{"id":"https://openalex.org/W4416750726","doi":"https://doi.org/10.1109/iros60139.2025.11247711","title":"Online Iterative Learning with Forward Simulation for Sub-minimum End-effector Displacement Positioning","display_name":"Online Iterative Learning with Forward Simulation for Sub-minimum End-effector Displacement Positioning","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750726","doi":"https://doi.org/10.1109/iros60139.2025.11247711"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247711","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247711","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":"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/A5036193384","display_name":"Qu Weiming","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qu Weiming","raw_affiliation_strings":["Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology,Beijing,China,100871"],"affiliations":[{"raw_affiliation_string":"Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101848357","display_name":"Tianlin Liu","orcid":"https://orcid.org/0000-0001-8231-7594"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu Tianlin","raw_affiliation_strings":["Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology,Beijing,China,100871"],"affiliations":[{"raw_affiliation_string":"Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039865987","display_name":"Jiawei Du","orcid":"https://orcid.org/0000-0002-5186-5595"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Du Jiawei","raw_affiliation_strings":["Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology,Beijing,China,100871"],"affiliations":[{"raw_affiliation_string":"Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110962571","display_name":"WU Xi-hong","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wu Xihong","raw_affiliation_strings":["Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology,Beijing,China,100871"],"affiliations":[{"raw_affiliation_string":"Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111443902","display_name":"Dingsheng Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Luo Dingsheng","raw_affiliation_strings":["Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology,Beijing,China,100871"],"affiliations":[{"raw_affiliation_string":"Peking University,National Key Laboratory of General Artificial Intelligence, Key Laboratory of Machine Perception (MoE), School of Intelligence Science and Technology,Beijing,China,100871","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5036193384"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.4849603,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14774","last_page":"14781"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.5338000059127808,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.5338000059127808,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.28769999742507935,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.030400000512599945,"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/iterative-learning-control","display_name":"Iterative learning control","score":0.6998000144958496},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6798999905586243},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5902000069618225},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.565500020980835},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.4553999900817871},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.4496000111103058},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4478999972343445}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.6998000144958496},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6798999905586243},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.63919997215271},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5902000069618225},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.565500020980835},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.4553999900817871},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4507000148296356},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.4496000111103058},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4478999972343445},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4291999936103821},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4207000136375427},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35190001130104065},{"id":"https://openalex.org/C2779982483","wikidata":"https://www.wikidata.org/wiki/Q6094420","display_name":"Iterative refinement","level":2,"score":0.3276999890804291},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3057999908924103},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.28790000081062317},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.27570000290870667},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2542000114917755},{"id":"https://openalex.org/C103088060","wikidata":"https://www.wikidata.org/wiki/Q1062839","display_name":"Error detection and correction","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247711","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247711","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W815746727","https://openalex.org/W1514444483","https://openalex.org/W1730088114","https://openalex.org/W1848782042","https://openalex.org/W1965207107","https://openalex.org/W1992090076","https://openalex.org/W1996772426","https://openalex.org/W2033576297","https://openalex.org/W2082991751","https://openalex.org/W2099513764","https://openalex.org/W2114866967","https://openalex.org/W2120211971","https://openalex.org/W2162429410","https://openalex.org/W2189146438","https://openalex.org/W2418810920","https://openalex.org/W2758643444","https://openalex.org/W2759592850","https://openalex.org/W2902653438","https://openalex.org/W2940375853","https://openalex.org/W2951360122","https://openalex.org/W2959133662","https://openalex.org/W2967129319","https://openalex.org/W2978706708","https://openalex.org/W2996682467","https://openalex.org/W3005431655","https://openalex.org/W3012370795","https://openalex.org/W3044296014","https://openalex.org/W3088158297","https://openalex.org/W3095027108","https://openalex.org/W3127881383","https://openalex.org/W3154252712","https://openalex.org/W4390188389"],"related_works":[],"abstract_inverted_index":{"Precision":[0],"is":[1,147,171],"a":[2,16,88],"crucial":[3],"performance":[4],"indicator":[5],"for":[6,35,123],"robot":[7,17,37,91,132,144,163],"arms.":[8,133],"During":[9],"interacting":[10],"with":[11],"human,":[12],"high":[13,72,81],"precision":[14,27,39,73],"enables":[15],"arm":[18,38,92,164],"to":[19,30,76],"be":[20,179],"used":[21],"effectively":[22],"and":[23,51,59,74,100,160,173],"safely,":[24],"while":[25,61],"low":[26],"may":[28],"lead":[29],"safety":[31],"issues.":[32],"Traditional":[33],"methods":[34,46,55],"improving":[36],"rely":[40],"on":[41,96,157],"error":[42,107],"compensation.":[43],"However,":[44],"these":[45],"are":[47],"often":[48,67],"not":[49],"robust":[50],"lack":[52],"adaptability.":[53],"Learning-based":[54],"offer":[56],"greater":[57],"flexibility":[58],"adaptability,":[60],"current":[62],"researches":[63],"show":[64],"that":[65,167],"they":[66],"fall":[68],"short":[69],"in":[70,150],"achieving":[71],"struggle":[75],"handle":[77],"many":[78],"scenarios":[79],"requiring":[80],"precision.":[82],"In":[83,115],"this":[84],"paper,":[85],"we":[86,135],"propose":[87],"novel":[89],"high-precision":[90],"manipulation":[93],"framework":[94],"based":[95],"online":[97],"iterative":[98],"learning":[99],"forward":[101],"simulation,":[102],"which":[103,146],"can":[104,121],"achieve":[105],"positioning":[106],"(precision)":[108],"less":[109],"than":[110],"end-effector":[111],"physical":[112],"minimum":[113],"displacement.":[114],"other":[116],"words,":[117],"our":[118,168],"proposed":[119,169],"method":[120,170],"compensate":[122],"the":[124,127,131,137,142],"precision-limitation":[125],"of":[126,130,141,155],"hardware":[128],"structure":[129],"Furthermore,":[134],"consider":[136],"joint":[138],"angular":[139],"resolution":[140],"real":[143,161],"arm,":[145],"usually":[148],"neglected":[149],"related":[151,176],"works.":[152],"A":[153],"series":[154],"experiments":[156],"both":[158],"simulation":[159],"UR3":[162],"platforms":[165],"demonstrate":[166],"effective":[172],"promising.":[174],"The":[175],"code":[177],"will":[178],"available":[180],"soon.":[181]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}