{"id":"https://openalex.org/W4408610988","doi":"https://doi.org/10.1109/icaiic64266.2025.10920798","title":"Multi-Agent AMIX-DAPG of Dual-Arm Robot for Long Horizon Lifecare Tasks","display_name":"Multi-Agent AMIX-DAPG of Dual-Arm Robot for Long Horizon Lifecare Tasks","publication_year":2025,"publication_date":"2025-02-18","ids":{"openalex":"https://openalex.org/W4408610988","doi":"https://doi.org/10.1109/icaiic64266.2025.10920798"},"language":"en","primary_location":{"id":"doi:10.1109/icaiic64266.2025.10920798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icaiic64266.2025.10920798","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Artificial Intelligence in Information and Communication (ICAIIC)","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/A5056250040","display_name":"Hwanseok Jung","orcid":"https://orcid.org/0000-0003-2694-2525"},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hwanseok Jung","raw_affiliation_strings":["Kyung Hee University,Dept. of Electronics and Information Convergence Engineering,Yong-In,Korea"],"affiliations":[{"raw_affiliation_string":"Kyung Hee University,Dept. of Electronics and Information Convergence Engineering,Yong-In,Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079052372","display_name":"Ji-Heon Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ji-Heon Oh","raw_affiliation_strings":["Kyung Hee University,Dept. of Electronics and Information Convergence Engineering,Yong-In,Korea"],"affiliations":[{"raw_affiliation_string":"Kyung Hee University,Dept. of Electronics and Information Convergence Engineering,Yong-In,Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042782149","display_name":"Ismael Espinoza Jaramillo","orcid":"https://orcid.org/0000-0002-7583-1146"},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ismael Espinoza Jaramillo","raw_affiliation_strings":["Kyung Hee University,Dept. of Electronics and Information Convergence Engineering,Yong-In,Korea"],"affiliations":[{"raw_affiliation_string":"Kyung Hee University,Dept. of Electronics and Information Convergence Engineering,Yong-In,Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114345810","display_name":"Danbi Jung","orcid":null},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Danbi Jung","raw_affiliation_strings":["Kyung Hee University,Dept. of Electronics and Information Convergence Engineering,Yong-In,Korea"],"affiliations":[{"raw_affiliation_string":"Kyung Hee University,Dept. of Electronics and Information Convergence Engineering,Yong-In,Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100769979","display_name":"Won Hee Lee","orcid":"https://orcid.org/0000-0003-3991-3870"},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Won Hee Lee","raw_affiliation_strings":["Kyung Hee University,Dept. of Software Convergence,Yong-In,Korea"],"affiliations":[{"raw_affiliation_string":"Kyung Hee University,Dept. of Software Convergence,Yong-In,Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007373354","display_name":"Tae\u2010Seong Kim","orcid":"https://orcid.org/0000-0001-7118-1708"},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Tae-Seong Kim","raw_affiliation_strings":["Kyung Hee University,Dept. of Electronics and Information Convergence Engineering,Yong-In,Korea"],"affiliations":[{"raw_affiliation_string":"Kyung Hee University,Dept. of Electronics and Information Convergence Engineering,Yong-In,Korea","institution_ids":["https://openalex.org/I35928602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5056250040"],"corresponding_institution_ids":["https://openalex.org/I35928602"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07223796,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"0866","last_page":"0870"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9294000267982483,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.9294000267982483,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/dual","display_name":"Dual (grammatical number)","score":0.7265633344650269},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6615808606147766},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6441112160682678},{"id":"https://openalex.org/keywords/horizon","display_name":"Horizon","score":0.5775027871131897},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5325870513916016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4323437809944153},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3299633264541626},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1317172646522522},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06194794178009033},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.05773481726646423}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