{"id":"https://openalex.org/W3207269243","doi":"https://doi.org/10.1109/icra48506.2021.9562075","title":"Reaching Pruning Locations in a Vine Using a Deep Reinforcement Learning Policy","display_name":"Reaching Pruning Locations in a Vine Using a Deep Reinforcement Learning Policy","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207269243","doi":"https://doi.org/10.1109/icra48506.2021.9562075","mag":"3207269243"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 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/A5110763507","display_name":"Francisco Yand\u00fan","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francisco Yandun","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044016038","display_name":"Tanvir Parhar","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tanvir Parhar","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016610643","display_name":"Abhisesh Silwal","orcid":"https://orcid.org/0000-0002-1710-6704"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abhisesh Silwal","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034272045","display_name":"David Clifford","orcid":"https://orcid.org/0000-0003-4130-4134"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"David Clifford","raw_affiliation_strings":["Mineral, X - The Moonshot Factory, Mountain View, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mineral, X - The Moonshot Factory, Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061264426","display_name":"Zhiqiang Yuan","orcid":"https://orcid.org/0000-0003-2150-4067"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhiqiang Yuan","raw_affiliation_strings":["Mineral, X - The Moonshot Factory, Mountain View, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mineral, X - The Moonshot Factory, Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069215392","display_name":"Gabriella Levine","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gabriella Levine","raw_affiliation_strings":["Mineral, X - The Moonshot Factory, Mountain View, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mineral, X - The Moonshot Factory, Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031103434","display_name":"Sergey Yaroshenko","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sergey Yaroshenko","raw_affiliation_strings":["Mineral, X - The Moonshot Factory, Mountain View, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mineral, X - The Moonshot Factory, Mountain View, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067346459","display_name":"George Kantor","orcid":"https://orcid.org/0000-0001-7088-8533"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Kantor","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2400","last_page":"2406"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12161","display_name":"Plant Surface Properties and Treatments","score":0.9065999984741211,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11663","display_name":"Viral Infectious Diseases and Gene Expression in Insects","score":0.9004999995231628,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7400065064430237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7137569189071655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6945729851722717},{"id":"https://openalex.org/keywords/pruning","display_name":"Pruning","score":0.6640373468399048},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6040830612182617},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5140773057937622},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5046209096908569},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.48617619276046753},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.47138553857803345},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.46934330463409424},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43237584829330444},{"id":"https://openalex.org/keywords/vine","display_name":"Vine","score":0.41584187746047974},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.32052069902420044}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7400065064430237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7137569189071655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6945729851722717},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.6640373468399048},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6040830612182617},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5140773057937622},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5046209096908569},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.48617619276046753},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.47138553857803345},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.46934330463409424},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43237584829330444},{"id":"https://openalex.org/C2781214258","wikidata":"https://www.wikidata.org/wiki/Q917284","display_name":"Vine","level":2,"score":0.