{"id":"https://openalex.org/W3090197603","doi":"https://doi.org/10.1109/ijcnn48605.2020.9207518","title":"Learning to Play Precision Ball Sports from scratch: a Deep Reinforcement Learning Approach","display_name":"Learning to Play Precision Ball Sports from scratch: a Deep Reinforcement Learning Approach","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3090197603","doi":"https://doi.org/10.1109/ijcnn48605.2020.9207518","mag":"3090197603"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn48605.2020.9207518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn48605.2020.9207518","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Joint Conference on Neural Networks (IJCNN)","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/A5089109940","display_name":"Liliana Ant\u00e3o","orcid":"https://orcid.org/0000-0002-2903-0989"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Liliana Antao","raw_affiliation_strings":["FEUP - Faculty of Engineering, University of Porto","SYSTEC - Research Center for Systems and Technologies"],"affiliations":[{"raw_affiliation_string":"FEUP - Faculty of Engineering, University of Porto","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"SYSTEC - Research Center for Systems and Technologies","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057871059","display_name":"Armando Sousa","orcid":"https://orcid.org/0000-0002-0317-4714"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Armando Sousa","raw_affiliation_strings":["FEUP - Faculty of Engineering, University of Porto","INESC TEC-INESC Technology and Science"],"affiliations":[{"raw_affiliation_string":"FEUP - Faculty of Engineering, University of Porto","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"INESC TEC-INESC Technology and Science","institution_ids":["https://openalex.org/I4210166615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089812166","display_name":"Lu\u00eds Paulo Reis","orcid":"https://orcid.org/0000-0002-4709-1718"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Luis Paulo Reis","raw_affiliation_strings":["FEUP - Faculty of Engineering, University of Porto","LIACC - Artificial Intelligence and Computer Science Laboratory"],"affiliations":[{"raw_affiliation_string":"FEUP - Faculty of Engineering, University of Porto","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"LIACC - Artificial Intelligence and Computer Science Laboratory","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008404992","display_name":"Gil Gon\u00e7alves","orcid":"https://orcid.org/0000-0001-7757-7308"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Gil Goncalves","raw_affiliation_strings":["FEUP - Faculty of Engineering, University of Porto","SYSTEC - Research Center for Systems and Technologies"],"affiliations":[{"raw_affiliation_string":"FEUP - Faculty of Engineering, University of Porto","institution_ids":["https://openalex.org/I182534213"]},{"raw_affiliation_string":"SYSTEC - Research Center for Systems and Technologies","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5089109940"],"corresponding_institution_ids":["https://openalex.org/I182534213"],"apc_list":null,"apc_paid":null,"fwci":0.2651,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.63560874,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9997000098228455,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9948999881744385,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9864000082015991,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/scratch","display_name":"Scratch","score":0.8923121690750122},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8799390196800232},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.7951520085334778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6434842348098755},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6399397850036621},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5312457084655762},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48450562357902527},{"id":"https://openalex.org/keywords/learning-classifier-system","display_name":"Learning classifier system","score":0.4513961672782898},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.4127656817436218},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35018134117126465},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3491681218147278},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1388917863368988},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1344263255596161}],"concepts":[{"id":"https://openalex.org/C2781235140","wikidata":"https://www.wikidata.org/wiki/Q275131","display_name":"Scratch","level":2,"score":0.8923121690750122},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8799390196800232},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.7951520085334778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6434842348098755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6399397850036621},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5312457084655762},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48450562357902527},{"id":"https://openalex.org/C199190896","wikidata":"https://www.wikidata.org/wiki/Q3509276","display_name":"Learning