"Jianwei Zhang","orcid":"https://orcid.org/0000-0002-7856-5760"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Jianwei","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5054696028"],"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9990000128746033,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9976999759674072,"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6632049083709717},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6072249412536621},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5891571640968323},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.57973313331604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5715414881706238},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5614667534828186},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5365066528320312},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5123151540756226},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5098194479942322},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5004191398620605},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4992561340332031},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4311135411262512},{"id":"https://openalex.org/keywords/force-dynamics","display_name":"Force dynamics","score":0.4162179231643677},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35367125272750854},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35238152742385864},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.235353022813797},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15499690175056458},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10458782315254211},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08644726872444153},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08595117926597595},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07764860987663269},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06327211856842041}],"concepts":[{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6632049083709717},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6072249412536621},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5891571640968323},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.57973313331604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5715414881706238},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5614667534828186},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5365066528320312},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5123151540756226},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5098194479942322},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5004191398620605},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4992561340332031},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4311135411262512},{"id":"https://openalex.org/C199723944","wikidata":"https://www.wikidata.org/wiki/Q3041998","display_name":"Force dynamics","level":2,"score":0.4162179231643677},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35367125272750854},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35238152742385864},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.235353022813797},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15499690175056458},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10458782315254211},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08644726872444153},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08595117926597595},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07764860987663269},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06327211856842041},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2203.07191","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.07191","pdf_url":"https://arxiv.org/pdf/2203.07191","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":"text"},{"id":"doi:10.48550/arxiv.2203.07191","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2203.07191","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2203.07191","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2203.07191","pdf_url":"https://arxiv.org/pdf/2203.07191","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":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7900000214576721,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W2786196354","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W2071387541","https://openalex.org/W1983135609"],"abstract_inverted_index":{"Dynamic":[0],"movement":[1],"primitives":[2],"(DMPs)":[3],"allow":[4],"complex":[5],"position":[6,19,55,86,96,110],"trajectories":[7,20,113],"to":[8,12,37,69,108],"be":[9,24,66],"efficiently":[10],"demonstrated":[11],"a":[13,85,92,98,123],"robot.":[14],"In":[15],"contact-rich":[16],"tasks,":[17],"where":[18,91],"alone":[21],"may":[22,49,65],"not":[23],"safe":[25],"or":[26,45,56,87],"robust":[27],"over":[28],"variation":[29],"in":[30,75],"contact":[31,61,77],"geometry,":[32],"DMPs":[33,107],"have":[34],"been":[35],"extended":[36],"include":[38],"force":[39,57,72,88,112],"trajectories.":[40],"However,":[41],"different":[42],"task":[43,137],"phases":[44],"degrees":[46],"of":[47,53,135],"freedom":[48],"require":[50],"the":[51,71,76,118,136,146],"tracking":[52],"either":[54],"--":[58],"e.g.,":[59],"once":[60],"is":[62,151],"made,":[63],"it":[64],"more":[67],"important":[68],"track":[70],"demonstration":[73,134],"trajectory":[74],"direction.":[78],"The":[79,149],"robot":[80],"impedance":[81,119,147],"balances":[82],"between":[83],"following":[84],"reference":[89],"trajectory,":[90],"high":[93],"stiffness":[94,100],"tracks":[95,101],"and":[97,111,140,143,155],"low":[99],"force.":[102],"This":[103,131],"paper":[104],"proposes":[105],"using":[106],"learn":[109],"from":[114,145],"demonstrations,":[115],"then":[116],"adapting":[117],"parameters":[120],"online":[121],"with":[122,138],"higher-level":[124],"control":[125],"policy":[126],"trained":[127],"by":[128],"reinforcement":[129],"learning.":[130],"allows":[132],"one-shot":[133],"DMPs,":[139],"improved":[141],"robustness":[142],"performance":[144],"adaptation.":[148],"approach":[150],"validated":[152],"on":[153],"peg-in-hole":[154],"adhesive":[156],"strip":[157],"application":[158],"tasks.":[159]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2022-05-05T00:00:00"}