41584187746047974},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.32052069902420044},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9562075","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562075","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.41999998688697815,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W46565623","https://openalex.org/W796887384","https://openalex.org/W1525673530","https://openalex.org/W1570792896","https://openalex.org/W1630678085","https://openalex.org/W1771410628","https://openalex.org/W1980597356","https://openalex.org/W1986235237","https://openalex.org/W1991642910","https://openalex.org/W2007523357","https://openalex.org/W2012587148","https://openalex.org/W2064355448","https://openalex.org/W2111034649","https://openalex.org/W2117539524","https://openalex.org/W2155007355","https://openalex.org/W2158782408","https://openalex.org/W2575705757","https://openalex.org/W2608799977","https://openalex.org/W2736601468","https://openalex.org/W2736689758","https://openalex.org/W2790979755","https://openalex.org/W2891251953","https://openalex.org/W2894116595","https://openalex.org/W2913938871","https://openalex.org/W2947727834","https://openalex.org/W2955035422","https://openalex.org/W2962736495","https://openalex.org/W2963864421","https://openalex.org/W2964083861","https://openalex.org/W2964161785","https://openalex.org/W2968851387","https://openalex.org/W2996037775","https://openalex.org/W2997206757","https://openalex.org/W3004299129","https://openalex.org/W3036474525","https://openalex.org/W3090299930","https://openalex.org/W4300799055","https://openalex.org/W6622854563","https://openalex.org/W6631379575","https://openalex.org/W6636808768","https://openalex.org/W6638018090","https://openalex.org/W6675999342","https://openalex.org/W6682849425","https://openalex.org/W6684921986","https://openalex.org/W6740801417","https://openalex.org/W6741002519","https://openalex.org/W6755028958","https://openalex.org/W6764969207","https://openalex.org/W6772005887","https://openalex.org/W6903373631"],"related_works":["https://openalex.org/W621131920","https://openalex.org/W2364991505","https://openalex.org/W2096825441","https://openalex.org/W1455563605","https://openalex.org/W2056433586","https://openalex.org/W2355736904","https://openalex.org/W2353448939","https://openalex.org/W2386545160","https://openalex.org/W2220437631","https://openalex.org/W2014928560"],"abstract_inverted_index":{"We":[0,119],"outline":[1],"a":[2,12,22,31,38,63,96,112,132,158,169,192,206],"neural":[3],"network-based":[4],"pipeline":[5],"for":[6,16,74,148,157,180],"perception,":[7],"control":[8,67],"and":[9,37,62,84,104,110,122,146,151,178,182,212],"planning":[10],"of":[11,30,126,142],"7":[13],"DoF":[14,33],"robot":[15,35],"tasks":[17],"that":[18,41,99,135,160],"involve":[19],"reaching":[20,140,223],"into":[21],"dormant":[23,59],"grapevine":[24],"canopy.":[25],"The":[26,185,222],"proposed":[27,128],"system":[28,194],"consists":[29],"6":[32],"industrial":[34],"arm":[36],"linear":[39],"slider":[40],"can":[42],"actuate":[43],"on":[44,191],"an":[45,105,196],"entire":[46],"grape":[47,60],"vine.":[48],"Our":[49],"approach":[50,94,114],"uses":[51,100],"Convolutional":[52],"Neural":[53],"Networks":[54],"to":[55,69,86,144,176,198,218],"detect":[56],"buds":[57],"in":[58,117,131,168,195,226],"vines":[61],"Reinforcement":[64],"Learning":[65],"based":[66],"strategy":[68],"reach":[70,87,219],"desired":[71,89],"cut-point":[72],"locations":[73],"pruning":[75],"tasks.":[76],"Within":[77],"this":[78],"framework,":[79],"three":[80],"methodologies":[81],"are":[82],"developed":[83],"compared":[85],"the":[88,91,101,124,127,149,161,172,203,215],"locations:":[90],"learned":[92,102,216],"policy-based":[93],"(RL),":[95],"hybrid":[97],"method":[98],"policy":[103,217],"inverse":[106],"kinematics":[107],"solver":[108],"(RL+IK),":[109],"lastly":[111],"classical":[113],"commonly":[115],"used":[116],"robotics.":[118],"first":[120],"tested":[121],"validated":[123],"suitability":[125],"learning":[129],"methodology":[130],"simulated":[133],"environment":[134],"resembled":[136],"laboratory":[137],"conditions.":[138],"A":[139],"accuracy":[141,173,224],"up":[143,175],"61.90%":[145],"85.71%":[147],"RL":[150,181],"RL+IK":[152],"approaches":[153],"respectively":[154],"was":[155,174,229],"obtained":[156,225],"vine":[159,204],"agent":[162],"observed":[163],"while":[164],"learning.":[165],"When":[166],"testing":[167],"new":[170],"vine,":[171],"66.66%":[177],"76.19%":[179],"RL+IK,":[183],"respectively.":[184],"same":[186],"methods":[187],"were":[188],"then":[189],"deployed":[190],"real":[193],"end":[197,199],"procedure:":[200],"autonomously":[201],"scan":[202],"using":[205],"vision":[207],"system,":[208],"create":[209],"its":[210],"model":[211],"finally":[213],"use":[214],"cutting":[220],"points.":[221],"these":[227],"tests":[228],"73.08%.":[230]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
