{"id":"https://openalex.org/W3203417057","doi":"https://doi.org/10.1109/lra.2021.3116700","title":"Sim2real Learning of Obstacle Avoidance for Robotic Manipulators in Uncertain Environments","display_name":"Sim2real Learning of Obstacle Avoidance for Robotic Manipulators in Uncertain Environments","publication_year":2021,"publication_date":"2021-09-30","ids":{"openalex":"https://openalex.org/W3203417057","doi":"https://doi.org/10.1109/lra.2021.3116700","mag":"3203417057"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3116700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3116700","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5100615711","display_name":"Tan Zhang","orcid":"https://orcid.org/0000-0002-3187-1453"},"institutions":[{"id":"https://openalex.org/I4210152380","display_name":"Shenzhen Technology University","ror":"https://ror.org/04qzpec27","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152380"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tan Zhang","raw_affiliation_strings":["Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-3187-1453","affiliations":[{"raw_affiliation_string":"Sino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen, China","institution_ids":["https://openalex.org/I4210152380"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Kefang Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kefang Zhang","raw_affiliation_strings":["College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073245609","display_name":"Jiatao Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiatao Lin","raw_affiliation_strings":["College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088460626","display_name":"Wing-Yue Geoffrey Louie","orcid":"https://orcid.org/0000-0002-2742-6947"},"institutions":[{"id":"https://openalex.org/I177721651","display_name":"Oakland University","ror":"https://ror.org/01ythxj32","country_code":"US","type":"education","lineage":["https://openalex.org/I177721651"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wing-Yue Geoffrey Louie","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Oakland University, Rochester, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-2742-6947","affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Oakland University, Rochester, MI, USA","institution_ids":["https://openalex.org/I177721651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034304352","display_name":"Hui Huang","orcid":"https://orcid.org/0000-0003-3212-0544"},"institutions":[{"id":"https://openalex.org/I180726961","display_name":"Shenzhen University","ror":"https://ror.org/01vy4gh70","country_code":"CN","type":"education","lineage":["https://openalex.org/I180726961"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Huang","raw_affiliation_strings":["College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-3212-0544","affiliations":[{"raw_affiliation_string":"College of Computer Science and Software Engineering, Shenzhen University, Shenzhen, China","institution_ids":["https://openalex.org/I180726961"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2542,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.92529618,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"7","issue":"1","first_page":"65","last_page":"72"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9991000294685364,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9980000257492065,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9941999912261963,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7945771217346191},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7481586337089539},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.743151843547821},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.7284556031227112},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7169219255447388},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6898447275161743},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.6898274421691895},{"id":"https://openalex.org/keywords/minimum-bounding-box","display_name":"Minimum bounding box","score":0.4977305233478546},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.49642544984817505},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4935659170150757},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48065364360809326},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.4646581709384918},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.45687735080718994},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4563380777835846},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.419706255197525},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35726723074913025},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3535633385181427},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17969480156898499},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.1229948103427887},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.08238086104393005},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07739627361297607}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7945771217346191},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7481586337089539},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.743151843547821},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.7284556031227112},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7169219255447388},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6898447275161743},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.6898274421691895},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.4977305233478546},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.49642544984817505},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4935659170150757},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