{"id":"https://openalex.org/W4403534470","doi":"https://doi.org/10.1109/codit62066.2024.10708345","title":"Safety-Driven Deep Reinforcement Learning Framework for Cobots: A Sim2Real Approach","display_name":"Safety-Driven Deep Reinforcement Learning Framework for Cobots: A Sim2Real Approach","publication_year":2024,"publication_date":"2024-07-01","ids":{"openalex":"https://openalex.org/W4403534470","doi":"https://doi.org/10.1109/codit62066.2024.10708345"},"language":"en","primary_location":{"id":"doi:10.1109/codit62066.2024.10708345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit62066.2024.10708345","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035308242","display_name":"Ammar N. Abbas","orcid":"https://orcid.org/0000-0002-2578-5137"},"institutions":[{"id":"https://openalex.org/I4210126338","display_name":"Software Competence Center Hagenberg (Austria)","ror":"https://ror.org/02ks3nr96","country_code":"AT","type":"company","lineage":["https://openalex.org/I4210126338"]}],"countries":["AT"],"is_corresponding":true,"raw_author_name":"Ammar N. Abbas","raw_affiliation_strings":["Software Competence Center,Data Science,Hagenberg,Austria"],"affiliations":[{"raw_affiliation_string":"Software Competence Center,Data Science,Hagenberg,Austria","institution_ids":["https://openalex.org/I4210126338"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012595522","display_name":"Shakra Mehak","orcid":"https://orcid.org/0000-0002-9118-1569"},"institutions":[{"id":"https://openalex.org/I4210126338","display_name":"Software Competence Center Hagenberg (Austria)","ror":"https://ror.org/02ks3nr96","country_code":"AT","type":"company","lineage":["https://openalex.org/I4210126338"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Shakra Mehak","raw_affiliation_strings":["Software Competence Center,Data Science,Hagenberg,Austria"],"affiliations":[{"raw_affiliation_string":"Software Competence Center,Data Science,Hagenberg,Austria","institution_ids":["https://openalex.org/I4210126338"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013626823","display_name":"Georgios C. Chasparis","orcid":"https://orcid.org/0000-0003-3059-3575"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Georgios C. Chasparis","raw_affiliation_strings":["Pilz,Industrial Automation,Cork,Ireland"],"affiliations":[{"raw_affiliation_string":"Pilz,Industrial Automation,Cork,Ireland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079991004","display_name":"John D. Kelleher","orcid":"https://orcid.org/0000-0001-6462-3248"},"institutions":[{"id":"https://openalex.org/I205274468","display_name":"Trinity College Dublin","ror":"https://ror.org/02tyrky19","country_code":"IE","type":"education","lineage":["https://openalex.org/I205274468"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"John D. Kelleher","raw_affiliation_strings":["Trinity College Dublin,Computer Science,Dublin,Ireland"],"affiliations":[{"raw_affiliation_string":"Trinity College Dublin,Computer Science,Dublin,Ireland","institution_ids":["https://openalex.org/I205274468"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062946972","display_name":"Michael Guilfoyle","orcid":"https://orcid.org/0009-0009-1907-6682"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Michael Guilfoyle","raw_affiliation_strings":["Pilz,Industrial Automation,Cork,Ireland"],"affiliations":[{"raw_affiliation_string":"Pilz,Industrial Automation,Cork,Ireland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061312792","display_name":"Maria Chiara Leva","orcid":"https://orcid.org/0000-0002-6770-8332"},"institutions":[{"id":"https://openalex.org/I4210144925","display_name":"Technological University Dublin","ror":"https://ror.org/04t0qbt32","country_code":"IE","type":"education","lineage":["https://openalex.org/I4210144925"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Maria Chiara Leva","raw_affiliation_strings":["Technological University Dublin,Food Science and Environmental Health,Dublin,Ireland"],"affiliations":[{"raw_affiliation_string":"Technological University Dublin,Food Science and Environmental Health,Dublin,Ireland","institution_ids":["https://openalex.org/I4210144925"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023818832","display_name":"Aswin K Ramasubramanian","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123295","display_name":"I-Form Advanced Manufacturing Research Centre","ror":"https://ror.org/022715v20","country_code":"IE","type":"facility","lineage":["https://openalex.org/I4210123295"]}],"countries":["IE"],"is_corresponding":false,"raw_author_name":"Aswin K Ramasubramanian","raw_affiliation_strings":["Irish Manufacturing Research,Robotics and Automation,Mullingar,Ireland"],"affiliations":[{"raw_affiliation_string":"Irish Manufacturing Research,Robotics and