{"id":"https://openalex.org/W4312629407","doi":"https://doi.org/10.1109/iros47612.2022.9982168","title":"Sim-to-Real Transfer of Image-Based Autonomous Guidewire Navigation Trained by Deep Deterministic Policy Gradient with Behavior Cloning for Fast Learning","display_name":"Sim-to-Real Transfer of Image-Based Autonomous Guidewire Navigation Trained by Deep Deterministic Policy Gradient with Behavior Cloning for Fast Learning","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312629407","doi":"https://doi.org/10.1109/iros47612.2022.9982168"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982168","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101430478","display_name":"Yong\u2010Jun Cho","orcid":"https://orcid.org/0000-0003-3412-5330"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yongjun Cho","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology,Control Laboratory,Republic of Korea","Control Laboratory, School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology,Control Laboratory,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Control Laboratory, School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100661307","display_name":"Jae-hyeon Park","orcid":"https://orcid.org/0000-0001-5201-7005"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jae-Hyeon Park","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology,Control Laboratory,Republic of Korea","Control Laboratory, School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology,Control Laboratory,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Control Laboratory, School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102984114","display_name":"Jaesoon Choi","orcid":"https://orcid.org/0000-0002-6718-9480"},"institutions":[{"id":"https://openalex.org/I116631150","display_name":"Ulsan College","ror":"https://ror.org/02tec3785","country_code":"KR","type":"education","lineage":["https://openalex.org/I116631150"]},{"id":"https://openalex.org/I40542001","display_name":"University of Ulsan","ror":"https://ror.org/02c2f8975","country_code":"KR","type":"education","lineage":["https://openalex.org/I40542001"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaesoon Choi","raw_affiliation_strings":["University of Ulsan College of Medicine,Department of Biomedical Engineering,Republic of Korea","Department of Biomedical Engineering, University of Ulsan College of Medicine, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Ulsan College of Medicine,Department of Biomedical Engineering,Republic of Korea","institution_ids":["https://openalex.org/I116631150"]},{"raw_affiliation_string":"Department of Biomedical Engineering, University of Ulsan College of Medicine, Republic of Korea","institution_ids":["https://openalex.org/I116631150","https://openalex.org/I40542001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090203902","display_name":"Dong Eui Chang","orcid":"https://orcid.org/0000-0002-6496-4189"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong Eui Chang","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology,Control Laboratory,Republic of Korea","Control Laboratory, School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology,Control Laboratory,Republic of Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Control Laboratory, School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.099,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.9575,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3468","last_page":"3475"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10193","display_name":"Coronary Interventions and Diagnostics","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10193","display_name":"Coronary Interventions and Diagnostics","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10378","display_name":"Advanced MRI Techniques and Applications","score":0.9868000149726868,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10816","display_name":"Cerebrovascular and Carotid Artery Diseases","score":0.9829000234603882,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7658685445785522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6947081089019775},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.6567573547363281},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5341023206710815},{"id":"https://openalex.org/keywords/conventional-pci","display_name":"Conventional PCI","score":0.5269566178321838},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5259697437286377},{"id":"https://openalex.org/keywords/transfer-of-learning","display_name":"Transfer of learning","score":0.4755760729312897},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.4276618957519531},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41074150800704956},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3277103304862976}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7658685445785522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6947081089019775},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.6567573547363281},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5341023206710815},{"id":"https://openalex.org/C45393284","wikidata":"https://www.wikidata.org/wiki/Q191012","display_name":"Conventional