48065364360809326},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.4646581709384918},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.45687735080718994},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4563380777835846},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.419706255197525},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35726723074913025},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3535633385181427},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17969480156898499},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.1229948103427887},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.08238086104393005},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07739627361297607},{"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/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2021.3116700","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3116700","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7983550908","display_name":null,"funder_award_id":"U2001206","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8562381940","display_name":null,"funder_award_id":"2020A0505100064","funder_id":"https://openalex.org/F4320335795","funder_display_name":"Science and Technology Planning Project of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335795","display_name":"Science and Technology Planning Project of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W212119337","https://openalex.org/W1481659984","https://openalex.org/W1977655452","https://openalex.org/W2056354534","https://openalex.org/W2088219864","https://openalex.org/W2119717200","https://openalex.org/W2156737235","https://openalex.org/W2158782408","https://openalex.org/W2163605009","https://openalex.org/W2165150801","https://openalex.org/W2174364281","https://openalex.org/W2201912979","https://openalex.org/W2417089653","https://openalex.org/W2616329660","https://openalex.org/W2758237641","https://openalex.org/W2902067689","https://openalex.org/W2921851574","https://openalex.org/W2962736495","https://openalex.org/W2962837436","https://openalex.org/W2962887844","https://openalex.org/W2962899390","https://openalex.org/W2962902376","https://openalex.org/W2962957005","https://openalex.org/W2963019567","https://openalex.org/W2963572779","https://openalex.org/W2963649664","https://openalex.org/W2963864421","https://openalex.org/W2963949947","https://openalex.org/W2964079853","https://openalex.org/W2967969632","https://openalex.org/W2991625383","https://openalex.org/W4297804343","https://openalex.org/W6683195989","https://openalex.org/W6684205842","https://openalex.org/W6684921986","https://openalex.org/W6685200760","https://openalex.org/W6716653466","https://openalex.org/W6740023956","https://openalex.org/W6740402285","https://openalex.org/W6743350977","https://openalex.org/W6747473740"],"related_works":["https://openalex.org/W2913749762","https://openalex.org/W2531604492","https://openalex.org/W3192357901","https://openalex.org/W3036286480","https://openalex.org/W2387360586","https://openalex.org/W4287027631","https://openalex.org/W2140606111","https://openalex.org/W2991662304","https://openalex.org/W4237171675","https://openalex.org/W3209723314"],"abstract_inverted_index":{"Obstacle":[0],"avoidance":[1,203],"for":[2],"robotic":[3,32],"manipulators":[4],"can":[5,101],"be":[6,102],"challenging":[7],"when":[8],"they":[9],"operate":[10],"in":[11,36,130,207],"unstructured":[12],"environments.":[13],"This":[14,186],"problem":[15,48],"is":[16,34,52,112],"probed":[17],"with":[18,93,106,140],"the":[19,31,43,47,71,75,90,94,107,115,120,127,155,164,171,176,181,188,201,211,215,219],"sim-to-real":[20],"(sim2real)":[21],"deep":[22,95],"reinforcement":[23,96],"learning,":[24],"such":[25],"that":[26,100,214],"a":[27,37,62,85,110,141,147,197],"moving":[28],"policy":[29,177,189],"of":[30,49,65,74,119,159,200,218],"arm":[33],"learnt":[35],"simulator":[38],"and":[39,67,83,117,125,133,161,179,210,226],"then":[40],"adapted":[41],"to":[42,69,80,114,196],"real":[44,134],"world.":[45],"However,":[46],"sim2real":[50,224],"adaptation":[51],"notoriously":[53],"difficult.":[54],"To":[55],"this":[56,58,138],"end,":[57],"work":[59],"proposes":[60],"(1)":[61],"unified":[63,91,220],"representation":[64,92,111,129,221],"obstacles":[66,160],"targets":[68,162],"capture":[70],"underlying":[72,121],"dynamics":[73],"environment":[76,209],"while":[77],"allowing":[78],"generalization":[79,228],"unseen":[81],"goals":[82],"(2)":[84],"flexible":[86],"end-to-end":[87,216],"model":[88,217],"combining":[89],"learning":[97,199],"control":[98],"module":[99],"trained":[103],"by":[104,145,170],"interacting":[105],"environment.":[108],"Such":[109],"agnostic":[113],"shape":[116],"appearance":[118],"objects,":[122],"which":[123,194],"simplifies":[124],"unifies":[126],"scene":[128,192,227],"both":[131],"simulated":[132,208],"worlds.":[135],"We":[136],"implement":[137],"idea":[139],"vision-based":[142],"actor-critic":[143],"framework":[144],"devising":[146],"bounding":[148,157],"box":[149],"predictor":[150,153,172],"module.":[151],"The":[152,167],"estimates":[154],"3D":[156],"boxes":[158],"from":[163],"RGB-D":[165],"input.":[166],"features":[168],"extracted":[169],"are":[173,183],"fed":[174],"into":[175],"network,":[178],"all":[180],"modules":[182],"jointly":[184],"trained.":[185],"makes":[187],"learn":[190],"object-aware":[191],"representation,":[193],"leads":[195],"data-efficient":[198],"obstacle":[202],"policy.":[204],"Our":[205],"experiments":[206],"real-world":[212],"show":[213],"achieves":[222],"better":[223],"adaption":[225],"than":[229],"state-of-the-art":[230],"techniques.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":6}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