.7265633344650269},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6615808606147766},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6441112160682678},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.5775027871131897},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5325870513916016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4323437809944153},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3299633264541626},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1317172646522522},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06194794178009033},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.05773481726646423},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icaiic64266.2025.10920798","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icaiic64266.2025.10920798","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 International Conference on Artificial Intelligence in Information and Communication (ICAIIC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3166253749","display_name":null,"funder_award_id":"NRF-2023R1A2C100358511","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G5990826608","display_name":null,"funder_award_id":"IITP-2024-RS-2024-00438239","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G686356643","display_name":null,"funder_award_id":"RS-2023-00232141","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"}],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1994880384","https://openalex.org/W2124267516","https://openalex.org/W2158782408","https://openalex.org/W2562473069","https://openalex.org/W2954163737","https://openalex.org/W2962787969","https://openalex.org/W2963411833","https://openalex.org/W2970508394","https://openalex.org/W3116666954","https://openalex.org/W3119657925","https://openalex.org/W3155557419","https://openalex.org/W3156295478","https://openalex.org/W3166816823","https://openalex.org/W4241521318","https://openalex.org/W4362672763","https://openalex.org/W4388720459","https://openalex.org/W6637173446","https://openalex.org/W6679257226","https://openalex.org/W6734129231","https://openalex.org/W6766805167"],"related_works":["https://openalex.org/W4385452609","https://openalex.org/W4233159725","https://openalex.org/W2347391878","https://openalex.org/W4313255720","https://openalex.org/W2317351040","https://openalex.org/W1992538606","https://openalex.org/W8302103","https://openalex.org/W2548273422","https://openalex.org/W2921933148","https://openalex.org/W2658949566"],"abstract_inverted_index":{"This":[0],"work":[1],"introduces":[2],"a":[3,17,53,145,152],"multi-agent":[4,26],"reinforcement":[5,27],"learning":[6,28],"(RL)":[7],"intelligence":[8,22,172],"capable":[9],"of":[10,33,106,166],"performing":[11],"long-horizon":[12],"(LH)":[13],"lifecare":[14,138,159],"tasks":[15,113,160],"with":[16,161],"dual-arm":[18,61,136],"robot.":[19],"Our":[20,154],"proposed":[21],"is":[23,121],"based":[24,44],"on":[25,45],"(MARL)":[29],"under":[30],"the":[31,88,92,104,118,125,169],"principles":[32],"Centralized":[34],"Training":[35],"and":[36,51,74,102,147],"Decentralized":[37],"Execution":[38],"(CTDE).":[39],"In":[40],"general,":[41],"MARL":[42,171],"methods":[43],"Q-learning":[46,101],"require":[47],"extensive":[48],"training":[49],"time":[50],"exhibit":[52],"low":[54],"convergence":[55],"rate,":[56],"limiting":[57],"their":[58],"effectiveness":[59],"in":[60,151],"applications.":[62],"We":[63,129],"propose":[64],"AMIX-DAPG":[65,133,155],"which":[66],"combines":[67],"an":[68,149,162],"Advantage":[69],"Function":[70],"MIXing":[71],"Network":[72],"(AMIX)":[73],"Demo":[75],"Augmented":[76],"Policy":[77],"Gradient":[78],"(DAPG)":[79],"policy":[80,120],"to":[81,100,123,134],"overcome":[82],"these":[83,157],"limitations.":[84],"Under":[85,115],"centralized":[86],"training,":[87],"AMIX":[89],"network":[90],"computes":[91],"total":[93,126],"advantage":[94,127],"function,":[95],"reducing":[96],"computational":[97],"cost":[98],"compared":[99],"integrating":[103],"states":[105],"both":[107],"arms,":[108],"making":[109],"it":[110],"possible":[111],"cooperative":[112],"learning.":[114],"decentralized":[116],"execution,":[117],"DAPG":[119],"updated":[122],"maximize":[124],"function.":[128],"have":[130],"trained":[131],"our":[132],"perform":[135],"LH":[137,158],"tasks,":[139],"such":[140],"as":[141],"serving":[142],"water":[143],"from":[144],"dispenser":[146],"storage":[148],"object":[150],"drawer.":[153],"completes":[156],"average":[163],"success":[164],"rate":[165],"92.7%,":[167],"whereas":[168],"conventional":[170],"only":[173],"achieves":[174],"82.3%.":[175]},"counts_by_year":[],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}
