{"id":"https://openalex.org/W2736552612","doi":"https://doi.org/10.1109/icra.2017.7989681","title":"Achieving robustness by optimizing failure behavior","display_name":"Achieving robustness by optimizing failure behavior","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2736552612","doi":"https://doi.org/10.1109/icra.2017.7989681","mag":"2736552612"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043069328","display_name":"Manuel Baum","orcid":"https://orcid.org/0000-0002-3083-0887"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Manuel Baum","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039143538","display_name":"Oliver Brock","orcid":"https://orcid.org/0000-0002-3719-7754"},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Brock","raw_affiliation_strings":["Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics and Biology Laboratory, Technische Universit\u00e4t, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5043069328"],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.09698287,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"34","issue":null,"first_page":"5806","last_page":"5811"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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":0.9980000257492065,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9781000018119812,"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":0.9416999816894531,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7787070274353027},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.7518108487129211},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6990074515342712},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5572428107261658},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5435892939567566},{"id":"https://openalex.org/keywords/trace","display_name":"TRACE (psycholinguistics)","score":0.5052474141120911},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.504869282245636},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.46446436643600464},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.450689435005188},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1181245744228363},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1152726411819458}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7787070274353027},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.7518108487129211},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6990074515342712},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5572428107261658},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5435892939567566},{"id":"https://openalex.org/C75291252","wikidata":"https://www.wikidata.org/wiki/Q1315756","display_name":"TRACE (psycholinguistics)","level":2,"score":0.5052474141120911},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.504869282245636},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.46446436643600464},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.450689435005188},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1181245744228363},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1152726411819458},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989681","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989681","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W65153156","https://openalex.org/W70402205","https://openalex.org/W1538133856","https://openalex.org/W1544439962","https://openalex.org/W1888892744","https://openalex.org/W1965027246","https://openalex.org/W2017239762","https://openalex.org/W2086240243","https://openalex.org/W2098759488","https://openalex.org/W2162000109","https://openalex.org/W2217503414","https://openalex.org/W2296055201","https://openalex.org/W2409205391","https://openalex.org/W2466591533","https://openalex.org/W3105287169","https://openalex.org/W6602833444","https://openalex.org/W6785832472"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2765830098","https://openalex.org/W2967463586","https://openalex.org/W2074679142","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W3157641275","https://openalex.org/W4312300846","https://openalex.org/W4206221578","https://openalex.org/W3029572990"],"abstract_inverted_index":{"The":[0,123],"most":[1],"prominent":[2],"criterion":[3],"for":[4,64,79,88,141],"learning":[5],"of":[6,12,21,60,67,81],"manipulation":[7,38,95,134,142],"skills":[8],"is":[9,24,50,93,105],"the":[10,132],"optimization":[11,80,87],"task":[13,96,118,121],"success,":[14],"modeled":[15],"as":[16,42],"expected":[17,65,89],"reward":[18],"or":[19],"probability":[20],"success.":[22,90],"This":[23],"sensible":[25],"if":[26,36],"we":[27],"only":[28],"want":[29],"to":[30,116,131],"optimize":[31],"a":[32,45,68,76,94,98,114],"single":[33],"controller.":[34],"But":[35],"learned":[37,106],"primitives":[39],"are":[40],"used":[41],"modules":[43],"in":[44],"larger":[46],"system,":[47],"then":[48],"it":[49],"also":[51],"important":[52],"that":[53,108,127],"their":[54],"generated":[55,110],"sensor":[56,111],"traces":[57],"facilitate":[58,138],"recognition":[59,140],"action-outcomes.":[61],"Optimization":[62],"solely":[63],"success":[66,119],"primitive":[69,104,135],"does":[70],"not":[71],"guarantee":[72],"this.":[73],"We":[74],"demonstrate":[75],"simple":[77],"example":[78],"actions":[82],"towards":[83],"observability,":[84],"combined":[85],"with":[86,97],"Our":[91],"experiment":[92],"soft":[99],"manipulator,":[100],"where":[101],"an":[102],"action":[103],"such":[107],"its":[109],"trace":[112],"helps":[113],"classifier":[115],"distinguish":[117],"and":[120],"failure.":[122],"experimental":[124],"results":[125],"indicate":[126],"adding":[128],"auxiliary":[129],"forces":[130],"original":[133],"can":[136],"indeed":[137],"outcome":[139],"tasks.":[143]},"counts_by_year":[{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}