{"id":"https://openalex.org/W4400905325","doi":"https://doi.org/10.1109/access.2024.3432644","title":"Robust Contact-Rich Task Learning With Reinforcement Learning and Curriculum-Based Domain Randomization","display_name":"Robust Contact-Rich Task Learning With Reinforcement Learning and Curriculum-Based Domain Randomization","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4400905325","doi":"https://doi.org/10.1109/access.2024.3432644"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3432644","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3432644","pdf_url":null,"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://doi.org/10.1109/access.2024.3432644","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036967034","display_name":"Ali Aflakian","orcid":"https://orcid.org/0000-0001-9777-7067"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Ali Aflakian","raw_affiliation_strings":["Extreme Robotics Laboratory, School of Metallurgy and Materials, University of Birmingham, Birmingham, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9777-7067","affiliations":[{"raw_affiliation_string":"Extreme Robotics Laboratory, School of Metallurgy and Materials, University of Birmingham, Birmingham, U.K","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088741224","display_name":"Jamie Hathaway","orcid":"https://orcid.org/0009-0008-3535-6521"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jamie Hathaway","raw_affiliation_strings":["Extreme Robotics Laboratory, School of Metallurgy and Materials, University of Birmingham, Birmingham, U.K"],"raw_orcid":"https://orcid.org/0009-0008-3535-6521","affiliations":[{"raw_affiliation_string":"Extreme Robotics Laboratory, School of Metallurgy and Materials, University of Birmingham, Birmingham, U.K","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005183926","display_name":"Rustam Stolkin","orcid":"https://orcid.org/0000-0002-0890-8836"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rustam Stolkin","raw_affiliation_strings":["Extreme Robotics Laboratory, School of Metallurgy and Materials, University of Birmingham, Birmingham, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Extreme Robotics Laboratory, School of Metallurgy and Materials, University of Birmingham, Birmingham, U.K","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046019885","display_name":"Alireza Rastegarpanah","orcid":"https://orcid.org/0000-0003-4264-6857"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Alireza Rastegarpanah","raw_affiliation_strings":["Extreme Robotics Laboratory, School of Metallurgy and Materials, University of Birmingham, Birmingham, U.K"],"raw_orcid":"https://orcid.org/0000-0003-4264-6857","affiliations":[{"raw_affiliation_string":"Extreme Robotics Laboratory, School of Metallurgy and Materials, University of Birmingham, Birmingham, U.K","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5036967034"],"corresponding_institution_ids":["https://openalex.org/I79619799"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.9228,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.74308614,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"103461","last_page":"103472"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.996399998664856,"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/notation","display_name":"Notation","score":0.5600938200950623},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5479034781455994},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.42059680819511414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4115048348903656},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40055814385414124},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38227927684783936},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37731704115867615},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.36718517541885376},{"id":"https://openalex.org/keywords/arithmetic","display_name":"Arithmetic","score":0.09346291422843933}],"concepts":[{"id":"https://openalex.org/C45357846","wikidata":"https://www.wikidata.org/wiki/Q2001982","display_name":"Notation","level":2,"score":0.5600938200950623},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5479034781455994},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.42059680819511414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4115048348903656},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40055814385414124},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38227927684783936},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37731704115867615},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.36718517541885376},{"id":"https://openalex.org/C94375191","wikidata":"https://www.wikidata.org/wiki/Q11205","display_name":"Arithmetic","level":1,"score":0.09346291422843933},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/access.2024.3432644","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3432644","pdf_url":null,"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:publications.aston.ac.uk:48028","is_oa":true,"landing_page_url":null,"pdf_url":"https://publications.aston.ac.uk/id/eprint/48028/1/Robust_Contact-Rich_Task_Learning_With_Reinforcement_Learning_and_Curriculum-Based_Domain_Randomization.pdf","source":{"id":"https://openalex.org/S4306400483","display_name":"Aston Publications Explorer (Aston University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I169199633","host_organization_name":"Aston