{"id":"https://openalex.org/W2968268581","doi":"https://doi.org/10.1109/icra.2019.8793506","title":"Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly","display_name":"Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assembly","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968268581","doi":"https://doi.org/10.1109/icra.2019.8793506","mag":"2968268581"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5037464692","display_name":"Jianlan Luo","orcid":"https://orcid.org/0009-0008-8029-7794"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianlan Luo","raw_affiliation_strings":["University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043873756","display_name":"Eugen Solowjow","orcid":"https://orcid.org/0000-0001-5222-3706"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eugen Solowjow","raw_affiliation_strings":["University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016455042","display_name":"Chengtao Wen","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chengtao Wen","raw_affiliation_strings":["University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038472921","display_name":"Juan Aparicio Ojea","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juan Aparicio Ojea","raw_affiliation_strings":["University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108365897","display_name":"Alice M. Agogino","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alice M. Agogino","raw_affiliation_strings":["University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020699288","display_name":"Aviv Tamar","orcid":"https://orcid.org/0000-0002-1972-854X"},"institutions":[{"id":"https://openalex.org/I174306211","display_name":"Technion \u2013 Israel Institute of Technology","ror":"https://ror.org/03qryx823","country_code":"IL","type":"education","lineage":["https://openalex.org/I174306211"]}],"countries":["IL"],"is_corresponding":false,"raw_author_name":"Aviv Tamar","raw_affiliation_strings":["Technion, Haifa, Israel"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technion, Haifa, Israel","institution_ids":["https://openalex.org/I174306211"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049349154","display_name":"Pieter Abbeel","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pieter Abbeel","raw_affiliation_strings":["University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":37.7305,"has_fulltext":false,"cited_by_count":178,"citation_normalized_percentile":{"value":0.99939621,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3080","last_page":"3087"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9987000226974487,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9807999730110168,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8681396842002869},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7001599073410034},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6181073188781738},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6064153909683228},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.580104410648346},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5754156112670898},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5566467046737671},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5482058525085449},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5016911029815674},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4942519962787628},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45784255862236023},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20839279890060425}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8681396842002869},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7001599073410034},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6181073188781738},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6064153909683228},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.580104410648346},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5754156112670898},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5566467046737671},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5482058525085449},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5016911029815674},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4942519962787628},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45784255862236023},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20839279890060425},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793506","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793506","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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":58,"referenced_works":["https://openalex.org/W1499669280","https://openalex.org/W1757796397","https://openalex.org/W1771410628","https://openalex.org/W1923344279","https://openalex.org/W1977655452","https://openalex.org/W2012587148","https://openalex.org/W2042408133","https://openalex.org/W2104733512","https://openalex.org/W2112474089","https://openalex.org/W2121103318","https://openalex.org/W2121863487","https://openalex.org/W2126909264","https://openalex.org/W2129202194","https://openalex.org/W2133932631","https://openalex.org/W2147544021","https://openalex.org/W2155007355","https://openalex.org/W2164032318","https://openalex.org/W2167856595","https://openalex.org/W2168921921","https://openalex.org/W2169209873","https://openalex.org/W2173248099","https://openalex.org/W2186601217","https://openalex.org/W2205975260","https://openalex.org/W2281096776","https://openalex.org/W2529601334","https://openalex.org/W2604726708","https://openalex.org/W2772449134","https://openalex.org/W2800040872","https://openalex.org/W2801910602","https://openalex.org/W2890332663","https://openalex.org/W2909718913","https://openalex.org/W2963165111","https://openalex.org/W2963280855","https://openalex.org/W2963630259","https://openalex.org/W2963864421","https://openalex.org/W2963940579","https://openalex.org/W2964043796","https://openalex.org/W2964161785","https://openalex.org/W2964333597","https://openalex.org/W2967727187","https://openalex.org/W4214717370","https://openalex.org/W4230987057","https://openalex.org/W4298857966","https://openalex.org/W6629881138","https://openalex.org/W6637967152","https://openalex.org/W6638018090","https://openalex.org/W6653548176","https://openalex.org/W6661124641","https://openalex.org/W6675999342","https://openalex.org/W6678367057","https://openalex.org/W6681478256","https://openalex.org/W6682849425","https://openalex.org/W6684921986","https://openalex.org/W6685331716","https://openalex.org/W6686786811","https://openalex.org/W6692846177","https://openalex.org/W6736742618","https://openalex.org/W6765478815"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W4312814274","https://openalex.org/W1590307681","https://openalex.org/W2536018345","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2785665096"],"abstract_inverted_index":{"Precise":[0],"robotic":[1],"manipulation":[2],"skills":[3,20],"are":[4],"desirable":[5],"in":[6,50,54],"many":[7],"industrial":[8],"settings,":[9],"reinforcement":[10,34],"learning":[11],"(RL)":[12],"methods":[13],"hold":[14],"the":[15,97,104],"promise":[16],"of":[17,96],"acquiring":[18],"these":[19],"autonomously.":[21],"In":[22],"this":[23,36,82],"paper,":[24],"we":[25,75,85],"explicitly":[26],"consider":[27],"incorporating":[28,67],"operational":[29,70],"space":[30,71],"force/torque":[31,64],"information":[32,65],"into":[33],"learning;":[35],"is":[37],"motivated":[38],"by":[39,66],"humans":[40],"heuristically":[41],"mapping":[42],"perceived":[43],"forces":[44],"to":[45,93,117],"control":[46],"actions,":[47],"which":[48,110],"results":[49],"completing":[51],"high-precision":[52],"tasks":[53],"a":[55,68,87,119],"fairly":[56],"easy":[57],"manner.":[58],"Our":[59],"approach":[60],"combines":[61],"RL":[62],"with":[63],"proper":[69],"force":[72],"controller;":[73],"where":[74],"also":[76],"exploit":[77],"different":[78],"ablations":[79],"on":[80,103],"processing":[81],"information.":[83],"Moreover,":[84],"propose":[86],"neural":[88],"network":[89],"architecture":[90],"that":[91],"generalizes":[92],"reasonable":[94],"variations":[95],"environment.":[98],"We":[99],"evaluate":[100],"our":[101],"method":[102],"open-source":[105],"Siemens":[106],"Robot":[107],"Learning":[108],"Challenge,":[109],"requires":[111],"precise":[112],"and":[113],"delicate":[114],"force-controlled":[115],"behavior":[116],"assemble":[118],"tight-fit":[120],"gear":[121],"wheel":[122],"set.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":32},{"year":2023,"cited_by_count":35},{"year":2022,"cited_by_count":27},{"year":2021,"cited_by_count":34},{"year":2020,"cited_by_count":23},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}