Automation,Mullingar,Ireland","institution_ids":["https://openalex.org/I4210123295"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5035308242"],"corresponding_institution_ids":["https://openalex.org/I4210126338"],"apc_list":null,"apc_paid":null,"fwci":1.0878,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.81808015,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"16","issue":null,"first_page":"2917","last_page":"2923"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9409000277519226,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9409000277519226,"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":0.7779903411865234},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7099549770355225},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.4684728980064392},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44032707810401917},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17879366874694824}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7779903411865234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7099549770355225},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.4684728980064392},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44032707810401917},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17879366874694824},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit62066.2024.10708345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit62066.2024.10708345","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 10th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1845972764","https://openalex.org/W1968962398","https://openalex.org/W2048084888","https://openalex.org/W2591695312","https://openalex.org/W2750110103","https://openalex.org/W2914069906","https://openalex.org/W2917442576","https://openalex.org/W2963575966","https://openalex.org/W3005451807","https://openalex.org/W3038610377","https://openalex.org/W3090211586","https://openalex.org/W3126176913","https://openalex.org/W3135301907","https://openalex.org/W3159199672","https://openalex.org/W3195968524","https://openalex.org/W3203657119","https://openalex.org/W3206200647","https://openalex.org/W3217097616","https://openalex.org/W4226458162","https://openalex.org/W4252049033","https://openalex.org/W4281774516","https://openalex.org/W4283396661","https://openalex.org/W4283793632","https://openalex.org/W4285102237","https://openalex.org/W4313490218","https://openalex.org/W4313584467","https://openalex.org/W4383109037","https://openalex.org/W4390730760","https://openalex.org/W4391024502","https://openalex.org/W4394746593","https://openalex.org/W6748599296","https://openalex.org/W6776730770","https://openalex.org/W6785506015","https://openalex.org/W6803800456","https://openalex.org/W6810365981","https://openalex.org/W6838633502","https://openalex.org/W6858013149","https://openalex.org/W6948747748"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856"],"abstract_inverted_index":{"This":[0,145],"study":[1,54,120,146],"presents":[2],"a":[3,10,46,122,150,153,188],"novel":[4],"methodology":[5],"incorporating":[6],"safety":[7,28,61,109,116,127,158,170,206],"constraints":[8,62],"into":[9],"robotic":[11,131,155],"simulation":[12],"during":[13],"the":[14,27,41,49,57,65,87,98,101,107,115,126,130,166,175,184,194,198,203],"training":[15],"of":[16,26,48,59,86,100,129,169,177],"deep":[17],"reinforcement":[18],"learning":[19,51],"(DRL).":[20],"The":[21,53,79,119,133,180],"framework":[22],"integrates":[23],"specific":[24],"parts":[25],"requirements,":[29],"such":[30,164],"as":[31,34,165],"velocity":[32],"constraints,":[33],"specified":[35],"by":[36,63,106,187],"ISO":[37],"10218,":[38],"directly":[39],"within":[40],"DRL":[42,66,88,135],"model":[43,67,136],"that":[44],"becomes":[45],"part":[47],"robot\u2019s":[50],"algorithm.":[52],"then":[55],"evaluated":[56],"efficiency":[58],"these":[60],"subjecting":[64],"to":[68,91,113],"various":[69],"scenarios,":[70],"including":[71],"grasping":[72],"tasks":[73],"with":[74,152,157,162],"and":[75,94,138,160,174,200],"without":[76,205],"obstacle":[77,172],"avoidance.":[78],"validation":[80],"process":[81],"involved":[82],"comprehensive":[83],"simulation-based":[84],"testing":[85],"model\u2019s":[89],"responses":[90],"potential":[92],"hazards":[93,140],"its":[95],"compliance.":[96],"Also,":[97],"performance":[99,128],"system":[102],"is":[103],"carried":[104],"out":[105],"functional":[108],"standards":[110],"IEC":[111],"61508":[112],"determine":[114],"integrity":[117],"level.":[118],"indicated":[121],"significant":[123],"improvement":[124],"in":[125,149,197,202],"system.":[132],"proposed":[134,181],"anticipates":[137],"mitigates":[139],"while":[141],"maintaining":[142],"operational":[143],"efficiency.":[144],"was":[147],"validated":[148],"testbed":[151,204],"collaborative":[154],"arm":[156],"sensors":[159],"assessed":[161],"metrics":[163],"average":[167,190],"number":[168,176],"violations,":[171],"avoidance,":[173],"successful":[178],"grasps.":[179],"approach":[182],"outperforms":[183],"conventional":[185],"method":[186],"16.5%":[189],"success":[191],"rate":[192],"on":[193],"tested":[195],"scenarios":[196],"simulations":[199],"2.5%":[201],"violations.":[207]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