University","host_organization_lineage":["https://openalex.org/I169199633"],"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":"PeerReviewed"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/2864b306-a6ca-435c-8b6f-f4ab9b2f6ba1","is_oa":true,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/2864b306-a6ca-435c-8b6f-f4ab9b2f6ba1","pdf_url":"https://pure-oai.bham.ac.uk/ws/files/235730769/Robust_Contact-Rich_Task_Learning_With_Reinforcement_Learning_and_Curriculum-Based_Domain_Randomization.pdf","source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"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":"Aflakian, A, Hathaway, J, Stolkin, R & Rastegarpanah, A 2024, 'Robust Contact-Rich Task Learning With Reinforcement Learning and Curriculum-Based Domain Randomization', IEEE Access, vol. 12, pp. 103461-103472. https://doi.org/10.1109/ACCESS.2024.3432644","raw_type":"article"},{"id":"pmh:oai:doaj.org/article:8f5be9612fca4832b9087d00a22aa2f8","is_oa":true,"landing_page_url":"https://doaj.org/article/8f5be9612fca4832b9087d00a22aa2f8","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 12, Pp 103461-103472 (2024)","raw_type":"article"},{"id":"pmh:oai:zenodo.org:17209915","is_oa":true,"landing_page_url":"https://doi.org/10.1109/ACCESS.2024.3432644","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"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":"IEEE Access, (2024-08-05)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3432644","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3432644","pdf_url":null,"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":[{"id":"https://openalex.org/G4513526126","display_name":null,"funder_award_id":"FIRG005","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G5087566067","display_name":null,"funder_award_id":"101104241","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"},{"id":"https://openalex.org/G5264719928","display_name":null,"funder_award_id":"FIRG057","funder_id":"https://openalex.org/F4320314731","funder_display_name":"UK Research and Innovation"}],"funders":[{"id":"https://openalex.org/F4320314731","display_name":"UK Research and Innovation","ror":"https://ror.org/001aqnf71"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1771182989","https://openalex.org/W1977655452","https://openalex.org/W1978956894","https://openalex.org/W2196218134","https://openalex.org/W2766966634","https://openalex.org/W2767050701","https://openalex.org/W2918665764","https://openalex.org/W2948652605","https://openalex.org/W2981030070","https://openalex.org/W3003629310","https://openalex.org/W3005080401","https://openalex.org/W3042273483","https://openalex.org/W3100966471","https://openalex.org/W3101442004","https://openalex.org/W3102313808","https://openalex.org/W3110192510","https://openalex.org/W3129896193","https://openalex.org/W3130500701","https://openalex.org/W3138294267","https://openalex.org/W3145758608","https://openalex.org/W3163621993","https://openalex.org/W3183192539","https://openalex.org/W4213099681","https://openalex.org/W6748839928"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2051487156","https://openalex.org/W2504004674","https://openalex.org/W2073681303","https://openalex.org/W2963177394","https://openalex.org/W2498744856","https://openalex.org/W4390482104","https://openalex.org/W322408318","https://openalex.org/W149041114","https://openalex.org/W1965815883"],"abstract_inverted_index":{"We":[0,27,103,128,164],"propose":[1],"a":[2,13,29,35,62,80,188],"framework":[3],"for":[4,56,172],"contact-rich":[5],"path":[6,22],"following":[7,23],"with":[8,34,61,68,110],"reinforcement":[9],"learning":[10,173],"based":[11],"on":[12,24,52,187],"mixture":[14],"of":[15,75,118,124,168,191],"visual":[16],"and":[17,66,70,97,148,185],"tactile":[18],"feedback":[19],"to":[20,44,107,114,143,159,183],"achieve":[21],"unknown":[25,108],"environments.":[26],"employ":[28],"curriculum-based":[30],"domain":[31],"randomisation":[32],"approach":[33,41],"time-varying":[36],"sampling":[37],"distribution,":[38],"rendering":[39],"our":[40],"is":[42,101],"robust":[43],"parametric":[45],"uncertainties":[46],"in":[47,54,122,126,139],"the":[48,73,76,116,119,144,161,166,169],"robot-environment":[49],"system.":[50],"Based":[51],"evaluation":[53],"simulation":[55],"compliant":[57],"path-following":[58],"case":[59],"studies":[60],"random":[63],"uncertain":[64],"environment,":[65],"comparison":[67],"LBMPC":[69,146],"FDM":[71,162],"methods,":[72],"robustness":[74,117],"obtained":[77],"policy":[78,121],"over":[79],"stiffness":[81],"range":[82,99,190],"<inline-formula":[83,90,130,149],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[84,91,131,150],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">":[85,92,132,151],"<tex-math":[86,93,133,152],"notation=\"LaTeX\">$10^{4}$":[87],"</tex-math></inline-formula>":[88,95,137,156],"\u2013":[89],"notation=\"LaTeX\">$10^{9}$":[94],"N/m":[96],"friction":[98],"0.1\u20131.2":[100],"demonstrated.":[102],"extend":[104],"this":[105],"concept":[106],"surfaces":[109],"various":[111],"surface":[112],"curvatures":[113],"enhance":[115],"trained":[120],"terms":[123],"changes":[125],"surfaces.":[127],"demonstrate":[129],"notation=\"LaTeX\">$\\sim":[134,153],"15\\times":[135],"$":[136,155],"improvement":[138,157],"trajectory":[140],"accuracy":[141],"compared":[142,158],"previous":[145],"method":[147,171],"18\\times":[154],"using":[160],"approach.":[163],"suggest":[165],"applications":[167],"proposed":[170],"more":[174],"challenging":[175],"tasks":[176],"such":[177],"as":[178],"milling,":[179],"which":[180],"are":[181],"difficult":[182],"model":[184],"dependent":[186],"wide":[189],"process":[192],"variables.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-08T15:41:06.802602","created_date":"2025-10-10T00:00:00"}