{"id":"https://openalex.org/W3118616639","doi":"https://doi.org/10.1109/access.2021.3049860","title":"Ensemble Bootstrapped Deep Deterministic Policy Gradient for Vision-Based Robotic Grasping","display_name":"Ensemble Bootstrapped Deep Deterministic Policy Gradient for Vision-Based Robotic Grasping","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3118616639","doi":"https://doi.org/10.1109/access.2021.3049860","mag":"3118616639"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3049860","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3049860","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09316755.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09316755.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100359512","display_name":"Weiwei Liu","orcid":"https://orcid.org/0000-0002-2496-7748"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weiwei Liu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2496-7748","affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045025233","display_name":"Linpeng Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linpeng Peng","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-1754-9879","affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056945088","display_name":"Junjie Cao","orcid":"https://orcid.org/0000-0003-0484-8167"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Cao","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087446546","display_name":"Xiaokuan Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaokuan Fu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-7115-5091","affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100724297","display_name":"Yong Liu","orcid":"https://orcid.org/0000-0003-4822-8939"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Liu","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-4822-8939","affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101453473","display_name":"Zaisheng Pan","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zaisheng Pan","raw_affiliation_strings":["Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037577175","display_name":"Jian Yang","orcid":"https://orcid.org/0000-0003-4887-3444"},"institutions":[{"id":"https://openalex.org/I4210145825","display_name":"China Academy Of Machinery Science & Technology (China)","ror":"https://ror.org/04gpxrn68","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210145825"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Yang","raw_affiliation_strings":["China Research and Development Academy of Machinery Equipment, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Research and Development Academy of Machinery Equipment, Beijing, China","institution_ids":["https://openalex.org/I4210145825"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100359512"],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.3591,"has_fulltext":true,"cited_by_count":19,"citation_normalized_percentile":{"value":0.88189263,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"9","issue":null,"first_page":"19916","last_page":"19925"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9851999878883362,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9469000101089478,"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":0.790888786315918},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7476783990859985},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6511317491531372},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.613056480884552},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5688202381134033},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5604615211486816},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5419841408729553},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.47965410351753235},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4582977890968323},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.45766857266426086},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.4305918216705322},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41178521513938904},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3267002999782562},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14190128445625305}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.790888786315918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7476783990859985},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6511317491531372},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.613056480884552},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5688202381134033},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5604615211486816},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5419841408729553},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.47965410351753235},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4582977890968323},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.45766857266426086},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4305918216705322},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41178521513938904},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3267002999782562},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14190128445625305},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3049860","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3049860","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09316755.