{"id":"https://openalex.org/W4413945502","doi":"https://doi.org/10.1109/icra55743.2025.11128848","title":"Deep Reinforcement Learning-Based Semi-Autonomous Control for Magnetic Micro-Robot Navigation with Immersive Manipulation","display_name":"Deep Reinforcement Learning-Based Semi-Autonomous Control for Magnetic Micro-Robot Navigation with Immersive Manipulation","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945502","doi":"https://doi.org/10.1109/icra55743.2025.11128848"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128848","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/A5053010804","display_name":"Yudong Mao","orcid":"https://orcid.org/0000-0003-4718-8592"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Yudong Mao","raw_affiliation_strings":["Imperial College London,Imperial-X Initiative,Department of Bioengineering,London,United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Imperial-X Initiative,Department of Bioengineering,London,United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100386788","display_name":"Dandan Zhang","orcid":"https://orcid.org/0009-0003-4551-745X"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dandan Zhang","raw_affiliation_strings":["Imperial College London,Imperial-X Initiative,Department of Bioengineering,London,United Kingdom"],"affiliations":[{"raw_affiliation_string":"Imperial College London,Imperial-X Initiative,Department of Bioengineering,London,United Kingdom","institution_ids":["https://openalex.org/I47508984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053010804"],"corresponding_institution_ids":["https://openalex.org/I47508984"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1745025,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9088","last_page":"9094"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9692000150680542,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9154999852180481,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8140299916267395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6814883351325989},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.533058762550354},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.47849932312965393},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47500550746917725},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4037325978279114}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8140299916267395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6814883351325989},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.533058762550354},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47849932312965393},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47500550746917725},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4037325978279114}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128848","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128848","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1965707563","https://openalex.org/W2143970076","https://openalex.org/W2151905266","https://openalex.org/W2219495836","https://openalex.org/W2336405670","https://openalex.org/W2792004436","https://openalex.org/W2802688202","https://openalex.org/W2908447022","https://openalex.org/W2916514847","https://openalex.org/W2951360122","https://openalex.org/W2979352248","https://openalex.org/W3004238114","https://openalex.org/W3010276891","https://openalex.org/W3012577692","https://openalex.org/W3049641275","https://openalex.org/W3109031471","https://openalex.org/W3129417521","https://openalex.org/W3133453303","https://openalex.org/W3139518839","https://openalex.org/W4224938351","https://openalex.org/W4302007574","https://openalex.org/W4306880620","https://openalex.org/W4309739364","https://openalex.org/W4311927090","https://openalex.org/W4315473662","https://openalex.org/W4323852655","https://openalex.org/W4387729932","https://openalex.org/W4390544563","https://openalex.org/W4390696307","https://openalex.org/W4390782280","https://openalex.org/W4392401966","https://openalex.org/W4398142553","https://openalex.org/W4400521264","https://openalex.org/W4401416692","https://openalex.org/W4401943638","https://openalex.org/W4403209986","https://openalex.org/W4405778676","https://openalex.org/W6940634970"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Magnetic":[0],"micro-robots":[1],"have":[2],"demonstrated":[3],"immense":[4],"potential":[5],"in":[6,11,97,144],"biomedical":[7],"applications,":[8],"such":[9],"as":[10,41],"vivo":[12],"drug":[13],"delivery,":[14],"non-invasive":[15],"diagnostics,":[16],"and":[17,25,72,118,122,136],"cell-based":[18],"therapies,":[19],"owing":[20],"to":[21,56,108],"their":[22],"precise":[23],"maneuverability":[24],"small":[26],"size.":[27],"However,":[28],"current":[29],"micromanipulation":[30],"techniques":[31],"often":[32],"rely":[33],"solely":[34],"on":[35,65],"a":[36,85,98],"two-dimensional":[37],"(2D)":[38],"microscopic":[39],"view":[40],"sensory":[42],"feedback,":[43],"while":[44],"traditional":[45],"control":[46,77,119,134],"interfaces":[47],"do":[48],"not":[49],"provide":[50],"an":[51],"intuitive":[52],"manner":[53],"for":[54,93],"operators":[55],"manipulate":[57],"micro-robots.":[58],"These":[59],"limitations":[60],"increase":[61],"the":[62,138,142],"cognitive":[63],"load":[64],"operators,":[66],"who":[67],"must":[68],"interpret":[69],"limited":[70],"feedback":[71],"translate":[73],"it":[74],"into":[75],"effective":[76],"actions.":[78],"To":[79],"address":[80],"these":[81],"challenges,":[82],"we":[83],"propose":[84],"Deep":[86],"Re-inforcement":[87],"Learning-Based":[88],"Semi-Autonomous":[89],"Control":[90],"(DRL-SC)":[91],"framework":[92,103],"magnetic":[94],"micro-robot":[95],"navigation":[96,131],"simulated":[99,145],"microvascular":[100,146],"system.":[101],"Our":[102],"integrates":[104],"Mixed":[105],"Reality":[106],"(MR)":[107],"facilitate":[109],"immersive":[110],"manipulation":[111],"of":[112,141],"micro-robots,":[113],"thereby":[114],"enhancing":[115],"situational":[116],"awareness":[117],"precision.":[120],"Simulation":[121],"experimental":[123],"results":[124],"demonstrate":[125],"that":[126],"our":[127],"approach":[128],"significantly":[129],"improves":[130],"efficiency,":[132],"reduces":[133],"errors,":[135],"enhances":[137],"overall":[139],"robustness":[140],"system":[143],"environments.":[147]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
