{"id":"https://openalex.org/W4210939259","doi":"https://doi.org/10.1007/s10514-022-10034-z","title":"Continuous control actions learning and adaptation for robotic manipulation through reinforcement learning","display_name":"Continuous control actions learning and adaptation for robotic manipulation through reinforcement learning","publication_year":2022,"publication_date":"2022-02-09","ids":{"openalex":"https://openalex.org/W4210939259","doi":"https://doi.org/10.1007/s10514-022-10034-z"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-022-10034-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10034-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10034-z.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10034-z.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003810719","display_name":"Asad Ali Shahid","orcid":"https://orcid.org/0009-0001-0312-9657"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"id":"https://openalex.org/I57201433","display_name":"Universit\u00e0 della Svizzera italiana","ror":"https://ror.org/03c4atk17","country_code":"CH","type":"education","lineage":["https://openalex.org/I57201433"]},{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["CH","IT"],"is_corresponding":false,"raw_author_name":"Asad Ali Shahid","raw_affiliation_strings":["Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy","Istituto Dalle Molle di studi sull\u2019Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland","Istituto Dalle Molle di studi sull'Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"Istituto Dalle Molle di studi sull\u2019Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"raw_affiliation_string":"Istituto Dalle Molle di studi sull'Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046585507","display_name":"Dario Piga","orcid":"https://orcid.org/0000-0001-7691-4886"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"id":"https://openalex.org/I57201433","display_name":"Universit\u00e0 della Svizzera italiana","ror":"https://ror.org/03c4atk17","country_code":"CH","type":"education","lineage":["https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Dario Piga","raw_affiliation_strings":["Istituto Dalle Molle di studi sull\u2019Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland","Istituto Dalle Molle di studi sull'Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Dalle Molle di studi sull\u2019Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"raw_affiliation_string":"Istituto Dalle Molle di studi sull'Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050750282","display_name":"Francesco Braghin","orcid":"https://orcid.org/0000-0002-0476-4118"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Francesco Braghin","raw_affiliation_strings":["Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086291668","display_name":"Loris Roveda","orcid":"https://orcid.org/0000-0002-4427-536X"},"institutions":[{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I2614128279","display_name":"Dalle Molle Institute for Artificial Intelligence Research","ror":"https://ror.org/013355g38","country_code":"CH","type":"facility","lineage":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"id":"https://openalex.org/I57201433","display_name":"Universit\u00e0 della Svizzera italiana","ror":"https://ror.org/03c4atk17","country_code":"CH","type":"education","lineage":["https://openalex.org/I57201433"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Loris Roveda","raw_affiliation_strings":["Istituto Dalle Molle di studi sull\u2019Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland","Istituto Dalle Molle di studi sull'Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4427-536X","affiliations":[{"raw_affiliation_string":"Istituto Dalle Molle di studi sull\u2019Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]},{"raw_affiliation_string":"Istituto Dalle Molle di studi sull'Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Universit\u00e0 della Svizzera italiana (USI), via Cantonale 2C, 6928, Manno, Switzerland","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5086291668"],"corresponding_institution_ids":["https://openalex.org/I15196421","https://openalex.org/I2614128279","https://openalex.org/I57201433"],"apc_list":{"value":3390,"currency":"USD","value_usd":3390},"apc_paid":{"value":3390,"currency":"USD","value_usd":3390},"fwci":5.5938,"has_fulltext":true,"cited_by_count":63,"citation_normalized_percentile":{"value":0.9711636,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"46","issue":"3","first_page":"483","last_page":"498"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9991999864578247,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.9002376198768616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8787758350372314},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7544271349906921},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.676700234413147},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6264002919197083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6139698028564453},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5499463081359863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5444073677062988},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5293346643447876},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39345306158065796}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.9002376198768616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8787758350372314},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7544271349906921},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.676700234413147},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6264002919197083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6139698028564453},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5499463081359863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5444073677062988},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5293346643447876},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39345306158065796},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10514-022-10034-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10034-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10034-z.