classifier system","level":3,"score":0.4513961672782898},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.4127656817436218},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35018134117126465},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3491681218147278},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1388917863368988},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1344263255596161},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn48605.2020.9207518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn48605.2020.9207518","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6399999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1499669280","https://openalex.org/W1600046456","https://openalex.org/W1977655452","https://openalex.org/W2012204020","https://openalex.org/W2063591749","https://openalex.org/W2096001037","https://openalex.org/W2108579172","https://openalex.org/W2120772693","https://openalex.org/W2127107099","https://openalex.org/W2145339207","https://openalex.org/W2149860990","https://openalex.org/W2158782408","https://openalex.org/W2173248099","https://openalex.org/W2543043356","https://openalex.org/W2736601468","https://openalex.org/W2789008106","https://openalex.org/W2889970038","https://openalex.org/W2945282704","https://openalex.org/W2950125763","https://openalex.org/W2951762469","https://openalex.org/W2963864421","https://openalex.org/W2964001908","https://openalex.org/W2981233685","https://openalex.org/W2990747716","https://openalex.org/W4237733001","https://openalex.org/W4288356606","https://openalex.org/W4293872189","https://openalex.org/W4300799055","https://openalex.org/W6635798015","https://openalex.org/W6682093400","https://openalex.org/W6684921986","https://openalex.org/W6740801417","https://openalex.org/W6741002519","https://openalex.org/W6748599296","https://openalex.org/W6754782557","https://openalex.org/W6762477786","https://openalex.org/W6769045504","https://openalex.org/W6770858630","https://openalex.org/W6780559895"],"related_works":["https://openalex.org/W1966456942","https://openalex.org/W2754028433","https://openalex.org/W3148138296","https://openalex.org/W1882507001","https://openalex.org/W2367922714","https://openalex.org/W1986508893","https://openalex.org/W2352650970","https://openalex.org/W4383501708","https://openalex.org/W2130711276","https://openalex.org/W2041126907"],"abstract_inverted_index":{"Over":[0],"the":[1,17,27,33,44,52,101,110,126,139,171,185,195,198],"last":[2],"years,":[3],"robotics":[4],"has":[5,39],"increased":[6],"its":[7],"interest":[8],"in":[9,55],"learning":[10,61,189],"human-like":[11],"behaviors":[12],"and":[13,58,76,85,103,150,158,180],"activities.":[14],"One":[15],"of":[16,26,47,107,138,141,153,178,182],"most":[18,28],"common":[19],"actions":[20],"searched,":[21],"as":[22,24,162,164],"well":[23,163],"one":[25],"fun":[29],"to":[30,35,94,99,156,190,208],"replicate,":[31],"is":[32,83,92,120,145],"ability":[34],"play":[36,191],"sports.":[37],"This":[38],"been":[40],"made":[41],"possible":[42],"with":[43,122,194],"steady":[45],"increase":[46],"automated":[48],"learning,":[49],"encouraged":[50],"by":[51],"tremendous":[53],"developments":[54],"computational":[56],"power":[57],"improved":[59],"reinforcement":[60,116],"(RL)":[62],"algorithms.This":[63],"paper":[64],"implements":[65],"a":[66,86,132,174],"beginner":[67],"Robot":[68],"player":[69],"for":[70,131,184],"precision":[71],"ball":[72,148],"sports":[73,193],"like":[74],"boccia":[75,159],"bocce.":[77],"A":[78,135],"new":[79],"simulated":[80],"environment":[81,119],"(PrecisionBall)":[82],"created,":[84],"seven":[87],"degree-of-freedom":[88],"(DoF)":[89],"robotic":[90,199],"arm,":[91],"able":[93],"learn":[95],"from":[96],"scratch":[97],"how":[98],"win":[100],"game":[102],"throw":[104],"different":[105,142,165],"types":[106,152],"balls":[108],"towards":[109],"goal":[111],"(the":[112],"jack),":[113],"using":[114,125],"deep":[115],"learning.":[117],"The":[118],"compliant":[121],"OpenAI":[123],"Gym,":[124],"MuJoCo":[127],"realistic":[128,133],"physics":[129],"engine":[130],"simulation.":[134],"brief":[136],"comparison":[137],"convergence":[140],"RL":[143],"algorithms":[144],"performed.":[146],"Several":[147],"weights":[149],"various":[151],"materials":[154],"correspondent":[155],"bocce":[157],"are":[160],"tested,":[161],"friction":[166],"coefficients.":[167],"Results":[168],"show":[169],"that":[170,205],"robot":[172],"achieves":[173],"maximum":[175],"success":[176],"rate":[177],"92.7%":[179],"mean":[181],"75.7%":[183],"best":[186],"case.":[187],"While":[188],"these":[192],"DDPG+HER":[196],"algorithm,":[197],"agent":[200],"acquired":[201],"some":[202],"relevant":[203],"skills":[204],"allowed":[206],"it":[207],"win.":[209]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