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ecc8057156e74493ab539be9a9d6d660","is_oa":true,"landing_page_url":"https://doaj.org/article/ecc8057156e74493ab539be9a9d6d660","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 19916-19925 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3049860","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3049860","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09316755.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3118616639.pdf","grobid_xml":"https://content.openalex.org/works/W3118616639.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W1502364872","https://openalex.org/W1986014385","https://openalex.org/W2009618608","https://openalex.org/W2108598243","https://openalex.org/W2145339207","https://openalex.org/W2160067530","https://openalex.org/W2201912979","https://openalex.org/W2257979135","https://openalex.org/W2280163991","https://openalex.org/W2290354866","https://openalex.org/W2600030077","https://openalex.org/W2756350131","https://openalex.org/W2785962646","https://openalex.org/W2788862220","https://openalex.org/W2950268955","https://openalex.org/W2950471160","https://openalex.org/W2962736495","https://openalex.org/W2962759351","https://openalex.org/W2962793652","https://openalex.org/W2963007936","https://openalex.org/W2963099939","https://openalex.org/W2963376229","https://openalex.org/W2963484919","https://openalex.org/W2963713397","https://openalex.org/W2963938771","https://openalex.org/W2964001908","https://openalex.org/W4206547457","https://openalex.org/W4295766944","https://openalex.org/W4300799055","https://openalex.org/W6683935339","https://openalex.org/W6695011786","https://openalex.org/W6696324988","https://openalex.org/W6740422405","https://openalex.org/W6740801417","https://openalex.org/W6744321392","https://openalex.org/W6748645729","https://openalex.org/W6754615820","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W4387947522"],"abstract_inverted_index":{"With":[0],"sufficient":[1],"practice,":[2],"humans":[3],"can":[4,28,53],"grab":[5,31],"objects":[6,263],"they":[7],"have":[8],"never":[9],"seen":[10],"before":[11],"through":[12],"brain":[13],"decision-making.":[14],"However,":[15,90],"the":[16,37,61,65,78,91,97,138,149,159,163,167,172,181,188,192,208,213,217,221,226,229,232,239,242,250,255],"manipulators,":[17],"which":[18,157],"has":[19,264],"a":[20],"wide":[21],"range":[22],"of":[23,36,58,93,99,140,162,169,191,216,228,241,253],"applications":[24],"in":[25,96,180,231,259],"industrial":[26],"production,":[27],"still":[29],"only":[30,54],"specific":[32,56],"objects.":[33,59],"Because":[34],"most":[35],"grasp":[38],"algorithms":[39],"rely":[40],"on":[41,207],"prior":[42],"knowledge":[43],"such":[44,211],"as":[45,212,238],"hand-eye":[46],"calibration":[47],"results,":[48],"object":[49,219],"model":[50],"features,":[51],"and":[52,64,113,121,132,165,175,220,269],"target":[55,67,218],"types":[57],"When":[60],"task":[62],"scenario":[63],"operation":[66],"change,":[68],"it":[69],"cannot":[70],"perform":[71],"effective":[72],"redeployment.":[73],"In":[74,183],"order":[75,184],"to":[76,86,123,130,136,185,204],"solve":[77,137],"above":[79],"problems,":[80],"academia":[81],"often":[82],"uses":[83,118],"reinforcement":[84,94],"learning":[85,95],"train":[87],"grasping":[88,101],"algorithms.":[89],"method":[92],"field":[98],"manipulators":[100],"mainly":[102],"encounters":[103],"these":[104],"main":[105],"problems:":[106],"insufficient":[107],"sample":[108,125],"utilization,":[109],"poor":[110],"algorithm":[111,141,177],"stability,":[112],"limited":[114],"exploration.":[115],"This":[116],"article":[117,195],"LfD,":[119],"BC,":[120],"DDPG":[122],"improve":[124,187],"utilization.":[126],"Use":[127],"multiple":[128],"critics":[129],"integrate":[131],"evaluate":[133],"input":[134,150],"actions":[135],"problem":[139],"instability.":[142],"Finally,":[143],"inspired":[144],"by":[145],"Thompson's":[146],"sampling":[147],"idea,":[148],"action":[151],"is":[152,178,202,236],"evaluated":[153],"from":[154],"different":[155],"angles,":[156],"increases":[158],"algorithm's":[160],"exploration":[161],"environment":[164],"reduces":[166],"number":[168,252],"interactions":[170],"with":[171],"environment.":[173],"EDDPG":[174],"EBDDPG":[176],"designed":[179],"article.":[182],"further":[186],"generalization":[189],"ability":[190],"algorithm,":[193],"this":[194],"does":[196],"not":[197],"use":[198],"extra":[199],"information":[200],"that":[201],"difficult":[203],"obtain":[205],"directly":[206],"physical":[209],"platform,":[210],"real":[214],"coordinates":[215],"continuous":[222],"motion":[223],"space":[224],"at":[225],"end":[227],"manipulator":[230],"Cartesian":[233],"coordinate":[234],"system":[235],"used":[237],"output":[240],"decision.":[243],"The":[244],"simulation":[245],"results":[246],"show":[247],"that,":[248],"under":[249],"same":[251],"interactions,":[254],"manipulators'":[256],"success":[257],"rate":[258],"grabbing":[260],"1000":[261],"random":[262],"increased":[265],"more":[266],"than":[267],"double":[268],"reached":[270],"state-of-the-art(SOTA)":[271],"performance.":[272]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}