{"id":"https://openalex.org/W4415623252","doi":"https://doi.org/10.1016/j.robot.2025.105239","title":"GBAGC-RL: Goal-based arm-gripper coordination reinforcement learning approach for robotic manipulation skills","display_name":"GBAGC-RL: Goal-based arm-gripper coordination reinforcement learning approach for robotic manipulation skills","publication_year":2025,"publication_date":"2025-10-28","ids":{"openalex":"https://openalex.org/W4415623252","doi":"https://doi.org/10.1016/j.robot.2025.105239"},"language":"en","primary_location":{"id":"doi:10.1016/j.robot.2025.105239","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2025.105239","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.robot.2025.105239","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100550227","display_name":"Xiaofan Yang","orcid":"https://orcid.org/0009-0007-0406-1096"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaofan Yang","raw_affiliation_strings":["Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China"],"raw_orcid":"https://orcid.org/0009-0007-0406-1096","affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210161462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057446685","display_name":"Yubin Liu","orcid":"https://orcid.org/0000-0001-9479-8727"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yubin Liu","raw_affiliation_strings":["Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210161462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065055519","display_name":"Guoqing Chu","orcid":"https://orcid.org/0000-0003-1752-4014"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoqing Chu","raw_affiliation_strings":["Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210161462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111080953","display_name":"Junyu Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyu Wu","raw_affiliation_strings":["Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210161462"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhuoqi Man","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuoqi Man","raw_affiliation_strings":["Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210161462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101336171","display_name":"Xuanming Cao","orcid":"https://orcid.org/0009-0003-2415-9809"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanming Cao","raw_affiliation_strings":["Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China"],"raw_orcid":"https://orcid.org/0009-0003-2415-9809","affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210161462"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032952041","display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0003-1168-8384"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4210161462","display_name":"Heilongjiang Institute of Technology","ror":"https://ror.org/05x0m9n95","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210161462"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology, Xidazhi Street 92, Nangang District, Harbin, 150001, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210161462"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5057446685"],"corresponding_institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4210161462"],"apc_list":{"value":3020,"currency":"USD","value_usd":3020},"apc_paid":{"value":3020,"currency":"USD","value_usd":3020},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38018116,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"196","issue":null,"first_page":"105239","last_page":"105239"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6452999711036682,"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":0.6452999711036682,"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/T10982","display_name":"Motor Control and Adaptation","score":0.13420000672340393,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.057100001722574234,"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":0.8048999905586243},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.698199987411499},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6198999881744385},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5485000014305115},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5264999866485596},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.44690001010894775},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4205999970436096}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8048999905586243},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8027999997138977},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.698199987411499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6567000150680542},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6198999881744385},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5485000014305115},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5264999866485596},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.44690001010894775},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4431000053882599},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4205999970436096},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.41429999470710754},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.37389999628067017},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.35420000553131104},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.34470000863075256},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.32600000500679016},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3059000074863434},{"id":"https://openalex.org/C28006648","wikidata":"https://www.wikidata.org/wiki/Q6934509","display_name":"Multi-task