{"id":"https://openalex.org/W4416748604","doi":"https://doi.org/10.1109/iros60139.2025.11247131","title":"Complex Robotic Manipulation via Hindsight Goal Diffusion and Graph-based Experience Replay","display_name":"Complex Robotic Manipulation via Hindsight Goal Diffusion and Graph-based Experience Replay","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748604","doi":"https://doi.org/10.1109/iros60139.2025.11247131"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247131","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5057493831","display_name":"Zihao Sun","orcid":"https://orcid.org/0000-0001-6337-1712"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihao Sun","raw_affiliation_strings":["Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103059171","display_name":"Zihan Li","orcid":"https://orcid.org/0000-0001-8950-6515"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zihan Li","raw_affiliation_strings":["Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066846859","display_name":"Jinrui He","orcid":null},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinrui He","raw_affiliation_strings":["Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100612794","display_name":"Yong Song","orcid":"https://orcid.org/0000-0003-4979-4131"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Song","raw_affiliation_strings":["Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100666029","display_name":"Pingping Liu","orcid":"https://orcid.org/0000-0002-0196-7913"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pingping Liu","raw_affiliation_strings":["Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088399827","display_name":"Qingyang Xu","orcid":"https://orcid.org/0009-0009-3422-556X"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingyang Xu","raw_affiliation_strings":["Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035287663","display_name":"Xianfeng Yuan","orcid":"https://orcid.org/0000-0002-6217-6429"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianfeng Yuan","raw_affiliation_strings":["Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Mechanical, Electrical & Information Engineering,Weihai,China,264209","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101961203","display_name":"Rui Song","orcid":"https://orcid.org/0009-0005-0925-7616"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Song","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21780","last_page":"21786"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.680400013923645,"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":0.680400013923645,"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":0.06750000268220901,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.04619999974966049,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hindsight-bias","display_name":"Hindsight bias","score":0.961899995803833},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5763999819755554},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5663999915122986},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47999998927116394},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.3799999952316284},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3310000002384186}],"concepts":[{"id":"https://openalex.org/C10347200","wikidata":"https://www.wikidata.org/wiki/Q1960297","display_name":"Hindsight bias","level":2,"score":0.961899995803833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7175999879837036},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6240000128746033},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5763999819755554},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5663999915122986},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47999998927116394},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.3799999952316284},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3564999997615814},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3310000002384186},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32249999046325684},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.31700000166893005},{"id":"https://openalex.org/C34585555","wikidata":"https://www.wikidata.org/wiki/Q1368723","display_name":"Learning curve","level":2,"score":0.29350000619888306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28610000014305115},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.28139999508857727},{"id":"https://openalex.org/C2780898871","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Performance metric","level":2,"score":0.2777999937534332},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.2775000035762787},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27619999647140503},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.25040000677108765}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247131","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W2145339207","https://openalex.org/W2158782408","https://openalex.org/W2522489477","https://openalex.org/W3026486560","https://openalex.org/W3086270667","https://openalex.org/W3175584021","https://openalex.org/W3191652410","https://openalex.org/W3197854638","https://openalex.org/W4285294350","https://openalex.org/W4285601030","https://openalex.org/W4297964528","https://openalex.org/W4383097529","https://openalex.org/W4385453680","https://openalex.org/W4387195417","https://openalex.org/W4391305615","https://openalex.org/W4403337227","https://openalex.org/W4405785462","https://openalex.org/W4415796064","https://openalex.org/W4415797600","https://openalex.org/W4415797647"],"related_works":[],"abstract_inverted_index":{"Goal-conditioned":[0],"reinforcement":[1],"learning":[2,42,145,179],"(GCRL)":[3],"is":[4,92,185],"an":[5],"effective":[6],"method":[7,184],"for":[8,71],"multi-goal":[9],"robotic":[10,32,73,161],"manipulation":[11,33,162],"tasks.":[12],"Many":[13],"studies":[14],"based":[15],"on":[16,159,187],"hindsight":[17,22,63],"experience":[18,68,130],"replay":[19,69,131],"(HER)":[20],"and":[21,37,55,66,84,107,142,166,169],"goal":[23,64],"generation":[24],"(HGG)":[25],"have":[26,38],"achieved":[27],"the":[28,41,85,95,100,117,126,137,144,148,170,174,182,188],"autonomous":[29],"acquisition":[30],"of":[31,44,104,119,129,147],"in":[34,51,78],"reward-sparse":[35],"environments":[36,52,79],"greatly":[39],"improved":[40],"efficiency":[43],"GCRL.":[45],"However,":[46],"these":[47],"methods":[48],"perform":[49],"poorly":[50],"with":[53,80,164],"obstacles":[54,81,165],"distant":[56,167],"goals.":[57],"In":[58],"this":[59],"paper,":[60],"we":[61,156],"propose":[62],"diffusion":[65,105],"graph-based":[67,86,109,133],"(HGD-GER)":[70],"complex":[72],"manipulation.":[74],"First,":[75],"obstacle-avoiding":[76,108],"graphs":[77],"are":[82],"constructed,":[83],"distance":[87,110],"metric":[88],"between":[89],"different":[90],"goals":[91],"established.":[93],"Second,":[94],"proposed":[96,175,183],"HGD":[97],"approach":[98],"utilizes":[99],"inherent":[101],"denoising":[102],"mechanism":[103],"models":[106],"to":[111],"generate":[112],"exploration":[113,118],"goals,":[114,168],"thereby":[115,135],"promoting":[116],"obstacle-bypassing":[120],"areas.":[121],"Then,":[122],"GER":[123],"module":[124],"modifies":[125],"reward":[127,153],"value":[128],"by":[132,140],"distance,":[134],"avoiding":[136],"bias":[138],"introduced":[139],"HER":[141],"improving":[143],"performance":[146],"RL":[149],"algorithm":[150],"under":[151],"sparse":[152],"conditions.":[154],"Finally,":[155],"conducted":[157],"experiments":[158],"three":[160],"tasks":[163],"results":[171],"show":[172],"that":[173],"HGD-GER":[176],"achieves":[177],"excellent":[178],"performance.":[180],"Additionally,":[181],"deployed":[186],"physical":[189],"robot.":[190]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}