{"id":"https://openalex.org/W4415398830","doi":"https://doi.org/10.1109/etfa65518.2025.11205702","title":"Towards a Configurable and Reusable RL Training Infrastructure for AMRs in ROS2","display_name":"Towards a Configurable and Reusable RL Training Infrastructure for AMRs in ROS2","publication_year":2025,"publication_date":"2025-09-09","ids":{"openalex":"https://openalex.org/W4415398830","doi":"https://doi.org/10.1109/etfa65518.2025.11205702"},"language":null,"primary_location":{"id":"doi:10.1109/etfa65518.2025.11205702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa65518.2025.11205702","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 30th International Conference on Emerging Technologies and Factory Automation (ETFA)","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/A5120084011","display_name":"Pauline Steffel","orcid":null},"institutions":[{"id":"https://openalex.org/I4210106192","display_name":"Technische Hochschule Ingolstadt","ror":"https://ror.org/02bxzcy64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210106192"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Pauline Steffel","raw_affiliation_strings":["Technische Hochschule Ingolstadt,AImotion Bavaria,Ingolstadt,Germany"],"affiliations":[{"raw_affiliation_string":"Technische Hochschule Ingolstadt,AImotion Bavaria,Ingolstadt,Germany","institution_ids":["https://openalex.org/I4210106192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041389715","display_name":"J\u00fcrgen Bock","orcid":"https://orcid.org/0000-0002-1210-1576"},"institutions":[{"id":"https://openalex.org/I4210106192","display_name":"Technische Hochschule Ingolstadt","ror":"https://ror.org/02bxzcy64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210106192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J\u00fcrgen Bock","raw_affiliation_strings":["Technische Hochschule Ingolstadt,AImotion Bavaria,Ingolstadt,Germany"],"affiliations":[{"raw_affiliation_string":"Technische Hochschule Ingolstadt,AImotion Bavaria,Ingolstadt,Germany","institution_ids":["https://openalex.org/I4210106192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063739609","display_name":"Alexander Schiendorfer","orcid":"https://orcid.org/0000-0002-5283-5304"},"institutions":[{"id":"https://openalex.org/I4210106192","display_name":"Technische Hochschule Ingolstadt","ror":"https://ror.org/02bxzcy64","country_code":"DE","type":"education","lineage":["https://openalex.org/I4210106192"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Schiendorfer","raw_affiliation_strings":["Technische Hochschule Ingolstadt,AImotion Bavaria,Ingolstadt,Germany"],"affiliations":[{"raw_affiliation_string":"Technische Hochschule Ingolstadt,AImotion Bavaria,Ingolstadt,Germany","institution_ids":["https://openalex.org/I4210106192"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5120084011"],"corresponding_institution_ids":["https://openalex.org/I4210106192"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.40674623,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14470","display_name":"Advanced Data Processing Techniques","score":0.7943999767303467,"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/T14470","display_name":"Advanced Data Processing Techniques","score":0.7943999767303467,"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/T13382","display_name":"Robotics and Automated Systems","score":0.7644000053405762,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6370999813079834},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.6068999767303467},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5697000026702881},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49140000343322754},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.392300009727478},{"id":"https://openalex.org/keywords/stack","display_name":"Stack (abstract data type)","score":0.39089998602867126},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.36489999294281006}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6370999813079834},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.6068999767303467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5734000205993652},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5697000026702881},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49140000343322754},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.392300009727478},{"id":"https://openalex.org/C9395851","wikidata":"https://www.wikidata.org/wiki/Q177929","display_name":"Stack (abstract data type)","level":2,"score":0.39089998602867126},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.36489999294281006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3621000051498413},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.3490999937057495},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34599998593330383},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33219999074935913},{"id":"https://openalex.org/C186967261","wikidata":"https://www.wikidata.org/wiki/Q5082128","display_name":"Mobile device","level":2,"score":0.2904999852180481},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.2854999899864197},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2847999930381775},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.27709999680519104},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2655999958515167},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26089999079704285},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.25609999895095825}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/etfa65518.2025.11205702","is_oa":false,"landing_page_url":"https://doi.org/10.1109/etfa65518.2025.11205702","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 30th International Conference on Emerging Technologies and Factory Automation (ETFA)","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":11,"referenced_works":["https://openalex.org/W2949676527","https://openalex.org/W3007469703","https://openalex.org/W3011706575","https://openalex.org/W4280571816","https://openalex.org/W4377971418","https://openalex.org/W4385452652","https://openalex.org/W4401668446","https://openalex.org/W4404161621","https://openalex.org/W4407304005","https://openalex.org/W4407615654","https://openalex.org/W4408461913"],"related_works":[],"abstract_inverted_index":{"The":[0],"navigation":[1],"of":[2,53],"AMRs":[3],"(Autonomous":[4],"Mobile":[5],"Robots)":[6],"within":[7],"factories,":[8],"especially":[9],"when":[10],"facing":[11],"moving":[12],"and":[13,72,82],"changing":[14],"obstacles,":[15],"still":[16,47],"proves":[17],"to":[18,33,96],"be":[19,94],"a":[20,50,87],"challenge.":[21],"ROS2":[22,66],"offers":[23],"promising":[24],"open-source":[25],"behaviors":[26],"that":[27,38,61],"facilitate":[28],"easier":[29],"programming.":[30],"When":[31],"trying":[32],"implement":[34],"reinforcement":[35],"learning":[36],"algorithms":[37],"aim":[39],"at":[40],"providing":[41],"more":[42],"robust":[43],"policys,":[44],"one":[45,91],"is":[46],"faced":[48],"with":[49,78],"difficult":[51],"stack":[52],"technological":[54],"layers.":[55],"We":[56],"provide":[57],"an":[58],"exemplary":[59],"setup":[60,76],"shows":[62],"the":[63],"interplay":[64],"between":[65],"(Robot":[67],"Operating":[68],"System":[69],"2)":[70],"Humble":[71],"Reinforcement":[73],"Learning.":[74],"This":[75],"works":[77],"different":[79],"robot":[80,92],"simulations,":[81],"we":[83],"investigate":[84],"how":[85],"well":[86],"policy":[88],"trained":[89],"on":[90],"can":[93],"transferred":[95],"another.":[97]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-22T00:00:00"}