{"id":"https://openalex.org/W4379931844","doi":"https://doi.org/10.1109/lra.2023.3284380","title":"Human-in-the-Loop Embodied Intelligence With Interactive Simulation Environment for Surgical Robot Learning","display_name":"Human-in-the-Loop Embodied Intelligence With Interactive Simulation Environment for Surgical Robot Learning","publication_year":2023,"publication_date":"2023-06-08","ids":{"openalex":"https://openalex.org/W4379931844","doi":"https://doi.org/10.1109/lra.2023.3284380"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3284380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3284380","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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/A5040473879","display_name":"Yonghao Long","orcid":"https://orcid.org/0000-0003-4474-7854"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yonghao Long","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0003-4474-7854","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392337","display_name":"Wei Wang","orcid":"https://orcid.org/0009-0006-7426-6575"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wang Wei","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0009-0006-7426-6575","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101998663","display_name":"Tao Huang","orcid":"https://orcid.org/0000-0002-1337-8403"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Tao Huang","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103216343","display_name":"Yuehao Wang","orcid":"https://orcid.org/0009-0003-3144-128X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yuehao Wang","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090516040","display_name":"Qi Dou","orcid":"https://orcid.org/0000-0002-3416-9950"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Qi Dou","raw_affiliation_strings":["Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-3416-9950","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":6.7069,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.97960679,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"8","issue":"8","first_page":"4441","last_page":"4448"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9848999977111816,"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/T10916","display_name":"Surgical Simulation and Training","score":0.9757999777793884,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.8990321755409241},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6583460569381714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6339669823646545},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6287433505058289},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5579313635826111},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.5355017185211182},{"id":"https://openalex.org/keywords/human-in-the-loop","display_name":"Human-in-the-loop","score":0.5180790424346924},{"id":"https://openalex.org/keywords/human-intelligence","display_name":"Human intelligence","score":0.4835605323314667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47173845767974854},{"id":"https://openalex.org/keywords/embodied-agent","display_name":"Embodied agent","score":0.44701895117759705},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4275752604007721},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34130093455314636}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.8990321755409241},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6583460569381714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6339669823646545},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6287433505058289},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5579313635826111},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.5355017185211182},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.5180790424346924},{"id":"https://openalex.org/C105409693","wikidata":"https://www.wikidata.org/wiki/Q5937824","display_name":"Human intelligence","level":2,"score":0.4835605323314667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47173845767974854},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.44701895117759705},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4275752604007721},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34130093455314636}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3284380","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3284380","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":76,"referenced_works":["https://openalex.org/W1493349649","https://openalex.org/W1951847783","https://openalex.org/W1982680774","https://openalex.org/W2008519615","https://openalex.org/W2023748453","https://openalex.org/W2050744010","https://openalex.org/W2111982641","https://openalex.org/W2140246545","https://openalex.org/W2156256170","https://openalex.org/W2174803659","https://openalex.org/W2240455812","https://openalex.org/W2598070036","https://openalex.org/W2735048916","https://openalex.org/W2736750746","https://openalex.org/W2741122588