{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,13]],"date-time":"2025-09-13T16:26:11Z","timestamp":1757780771907,"version":"3.37.3"},"reference-count":27,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9562071","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"1644-1650","source":"Crossref","is-referenced-by-count":9,"title":["Learning Stable Normalizing-Flow Control for Robotic Manipulation"],"prefix":"10.1109","author":[{"given":"Shahbaz Abdul","family":"Khader","sequence":"first","affiliation":[]},{"given":"Hang","family":"Yin","sequence":"additional","affiliation":[]},{"given":"Pietro","family":"Falco","sequence":"additional","affiliation":[]},{"given":"Danica","family":"Kragic","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v33i01.33013387"},{"key":"ref11","first-page":"1141","article-title":"Control regularization for reduced variance reinforcement learning","author":"cheng","year":"2019","journal-title":"Proceedings of the 36th International Conference on Machine Learning"},{"key":"ref12","first-page":"1","article-title":"Stability-guaranteed reinforcement learning for contact-rich manipulation","volume":"6","author":"khader","year":"2020","journal-title":"IEEE l of Robotics and Automation"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2996067"},{"journal-title":"Applied nonlinear control","year":"1991","author":"slotine","key":"ref14"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TPAMI.2020.2992934"},{"key":"ref16","article-title":"Density estimation using real nvp","author":"dinh","year":"2017","journal-title":"Proceedings of International Conference on Learning Representations (ICLR)"},{"key":"ref17","article-title":"Euclideanizing flows: Diffeomorphic reduction for learning stable dynamical systems","author":"rana","year":"2020","journal-title":"Proc Conference on Learning for Dynamics and Control (L4DC)"},{"journal-title":"Stability of Liapunov s Direct Method with Applications","year":"1961","author":"lasalle","key":"ref18"},{"key":"ref19","first-page":"375","article-title":"Impedance and interaction control","author":"hogan","year":"2018","journal-title":"Robotics and Automation Handbook"},{"key":"ref4","article-title":"Path integral policy improvement with covariance matrix adaptation","author":"stulp","year":"2012","journal-title":"Proceedings of the 29th International Conference on Machine Learning"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793485"},{"key":"ref3","first-page":"3137","article-title":"A generalized path integral control approach to reinforcement learning","volume":"11","author":"theodorou","year":"2010","journal-title":"Journal of Machine Learning Research"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968201"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041425"},{"key":"ref8","first-page":"803","article-title":"Lyapunov design for safe reinforcement learning","volume":"3","author":"perkins","year":"2003","journal-title":"Journal of Machine Learning Research"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3011379"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917710318"},{"key":"ref9","first-page":"908","article-title":"Safe model-based reinforcement learning with stability guarantees","author":"berkenkamp","year":"2017","journal-title":"Advances in neural information processing systems"},{"key":"ref1","first-page":"1334","article-title":"End-to-end training of deep visuomotor policies","volume":"17","author":"levine","year":"2016","journal-title":"The Journal of Machine Learning Research"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1080\/00207178808906161"},{"article-title":"Proximal policy optimization algorithms","year":"2017","author":"schulman","key":"ref22"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-32552-1"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7138994"},{"year":"2019","key":"ref23","article-title":"Garage: A toolkit for reproducible reinforcement learning research"},{"key":"ref26","first-page":"1647","article-title":"Compliant manipulation for peg-in-hole: Is passive compliance a key to learn contact motion?","author":"yun","year":"2008","journal-title":"2008 IEEE International Conference on Robotics and Automation"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/S0166-3615(97)00015-8"}],"event":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2021,5,30]]},"location":"Xi'an, China","end":{"date-parts":[[2021,6,5]]}},"container-title":["2021 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9560720\/9560666\/09562071.pdf?arnumber=9562071","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T15:47:23Z","timestamp":1652197643000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9562071\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":27,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9562071","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}