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:re.public.polimi.it:11311/1233378","is_oa":true,"landing_page_url":"https://link.springer.com/article/10.1007/s10514-022-10034-z","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1007/s10514-022-10034-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-022-10034-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-022-10034-z.pdf","source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5099999904632568}],"awards":[{"id":"https://openalex.org/G1389811400","display_name":null,"funder_award_id":"886977","funder_id":"https://openalex.org/F4320332999","funder_display_name":"Horizon 2020 Framework Programme"}],"funders":[{"id":"https://openalex.org/F4320332999","display_name":"Horizon 2020 Framework Programme","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4210939259.pdf","grobid_xml":"https://content.openalex.org/works/W4210939259.grobid-xml"},"referenced_works_count":52,"referenced_works":["https://openalex.org/W1969074599","https://openalex.org/W1999156278","https://openalex.org/W2012204020","https://openalex.org/W2016765487","https://openalex.org/W2070665593","https://openalex.org/W2100235553","https://openalex.org/W2109102709","https://openalex.org/W2121103318","https://openalex.org/W2126909264","https://openalex.org/W2133068870","https://openalex.org/W2140135625","https://openalex.org/W2145339207","https://openalex.org/W2158782408","https://openalex.org/W2169209873","https://openalex.org/W2172158418","https://openalex.org/W2172968643","https://openalex.org/W2257979135","https://openalex.org/W2312797433","https://openalex.org/W2342662072","https://openalex.org/W2476752140","https://openalex.org/W2529601334","https://openalex.org/W2575705757","https://openalex.org/W2603920273","https://openalex.org/W2605102758","https://openalex.org/W2626073992","https://openalex.org/W2791797404","https://openalex.org/W2804935296","https://openalex.org/W2898851125","https://openalex.org/W2899059606","https://openalex.org/W2962736495","https://openalex.org/W2962737955","https://openalex.org/W2962759351","https://openalex.org/W2963033241","https://openalex.org/W2963411833","https://openalex.org/W2964157221","https://openalex.org/W2964239605","https://openalex.org/W2970971581","https://openalex.org/W2995107092","https://openalex.org/W3003629310","https://openalex.org/W3006640981","https://openalex.org/W3018074695","https://openalex.org/W3034825434","https://openalex.org/W3037767967","https://openalex.org/W3187016934","https://openalex.org/W3211145209","https://openalex.org/W4212774754","https://openalex.org/W4248238162","https://openalex.org/W6638018090","https://openalex.org/W6677916085","https://openalex.org/W6682849425","https://openalex.org/W6683195989","https://openalex.org/W6780394890"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W2024136090","https://openalex.org/W2110944602","https://openalex.org/W3213722473","https://openalex.org/W2732813147","https://openalex.org/W2143460112"],"abstract_inverted_index":{"Abstract":[0],"This":[1],"paper":[2],"presents":[3],"a":[4,98,135],"learning-based":[5],"method":[6],"that":[7,54],"uses":[8],"simulation":[9],"data":[10],"to":[11,44,62,69,86,109,118,144,164],"learn":[12],"an":[13,88],"object":[14,123],"manipulation":[15],"task":[16,85,96,108],"using":[17],"two":[18],"model-free":[19],"reinforcement":[20],"learning":[21,25,47,90],"(RL)":[22],"algorithms.":[23],"The":[24,112,129],"performance":[26],"is":[27,52,81,103,116,131],"compared":[28],"across":[29,121],"on-policy":[30,60],"and":[31,38,71,125],"off-policy":[32],"algorithms:":[33],"Proximal":[34],"Policy":[35],"Optimization":[36],"(PPO)":[37],"Soft":[39],"Actor-Critic":[40],"(SAC).":[41],"In":[42],"order":[43],"accelerate":[45],"the":[46,49,56,66,73,84,92,106,142,146,160],"process,":[48],"fine-tuning":[50],"procedure":[51],"proposed":[53,161],"demonstrates":[55],"continuous":[57],"adaptation":[58],"of":[59,91,155],"RL":[61],"new":[63],"environments,":[64],"allowing":[65],"learned":[67,113,147],"policy":[68,115],"adapt":[70],"execute":[72],"(partially)":[74],"modified":[75],"task.":[76],"A":[77,94],"dense":[78],"reward":[79],"function":[80],"designed":[82],"for":[83],"enable":[87],"efficient":[89],"agent.":[93],"grasping":[95,157],"involving":[97],"Franka":[99,137],"Emika":[100,138],"Panda":[101,139],"manipulator":[102],"considered":[104],"as":[105],"reference":[107],"be":[110,119],"learned.":[111],"control":[114],"demonstrated":[117],"generalizable":[120],"multiple":[122],"geometries":[124],"initial":[126],"robot/parts":[127],"configurations.":[128],"approach":[130,162],"finally":[132],"tested":[133],"on":[134],"real":[136,165],"robot,":[140],"showing":[141],"possibility":[143],"transfer":[145],"behavior":[148],"from":[149],"simulation.":[150],"Experimental":[151],"results":[152],"show":[153],"100%":[154],"successful":[156],"tasks,":[158],"making":[159],"applicable":[163],"applications.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":19},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":8}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2022-02-09T00:00:00"}