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Multiobjective Optimization Based on Expensive Robotic Experiments under Heteroscedastic Noise
http://hdl.handle.net/2237/26774
http://hdl.handle.net/2237/267748eb72820-d01a-431a-ab0d-65b86edaad57
名前 / ファイル | ライセンス | アクション |
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draft.pdf (1.6 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2017-07-05 | |||||
タイトル | ||||||
タイトル | Multiobjective Optimization Based on Expensive Robotic Experiments under Heteroscedastic Noise | |||||
言語 | en | |||||
著者 |
Ariizumi, Ryo
× Ariizumi, Ryo× Tesch, Matthew× Kato, Kenta× Choset, Howie× Matsuno, Fumitoshi |
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アクセス権 | ||||||
アクセス権 | open access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
権利 | ||||||
言語 | en | |||||
権利情報 | “© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.” | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In many engineering problems, including those related to robotics, optimization of the control policy for multiple conflicting criteria is required. However, this can be very challenging because of the existence of noise, which may be input dependent or heteroscedastic, and restrictions regarding the number of evaluations owing to the costliness of the experiments in terms of time and/or money. This paper presents a multiobjective optimization algorithm for expensive-to-evaluate noisy functions for robotics. We present a method for model selection between heteroscedastic and standard homoscedastic Gaussian process regression techniques to create suitable surrogate functions from noisy samples, and to find the point to be observed at the next step. This algorithm is compared against an existing multiobjective optimization algorithm, and then used to optimize the speed and head stability of the sidewinding gait of a snake robot. | |||||
言語 | en | |||||
出版者 | ||||||
出版者 | IEEE | |||||
言語 | en | |||||
言語 | ||||||
言語 | eng | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
出版タイプ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1109/TRO.2016.2632739 | |||||
ISSN | ||||||
収録物識別子タイプ | PISSN | |||||
収録物識別子 | 1552-3098 | |||||
書誌情報 |
en : IEEE Transactions on Robotics 巻 33, 号 2, p. 468-483, 発行日 2017-04 |
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値 | author | |||||
URI | ||||||
識別子 | http://doi.org/10.1109/TRO.2016.2632739 | |||||
識別子タイプ | DOI | |||||
URI | ||||||
識別子 | http://hdl.handle.net/2237/26774 | |||||
識別子タイプ | HDL |