learning","level":3,"score":0.2980000078678131},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C34585555","wikidata":"https://www.wikidata.org/wiki/Q1368723","display_name":"Learning curve","level":2,"score":0.25200000405311584}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.robot.2025.105239","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2025.105239","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.robot.2025.105239","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.robot.2025.105239","pdf_url":null,"source":{"id":"https://openalex.org/S133768115","display_name":"Robotics and Autonomous Systems","issn_l":"0921-8890","issn":["0921-8890","1872-793X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics and Autonomous Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7131105161","display_name":null,"funder_award_id":"2023YFB4705100","funder_id":"https://openalex.org/F4320321540","funder_display_name":"Ministry of Science and Technology of the People's Republic of China"}],"funders":[{"id":"https://openalex.org/F4320321540","display_name":"Ministry of Science and Technology of the People's Republic of China","ror":"https://ror.org/027s68j25"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2067923489","https://openalex.org/W2257979135","https://openalex.org/W2885195348","https://openalex.org/W2921618895","https://openalex.org/W2950069298","https://openalex.org/W2990747716","https://openalex.org/W2994446013","https://openalex.org/W3036329728","https://openalex.org/W3092318489","https://openalex.org/W3109467707","https://openalex.org/W3128528928","https://openalex.org/W3138984732","https://openalex.org/W3154298967","https://openalex.org/W4225688536","https://openalex.org/W4240592325","https://openalex.org/W4319302764","https://openalex.org/W4319318414","https://openalex.org/W4362672763","https://openalex.org/W4367016688","https://openalex.org/W4394828156"],"related_works":[],"abstract_inverted_index":{"Recent":[0],"research":[1],"on":[2,163],"robotic":[3,46,59,103,149,201],"manipulation":[4,47,54,68,104,150,166,193,202],"via":[5,209,234],"reinforcement":[6,111,142],"learning":[7,42,55,112,143,222,230],"(RL)":[8],"has":[9],"garnered":[10],"significant":[11],"attention.":[12],"However,":[13],"RL":[14,182,198],"faces":[15],"hurdles":[16],"in":[17,75],"complex":[18,58,67,165,220],"tasks":[19,69,167],"because":[20],"of":[21,45,102,122,157,231],"high":[22],"state\u2013action":[23],"dimensions":[24],"and":[25,43,84,92,139,147,176,184,212],"reward":[26,159,225],"design":[27,156],"complexities.":[28],"It":[29],"is":[30,64],"important":[31],"to":[32,37,88,99,118,124,144],"find":[33],"an":[34],"easy-to-use":[35],"framework":[36,172,199],"quickly":[38],"achieve":[39],"the":[40,76,97,120,155,158,170],"representation,":[41,136],"generalization":[44,175],"skills.":[48,194],"This":[49,126],"article":[50],"proposes":[51],"a":[52,81],"novel":[53,197],"method":[56,95],"for":[57,200],"tasks.":[60,105],"The":[61],"key":[62],"insight":[63],"that":[65,169],"all":[66],"involve":[70],"coordinated":[71],"arm-gripper":[72,130],"collaborative":[73],"movements":[74],"task":[77,82,135,187],"space.":[78],"By":[79],"using":[80],"representation":[83],"subgoal":[85,137,213],"extraction":[86,214],"algorithm":[87],"discern":[89],"motion":[90],"patterns":[91],"subgoals,":[93],"this":[94],"addresses":[96],"\u201cwhat":[98],"do\u201d":[100],"aspect":[101],"Subsequently,":[106],"it":[107],"integrates":[108,134],"goal-based":[109,140],"hierarchical":[110,141],"(HRL)":[113],"with":[114,190,223],"pretrained":[115],"foundational":[116],"skills":[117,151,203,221,233],"address":[119],"challenge":[121],"\u201chow":[123],"do\u201d.":[125],"framework,":[127],"called":[128],"\u201cgoal-based":[129],"coordination":[131],"RL\u201d":[132],"(GBAGC-RL),":[133],"extraction,":[138],"attain":[145],"efficient":[146],"transferable":[148],"while":[152],"drastically":[153],"simplifying":[154],"function.":[160],"Simulation":[161],"evaluations":[162],"multiple":[164],"demonstrate":[168],"proposed":[171],"exhibits":[173],"strong":[174],"transfer":[177,229],"capabilities,":[178],"outperforms":[179],"many":[180],"leading":[181],"methods,":[183],"achieves":[185],"higher":[186],"success":[188],"rates":[189],"more":[191],"stable":[192],"\u2022":[195,205,218,227],"A":[196],"learning.":[204],"Speeds":[206],"up":[207],"training":[208],"task-type":[210,235],"recognition":[211],"from":[215],"few":[216],"demos.":[217],"Enables":[219],"simpler":[224],"design.":[226],"Facilitate":[228],"robot":[232],"differentiation.":[236]},"counts_by_year":[],"updated_date":"2026-02-22T13:39:03.778224","created_date":"2025-10-28T00:00:00"}