","https://openalex.org/W2787690100","https://openalex.org/W2908428967","https://openalex.org/W2910913210","https://openalex.org/W2923090615","https://openalex.org/W2963864421","https://openalex.org/W3003736730","https://openalex.org/W3009331570","https://openalex.org/W3009928773","https://openalex.org/W3015437096","https://openalex.org/W3021708257","https://openalex.org/W3032127812","https://openalex.org/W3035624836","https://openalex.org/W3037625705","https://openalex.org/W3042040243","https://openalex.org/W3115293622","https://openalex.org/W3118688377","https://openalex.org/W3126321819","https://openalex.org/W3128707967","https://openalex.org/W3133389372","https://openalex.org/W3176814369","https://openalex.org/W3181237121","https://openalex.org/W3187722890","https://openalex.org/W3190215236","https://openalex.org/W3196757288","https://openalex.org/W3198013102","https://openalex.org/W3205231824","https://openalex.org/W3211743333","https://openalex.org/W3211903845","https://openalex.org/W3212407416","https://openalex.org/W4200341796","https://openalex.org/W4207072548","https://openalex.org/W4210557383","https://openalex.org/W4210656949","https://openalex.org/W4221152011","https://openalex.org/W4224864419","https://openalex.org/W4224938351","https://openalex.org/W4225379958","https://openalex.org/W4226137952","https://openalex.org/W4283331827","https://openalex.org/W4285803680","https://openalex.org/W4293566037","https://openalex.org/W4300799055","https://openalex.org/W4312578227","https://openalex.org/W4312707839","https://openalex.org/W4312987719","https://openalex.org/W4376109912","https://openalex.org/W4383097529","https://openalex.org/W6629578927","https://openalex.org/W6675999342","https://openalex.org/W6684921986","https://openalex.org/W6685664872","https://openalex.org/W6740578593","https://openalex.org/W6740801417","https://openalex.org/W6742461812","https://openalex.org/W6747106673","https://openalex.org/W6760425463","https://openalex.org/W6768977950","https://openalex.org/W6776867236","https://openalex.org/W6799150178","https://openalex.org/W6799560697","https://openalex.org/W6850029092"],"related_works":["https://openalex.org/W1570928019","https://openalex.org/W1576176190","https://openalex.org/W2068486122","https://openalex.org/W2044346275","https://openalex.org/W2964506265","https://openalex.org/W2513760693","https://openalex.org/W4377866454","https://openalex.org/W2113355126","https://openalex.org/W2169574110","https://openalex.org/W4388430323"],"abstract_inverted_index":{"Surgical":[0],"robot":[1,59,101,178],"automation":[2],"has":[3,28],"attracted":[4],"increasing":[5],"research":[6,195],"interest":[7],"over":[8],"the":[9,22,78,131,138,153,191],"past":[10],"decade,":[11],"expecting":[12],"its":[13],"potential":[14],"to":[15,32,49,120,189],"benefit":[16],"surgeons,":[17],"nurses":[18],"and":[19,142,158,183],"patients.":[20],"Recently,":[21],"learning":[23,160,172],"paradigm":[24],"of":[25,133,145,155,171],"embodied":[26,42,91,150,198],"intelligence":[27,92,151],"demonstrated":[29],"promising":[30],"ability":[31],"learn":[33],"good":[34],"control":[35],"policies":[36],"for":[37,57,99,193],"various":[38],"complex":[39],"tasks,":[40],"where":[41],"AI":[43],"simulators":[44,56],"play":[45],"an":[46,126],"essential":[47],"role":[48],"facilitate":[50],"relevant":[51],"research.":[52],"However,":[53],"existing":[54],"open-sourced":[55],"surgical":[58,100,177,197],"are":[60,167,181],"still":[61],"not":[62],"sufficiently":[63],"supporting":[64],"human":[65,79,123,147,156],"interactions":[66],"through":[67,152],"physical":[68],"input":[69,127],"devices,":[70],"which":[71,186],"further":[72],"limits":[73],"effective":[74],"investigations":[75],"on":[76,109,196],"how":[77],"demonstrations":[80,157],"would":[81],"affect":[82],"policy":[83],"learning.":[84,102],"In":[85],"this":[86],"work,":[87],"we":[88,104,187],"study":[89],"human-in-the-loop":[90],"with":[93,115,137,185],"a":[94,162],"new":[95,117,140,176],"interactive":[96],"simulation":[97,135],"platform":[98,107],"Specifically,":[103],"establish":[105],"our":[106,110,134],"based":[108],"previously":[111],"released":[112],"SurRoL":[113],"simulator":[114],"several":[116],"features":[118],"co-developed":[119],"allow":[121],"high-quality":[122],"interaction":[124],"via":[125],"device.":[128],"We":[129],"showcase":[130],"improvement":[132],"environment":[136],"designed":[139],"features,":[141],"validate":[143],"effectiveness":[144],"incorporating":[146],"factors":[148],"in":[149,169],"use":[154],"reinforcement":[159],"as":[161],"representative":[163],"example.":[164],"Promising":[165],"results":[166],"obtained":[168],"terms":[170],"efficiency.":[173],"Lastly,":[174],"five":[175],"training":[179],"tasks":[180],"developed":[182],"released,":[184],"hope":[188],"pave":[190],"way":[192],"future":[194],"intelligence.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":33},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":6}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}