{"id":"https://openalex.org/W4290422791","doi":"https://doi.org/10.1007/s10845-022-01988-z","title":"Attention-based advantage actor-critic algorithm with prioritized experience replay for complex 2-D robotic motion planning","display_name":"Attention-based advantage actor-critic algorithm with prioritized experience replay for complex 2-D robotic motion planning","publication_year":2022,"publication_date":"2022-08-07","ids":{"openalex":"https://openalex.org/W4290422791","doi":"https://doi.org/10.1007/s10845-022-01988-z"},"language":"en","primary_location":{"id":"doi:10.1007/s10845-022-01988-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10845-022-01988-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10845-022-01988-z.pdf","source":{"id":"https://openalex.org/S161464388","display_name":"Journal of Intelligent Manufacturing","issn_l":"0956-5515","issn":["0956-5515","1572-8145"],"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":"Journal of Intelligent Manufacturing","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/s10845-022-01988-z.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018829587","display_name":"Chengmin Zhou","orcid":"https://orcid.org/0000-0002-8297-5949"},"institutions":[{"id":"https://openalex.org/I175532246","display_name":"University of Eastern Finland","ror":"https://ror.org/00cyydd11","country_code":"FI","type":"education","lineage":["https://openalex.org/I175532246"]},{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN","FI"],"is_corresponding":false,"raw_author_name":"Chengmin Zhou","raw_affiliation_strings":["College of Big Data and Internet, Shenzhen Technology University, Shenzhen, China","School of Computing, University of Eastern Finland, Joensuu, Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Big Data and Internet, Shenzhen Technology University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]},{"raw_affiliation_string":"School of Computing, University of Eastern Finland, Joensuu, Finland","institution_ids":["https://openalex.org/I175532246"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015878061","display_name":"Bingding Huang","orcid":"https://orcid.org/0000-0002-4748-2882"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bingding Huang","raw_affiliation_strings":["College of Big Data and Internet, Shenzhen Technology University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Big Data and Internet, Shenzhen Technology University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019879524","display_name":"Haseeb Hassan","orcid":"https://orcid.org/0000-0002-8158-2502"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haseeb Hassan","raw_affiliation_strings":["College of Big Data and Internet, Shenzhen Technology University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Big Data and Internet, Shenzhen Technology University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037846871","display_name":"Pasi Fr\u00e4nti","orcid":"https://orcid.org/0000-0002-9554-2827"},"institutions":[{"id":"https://openalex.org/I175532246","display_name":"University of Eastern Finland","ror":"https://ror.org/00cyydd11","country_code":"FI","type":"education","lineage":["https://openalex.org/I175532246"]}],"countries":["FI"],"is_corresponding":true,"raw_author_name":"Pasi Fr\u00e4nti","raw_affiliation_strings":["Machine Learning Group, School of Computing, University of Eastern Finland, Joensuu, Finland","School of Computing, University of Eastern Finland, Joensuu, Finland"],"raw_orcid":"https://orcid.org/0000-0002-9554-2827","affiliations":[{"raw_affiliation_string":"Machine Learning Group, School of Computing, University of Eastern Finland, Joensuu, Finland","institution_ids":["https://openalex.org/I175532246"]},{"raw_affiliation_string":"School of Computing, University of Eastern Finland, Joensuu, Finland","institution_ids":["https://openalex.org/I175532246"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5015878061","https://openalex.org/A5037846871"],"corresponding_institution_ids":["https://openalex.org/I175532246","https://openalex.org/I4210152380"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":{"value":2990,"currency":"USD","value_usd":2990},"fwci":1.5389,"has_fulltext":true,"cited_by_count":21,"citation_normalized_percentile":{"value":0.83412864,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"34","issue":"1","first_page":"151","last_page":"180"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9965000152587891,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7491735816001892},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7474976778030396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5922914743423462},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5615167617797852},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.5596653819084167},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5194036960601807},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.4499111473560333},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.424813449382782},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.38139528036117554}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7491735816001892},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7474976778030396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5922914743423462},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5615167617797852},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.5596653819084167},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5194036960601807},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.4499111473560333},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.424813449382782},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38139528036117554},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10845-022-01988-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10845-022-01988-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10845-022-01988-z.pdf","source":{"id":"https://openalex.org/S161464388","display_name":"Journal of Intelligent