{"id":"https://openalex.org/W4413925502","doi":"https://doi.org/10.1109/icra55743.2025.11127932","title":"CTSAC: Curriculum-Based Transformer Soft Actor-Critic for Goal-Oriented Robot Exploration","display_name":"CTSAC: Curriculum-Based Transformer Soft Actor-Critic for Goal-Oriented Robot Exploration","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925502","doi":"https://doi.org/10.1109/icra55743.2025.11127932"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","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/A5055615832","display_name":"Chunyu Yang","orcid":"https://orcid.org/0000-0002-1590-1712"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chunyu Yang","raw_affiliation_strings":["School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116"],"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080901898","display_name":"Shaolan Bi","orcid":"https://orcid.org/0000-0002-7642-7583"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengben Bi","raw_affiliation_strings":["School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116"],"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101777488","display_name":"Yihui Xu","orcid":"https://orcid.org/0000-0003-2048-9619"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yihui Xu","raw_affiliation_strings":["School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116"],"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5089370371","display_name":"Xin Zhang","orcid":"https://orcid.org/0000-0002-6950-1941"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Zhang","raw_affiliation_strings":["School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116"],"affiliations":[{"raw_affiliation_string":"School of Information and Control Engineering, China University of Mining and Technology,Xuzhou,China,221116","institution_ids":["https://openalex.org/I25757504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055615832"],"corresponding_institution_ids":["https://openalex.org/I25757504"],"apc_list":null,"apc_paid":null,"fwci":1.2734,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.83973721,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"16840","last_page":"16846"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12000","display_name":"Systems Engineering Methodologies and Applications","score":0.9897000193595886,"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/T12000","display_name":"Systems Engineering Methodologies and Applications","score":0.9897000193595886,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9760000109672546,"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/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.9621000289916992,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/transformer","display_name":"Transformer","score":0.6387848854064941},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6036245226860046},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5755740404129028},{"id":"https://openalex.org/keywords/curriculum","display_name":"Curriculum","score":0.46461665630340576},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4457804560661316},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40387725830078125},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.3208356499671936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28458648920059204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2607523798942566},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.19717392325401306},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.1216583251953125},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09158864617347717},{"id":"https://openalex.org/keywords/pedagogy","display_name":"Pedagogy","score":0.05776774883270264}],"concepts":[{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.6387848854064941},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6036245226860046},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5755740404129028},{"id":"https://openalex.org/C47177190","wikidata":"https://www.wikidata.org/wiki/Q207137","display_name":"Curriculum","level":2,"score":0.46461665630340576},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4457804560661316},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40387725830078125},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.3208356499671936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28458648920059204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2607523798942566},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.19717392325401306},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.1216583251953125},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09158864617347717},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.05776774883270264}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127932","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127932","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 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":29,"referenced_works":["https://openalex.org/W1684737195","https://openalex.org/W2030053437","https://openalex.org/W2112271657","https://openalex.org/W2562788852","https://openalex.org/W2564666437","https://openalex.org/W2593841437","https://openalex.org/W2891234582","https://openalex.org/W2910054127","https://openalex.org/W2963428623","https://openalex.org/W2968968404","https://openalex.org/W2978949425","https://openalex.org/W3097090618","https://openalex.org/W3123742938","https://openalex.org/W3142849873","https://openalex.org/W3176634028","https://openalex.org/W3196603038","https://openalex.org/W3211583675","https://openalex.org/W4313150919","https://openalex.org/W4322730824","https://openalex.org/W4362594060","https://openalex.org/W4379740050","https://openalex.org/W4382993199","https://openalex.org/W4383109033","https://openalex.org/W4384818013","https://openalex.org/W4389667229","https://openalex.org/W4399310716","https://openalex.org/W4401414481","https://openalex.org/W4401415107","https://openalex.org/W4401416867"],"related_works":["https://openalex.org/W2348562106","https://openalex.org/W2370820329","https://openalex.org/W2370554813","https://openalex.org/W2387560707","https://openalex.org/W2363525455","https://openalex.org/W4312355418","https://openalex.org/W4362576712","https://openalex.org/W2314810092","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"With":[0],"the":[1,20,72,81,85,95,98,122,135,141,145,165],"increasing":[2],"demand":[3],"for":[4],"efficient":[5],"and":[6,40,67,148,156],"flexible":[7],"robotic":[8,24,125],"exploration":[9,29,65,159],"solutions,":[10],"Reinforcement":[11,57],"Learning":[12,58],"(RL)":[13],"is":[14,78,105,119],"becoming":[15],"a":[16,53,76],"promising":[17],"approach":[18],"in":[19,43,151],"field":[21],"of":[22,84,97,153,170],"autonomous":[23],"exploration.":[25],"However,":[26],"current":[27],"RL-based":[28],"algorithms":[30,150],"often":[31],"face":[32],"limited":[33],"environmental":[34],"reasoning":[35,74],"capabilities,":[36],"slow":[37],"convergence":[38],"rates,":[39],"substantial":[41],"challenges":[42],"Sim-To-Real":[44],"(S2R)":[45],"transfer.":[46],"To":[47,70],"address":[48],"these":[49],"issues,":[50],"we":[51],"propose":[52],"Curriculum":[54],"Learning-based":[55],"Transformer":[56,77],"Algorithm":[59],"(CTSAC)":[60],"aimed":[61],"at":[62],"improving":[63],"both":[64],"efficiency":[66,110],"transfer":[68,168],"performance.":[69],"enhance":[71],"robot's":[73],"ability,":[75],"integrated":[79],"into":[80],"perception":[82],"network":[83],"Soft":[86],"Actor-Critic":[87],"(SAC)":[88],"framework,":[89],"leveraging":[90],"historical":[91],"information":[92],"to":[93,132],"improve":[94],"farsightedness":[96],"strategy.":[99],"A":[100],"periodic":[101],"review-based":[102],"curriculum":[103,116],"learning":[104],"proposed,":[106],"which":[107],"enhances":[108],"training":[109],"while":[111],"mitigating":[112],"catastrophic":[113],"forgetting":[114],"during":[115],"transitions.":[117],"Training":[118],"conducted":[120],"on":[121],"ROS-Gazebo":[123],"continuous":[124],"simulation":[126],"platform,":[127],"with":[128],"LiDAR":[129],"clustering":[130],"optimization":[131],"further":[133],"reduce":[134],"S2R":[136,167],"gap.":[137],"Experimental":[138],"results":[139],"demonstrate":[140],"CTSAC":[142],"algorithm":[143],"outperforms":[144],"state-of-the-art":[146],"non-learning":[147],"learning-based":[149],"terms":[152],"success":[154,157],"rate":[155],"rate-weighted":[158],"time.":[160],"Moreover,":[161],"real-world":[162],"experiments":[163],"validate":[164],"strong":[166],"capabilities":[169],"CTSAC.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