PCI","level":3,"score":0.5269566178321838},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5259697437286377},{"id":"https://openalex.org/C150899416","wikidata":"https://www.wikidata.org/wiki/Q1820378","display_name":"Transfer of learning","level":2,"score":0.4755760729312897},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.4276618957519531},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41074150800704956},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3277103304862976},{"id":"https://openalex.org/C500558357","wikidata":"https://www.wikidata.org/wiki/Q12152","display_name":"Myocardial infarction","level":2,"score":0.0},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C118552586","wikidata":"https://www.wikidata.org/wiki/Q7867","display_name":"Psychiatry","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9982168","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982168","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":23,"referenced_works":["https://openalex.org/W1947481528","https://openalex.org/W2043737096","https://openalex.org/W2136747438","https://openalex.org/W2146990154","https://openalex.org/W2194775991","https://openalex.org/W2767050701","https://openalex.org/W2789585573","https://openalex.org/W2804512630","https://openalex.org/W2899736836","https://openalex.org/W2962231994","https://openalex.org/W2963864421","https://openalex.org/W2973763250","https://openalex.org/W2982095652","https://openalex.org/W2982962963","https://openalex.org/W3009593063","https://openalex.org/W3087726169","https://openalex.org/W3090835024","https://openalex.org/W3101442004","https://openalex.org/W3102552342","https://openalex.org/W3202314155","https://openalex.org/W4200101206","https://openalex.org/W6684921986","https://openalex.org/W6756581457"],"related_works":["https://openalex.org/W4297503885","https://openalex.org/W4291164825","https://openalex.org/W4308432472","https://openalex.org/W4307217187","https://openalex.org/W4293040422","https://openalex.org/W2315754583","https://openalex.org/W4298007974","https://openalex.org/W4292685295","https://openalex.org/W4298149927","https://openalex.org/W2352605071"],"abstract_inverted_index":{"Percutaneous":[0],"coronary":[1],"intervention":[2],"(PCI)":[3],"is":[4,105,265],"a":[5,26,29,33,37,73,86,91,96,146,152,192,204,238],"frequently":[6],"used":[7],"surgical":[8],"treatment":[9],"for":[10,148],"cardiovascular":[11],"disease,":[12],"one":[13],"of":[14,18,47,151],"the":[15,21,48,67,109,127,130,176,182,221,225,230,234,247,260],"leading":[16],"cause":[17],"death":[19],"in":[20,32,175,191,206,229,237,252],"world.":[22],"In":[23,141],"traditional":[24],"PCI,":[25],"doctor":[27],"navigates":[28,246,257],"thin":[30],"guidewire":[31,59,68,98,153,205,235,248],"patient's":[34],"vessel":[35,75,117,123,240],"toward":[36],"target":[38],"location":[39],"by":[40,156,170,185],"looking":[41],"into":[42],"live":[43],"X-ray":[44],"angiogram":[45],"images":[46],"patient.":[49],"Recently,":[50],"researchers":[51,71],"are":[52],"using":[53,82,159,167],"reinforcement":[54,83,87,157],"learning":[55,88,158],"to":[56,66,77,115,201,233,249],"automate":[57],"this":[58,142],"navigation":[60,154,236],"process":[61],"without":[62,215],"attaching":[63],"any":[64],"sensor":[65],"tip.":[69],"These":[70],"use":[72],"real":[74,92,239],"phantom":[76],"train":[78,126,181],"their":[79],"behavior":[80,165,183,196,216,226,244],"policy":[81,166,184,188,227,245],"learning.":[84],"Training":[85],"algorithm":[89,111,128,174],"on":[90,100,129],"setup":[93],"can":[94,112,120,134],"give":[95],"good":[97],"control":[99],"that":[101],"setup,":[102],"but":[103,132],"it":[104,133],"under":[106],"question":[107],"whether":[108],"trained":[110,155,228,243],"be":[113,135],"applied":[114],"other":[116],"structures.":[118],"We":[119,162],"make":[121],"various":[122],"phantoms":[124],"and":[125,138,256],"setups,":[131],"really":[136],"time":[137,209],"money":[139],"consuming.":[140],"paper,":[143],"we":[144,180,223],"devise":[145],"method":[147,199],"sim-to-real":[149],"transfer":[150,224],"only":[160],"images.":[161],"pretrain":[163],"our":[164,198],"data":[168],"collected":[169],"running":[171],"an":[172],"expert":[173,261],"virtual":[177,193,231],"environment.":[178,194],"Then,":[179],"deep":[186],"deterministic":[187],"gradient":[189],"(DDPG)":[190],"With":[195],"cloning,":[197],"learns":[200],"successfully":[202,251],"navigate":[203],"much":[207],"shorter":[208],"than":[210,259],"training":[211],"DDPG":[212],"from":[213],"scratch":[214],"cloning.":[217],"After":[218],"done":[219],"with":[220],"training,":[222],"environment":[232],"phantom.":[241],"Our":[242],"destinations":[250],"all":[253],"test":[254],"episodes":[255],"faster":[258],"algorithm.":[262],"Experiment":[263],"video":[264],"available":[266],"at:":[267],"https:":[268],"//youtu.be/HCEbIhZsXqw":[269]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}