Manufacturing","issn_l":"0956-5515","issn":["0956-5515","1572-8145"],"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":"Journal of Intelligent Manufacturing","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:spr:joinma:v:34:y:2023:i:1:d:10.1007_s10845-022-01988-z","is_oa":false,"landing_page_url":"http://link.springer.com/10.1007/s10845-022-01988-z","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s10845-022-01988-z","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10845-022-01988-z","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10845-022-01988-z.pdf","source":{"id":"https://openalex.org/S161464388","display_name":"Journal of Intelligent Manufacturing","issn_l":"0956-5515","issn":["0956-5515","1572-8145"],"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":"Journal of Intelligent Manufacturing","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4290422791.pdf","grobid_xml":"https://content.openalex.org/works/W4290422791.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W1646707810","https://openalex.org/W1969483458","https://openalex.org/W1971998222","https://openalex.org/W1974795838","https://openalex.org/W2005354226","https://openalex.org/W2042264548","https://openalex.org/W2044429593","https://openalex.org/W2049347568","https://openalex.org/W2067265645","https://openalex.org/W2070188654","https://openalex.org/W2077758943","https://openalex.org/W2103052138","https://openalex.org/W2117211893","https://openalex.org/W2129124930","https://openalex.org/W2137983211","https://openalex.org/W2142943472","https://openalex.org/W2145339207","https://openalex.org/W2173564293","https://openalex.org/W2260756217","https://openalex.org/W2411690432","https://openalex.org/W2592285292","https://openalex.org/W2595840341","https://openalex.org/W2617205088","https://openalex.org/W2746553466","https://openalex.org/W2888241724","https://openalex.org/W2890001928","https://openalex.org/W2963809389","https://openalex.org/W2964082383","https://openalex.org/W2964319688","https://openalex.org/W2965870268","https://openalex.org/W2987631717","https://openalex.org/W3033299454","https://openalex.org/W3113358868","https://openalex.org/W3128349944","https://openalex.org/W3131623996","https://openalex.org/W3181488183","https://openalex.org/W3201681013","https://openalex.org/W4244471710","https://openalex.org/W6638018090","https://openalex.org/W6683195989","https://openalex.org/W6684205842","https://openalex.org/W6687681856","https://openalex.org/W6730111887","https://openalex.org/W6730267373","https://openalex.org/W6735377749","https://openalex.org/W6741002519","https://openalex.org/W6751540476","https://openalex.org/W6784049536"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W1985458517","https://openalex.org/W2355833770","https://openalex.org/W3031039437","https://openalex.org/W4283822356","https://openalex.org/W1950940422","https://openalex.org/W2129146436","https://openalex.org/W2032507829","https://openalex.org/W2147282173"],"abstract_inverted_index":{"Abstract":[0],"Robotic":[1],"motion":[2,17],"planning":[3],"in":[4,23,125,246,271],"dense":[5,33],"and":[6,34,44,73,116,136,177,232,250,267,275],"dynamic":[7],"indoor":[8],"scenarios":[9],"constantly":[10],"challenges":[11],"the":[12,16,32,42,47,50,61,69,89,93,109,122,131,149,171,175,180,190,193,202,209,217,222,239,243,282,296],"researchers":[13],"because":[14],"of":[15,19,41,92,151,174,192,211,238,269],"unpredictability":[18],"obstacles.":[20,178],"Recent":[21],"progress":[22],"reinforcement":[24,64],"learning":[25,65],"enables":[26],"robots":[27],"to":[28,87,107,147,168,188,215,235,258],"better":[29,169,260],"cope":[30],"with":[31,143,248,262,273,281],"unpredictable":[35],"obstacles":[36,45,277],"by":[37,60,95,162,200],"encoding":[38],"complex":[39,172],"features":[40,57,111,173],"robot":[43,62,176,181],"into":[46],"encoders":[48],"like":[49],"long-short":[51],"term":[52],"memory":[53],"(LSTM).":[54],"Then":[55,254],"these":[56],"are":[58,112],"learned":[59],"using":[63],"algorithms,":[66],"such":[67],"as":[68],"deep":[70],"Q":[71],"network":[72,123,223],"asynchronous":[74],"advantage":[75,132,194,285],"actor":[76,133,140,286],"critic":[77,134,141,287],"algorithm.":[78,196,288],"However,":[79],"existing":[80,152],"methods":[81],"depend":[82],"heavily":[83],"on":[84,105,130,225],"expert":[85,244],"experiences":[86,187,214,234,245,264,270],"enhance":[88],"convergence":[90,218],"speed":[91],"networks":[94,191],"initializing":[96],"them":[97],"via":[98],"imitation":[99],"learning.":[100],"Moreover,":[101],"those":[102],"approaches":[103],"based":[104,224],"LSTM":[106,158],"encode":[108],"obstacle":[110],"not":[113],"always":[114],"efficient":[115],"robust":[117,164],"enough,":[118],"therefore":[119],"sometimes":[120],"causing":[121],"overfitting":[124],"training.":[126],"This":[127,197],"paper":[128],"focuses":[129],"algorithm":[135,142,146,153,227],"introduces":[137],"an":[138],"attention-based":[139],"experience":[144,204],"replay":[145,205],"improve":[148,216],"performance":[150],"from":[154,183],"two":[155],"perspectives.":[156],"First,":[157],"encoder":[159,165],"is":[160,198,292],"replaced":[161],"a":[163,259],"attention":[166],"weight":[167],"interpret":[170],"Second,":[179],"learns":[182],"its":[184],"past":[185,212],"prioritized":[186,203],"initialize":[189],"actor-critic":[195],"achieved":[199],"applying":[201],"method,":[206],"which":[207],"makes":[208],"best":[210],"useful":[213],"speed.":[219],"As":[220],"results,":[221],"our":[226],"takes":[228],"only":[229],"around":[230],"15%":[231],"30%":[233],"get":[236],"rid":[237],"early-stage":[240],"training":[241],"without":[242],"cases":[247,272],"five":[249,276],"ten":[251,274],"obstacles,":[252],"respectively.":[253],"it":[255],"converges":[256],"faster":[257],"reward":[261],"less":[263],"(near":[265],"45%":[266],"65%":[268],"respectively)":[278],"when":[279],"comparing":[280],"baseline":[283],"LSTM-based":[284],"Our":[289],"source":[290],"code":[291],"freely":[293],"available":[294],"at":[295],"GitHub":[297],"(":[298],"https://github.com/CHUENGMINCHOU/AW-PER-A2C":[299],").":[300]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
