{"id":"https://openalex.org/W4385834270","doi":"https://doi.org/10.1109/access.2023.3305339","title":"An Object Recognition Grasping Approach Using Proximal Policy Optimization With YOLOv5","display_name":"An Object Recognition Grasping Approach Using Proximal Policy Optimization With YOLOv5","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4385834270","doi":"https://doi.org/10.1109/access.2023.3305339"},"language":"en","primary_location":{"id":"doi:10.1109/access.2023.3305339","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3305339","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10217816.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":null,"license_id":null,"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/ielx7/6287639/6514899/10217816.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100545400","display_name":"Qingchun Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qingchun Zheng","raw_affiliation_strings":["Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China","School of Mechanical Engineering, Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072294368","display_name":"Zhi Peng","orcid":"https://orcid.org/0000-0002-5261-6742"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Peng","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-5261-6742","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103282885","display_name":"Peihao Zhu","orcid":"https://orcid.org/0000-0002-2709-8293"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peihao Zhu","raw_affiliation_strings":["Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China","School of Mechanical Engineering, Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-2709-8293","affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]},{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029136527","display_name":"Yangyang Zhao","orcid":"https://orcid.org/0000-0002-5646-3827"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yangyang Zhao","raw_affiliation_strings":["School of Computer Science and Engineering, Tianjin University of Technology, Tianjin, China"],"raw_orcid":"https://orcid.org/0000-0002-5646-3827","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040079581","display_name":"Ran Zhai","orcid":"https://orcid.org/0000-0002-6986-3336"},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ran Zhai","raw_affiliation_strings":["School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112546917","display_name":"Wenpeng Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I136765683","display_name":"Tianjin University of Technology","ror":"https://ror.org/00zbe0w13","country_code":"CN","type":"education","lineage":["https://openalex.org/I136765683"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenpeng Ma","raw_affiliation_strings":["National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Demonstration Center for Experimental Mechanical and Electrical Engineering Education, Tianjin University of Technology, Tianjin, China","institution_ids":["https://openalex.org/I136765683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100545400"],"corresponding_institution_ids":["https://openalex.org/I136765683"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.9522,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.86175809,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"11","issue":null,"first_page":"87330","last_page":"87343"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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":0.9988999962806702,"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":0.998199999332428,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.799323320388794},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.7872343063354492},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.715685248374939},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.534652590751648},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4487711489200592},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42536652088165283},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3856496214866638},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.33057376742362976}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.799323320388794},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.7872343063354492},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.715685248374939},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.534652590751648},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4487711489200592},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42536652088165283},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3856496214866638},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33057376742362976}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2023.3305339","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3305339","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10217816.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:26cec7e333684e15b3cbf749220db22e","is_oa":true,"landing_page_url":"https://doaj.org/article/26cec7e333684e15b3cbf749220db22e","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 11, Pp 87330-87343 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2023.3305339","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2023.3305339","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/10217816.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G91247920","display_name":null,"funder_award_id":"62073239","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385834270.pdf","grobid_xml":"https://content.openalex.org/works/W4385834270.grobid-xml"},"referenced_works_count":41,"referenced_works":["https://openalex.org/W1771410628","https://openalex.org/W2072471481","https://openalex.org/W2790514085","https://openalex.org/W2805043765","https://openalex.org/W2935521254","https://openalex.org/W2971065161","https://openalex.org/W3004921253","https://openalex.org/W3043321667","https://openalex.org/W3092022274","https://openalex.org/W3093426589","https://openalex.org/W3101677789","https://openalex.org/W3127770912","https://openalex.org/W3128129923","https://openalex.org/W3131554325","https://openalex.org/W3160952489","https://openalex.org/W3188220908","https://openalex.org/W3198249268","https://openalex.org/W3198290721","https://openalex.org/W3200900716","https://openalex.org/W3205490848","https://openalex.org/W3214738088","https://openalex.org/W3217417434","https://openalex.org/W4210549532","https://openalex.org/W4213390660","https://openalex.org/W4221087506","https://openalex.org/W4224062116","https://openalex.org/W4224299412","https://openalex.org/W4280536386","https://openalex.org/W4281622198","https://openalex.org/W4281706065","https://openalex.org/W4283029931","https://openalex.org/W4285017877","https://openalex.org/W4285389602","https://openalex.org/W4287887757","https://openalex.org/W4291535767","https://openalex.org/W4292395837","https://openalex.org/W4307638957","https://openalex.org/W4308581710","https://openalex.org/W4367728261","https://openalex.org/W4379184848","https://openalex.org/W6638018090"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W2964765435"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,65,69,73,83,87,93,116,131,141,167,182,186,204,212,230,249],"problems":[3],"of":[4,115,136,185,206,221],"traditional":[5],"grasping":[6,20,28,80,84,231,247],"methods":[7],"for":[8,78,245],"mobile":[9],"manipulators,":[10],"such":[11],"as":[12],"single":[13],"application":[14],"scenarios,":[15],"low":[16],"accuracy,":[17],"and":[18,67,97,107,119,162,175,181,193,198,215],"complex":[19],"tasks,":[21],"this":[22],"paper":[23],"proposes":[24],"an":[25],"object":[26,56,66,79,137,179,246],"recognition":[27,46,57,138,155],"approach":[29,237],"using":[30],"Proximal":[31],"Policy":[32,100],"Optimization":[33,101],"(PPO)":[34],"with":[35,48,92],"You":[36],"Only":[37],"Look":[38],"Once":[39],"v5":[40],"(YOLOv5),":[41],"which":[42,157],"combines":[43],"a":[44,49,241],"vision":[45],"algorithm":[47,53,75,89,188],"deep":[50],"reinforcement":[51],"learning":[52],"to":[54,63,81,196],"achieve":[55],"grasping.":[58],"First,":[59],"YOLOv5":[60,146],"is":[61,76,90,189],"adopted":[62],"identify":[64],"obtain":[68,82],"location":[70],"information.":[71],"Second,":[72],"PPO":[74,88,187],"used":[77],"strategy.":[85],"Third,":[86],"compared":[91,195],"Soft":[94],"Actor-Critic":[95],"(SAC)":[96],"Trust":[98],"Region":[99],"(TRPO)":[102],"algorithms":[103,121,177],"in":[104,124,134,178,225],"batches":[105],"16":[106],"128,":[108],"respectively.":[109,201],"The":[110,145],"average":[111,183,217],"reward":[112,184],"training":[113],"results":[114,128],"PPO,":[117],"SAC,":[118],"TRPO":[120,176,199],"are":[122],"obtained":[123],"our":[125,152,209,235],"work.":[126],"Experimental":[127],"show":[129],"that":[130,229],"proposed":[132,171,236],"method,":[133],"terms":[135],"speed,":[139],"outperforms":[140,173],"original":[142],"YOLOv4":[143,168],"model.":[144,169],"model":[147],"achieves":[148],"96%":[149],"precision":[150,161,218],"on":[151],"own":[153],"built":[154],"dataset,":[156],"has":[158,211],"higher":[159],"detection":[160],"lower":[163],"hardware":[164],"requirements":[165],"than":[166],"Our":[170],"method":[172,210],"SAC":[174,197],"grasping,":[180],"improved":[190],"by":[191,248],"93.3%":[192],"41%":[194],"algorithms,":[200],"Finally,":[202],"through":[203],"comparison":[205],"ablation":[207],"experiments,":[208],"highest":[213],"accuracy":[214],"mean":[216],"(mAP)@0.5":[219],"value":[220],"92.3%.":[222],"We":[223],"demonstrate":[224],"actual":[226],"physical":[227],"experiments":[228],"success":[232],"rate":[233],"under":[234],"reaches":[238],"100%,":[239],"providing":[240],"new":[242],"research":[243],"strategy":[244],"robot":[250],"manipulator.":[251]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
