{"id":"https://openalex.org/W4408100264","doi":"https://doi.org/10.1109/lra.2025.3547647","title":"Multimodal Task Attention Residual Reinforcement Learning: Advancing Robotic Assembly in Unstructured Environment","display_name":"Multimodal Task Attention Residual Reinforcement Learning: Advancing Robotic Assembly in Unstructured Environment","publication_year":2025,"publication_date":"2025-03-03","ids":{"openalex":"https://openalex.org/W4408100264","doi":"https://doi.org/10.1109/lra.2025.3547647"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3547647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3547647","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":null,"display_name":"Ze Lin","orcid":"https://orcid.org/0009-0000-3351-6546"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ze Lin","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0000-3351-6546","affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chuang Wang","orcid":"https://orcid.org/0000-0002-5091-6186"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuang Wang","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5091-6186","affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012726366","display_name":"Sihan Wu","orcid":"https://orcid.org/0000-0002-4822-0884"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sihan Wu","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4822-0884","affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025392221","display_name":"Longhan Xie","orcid":"https://orcid.org/0000-0002-5137-1413"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longhan Xie","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-5137-1413","affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7127,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.88841238,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"10","issue":"4","first_page":"3900","last_page":"3907"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9546999931335449,"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":0.9546999931335449,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7516260147094727},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6954636573791504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5387924313545227},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5253797769546509},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4525661766529083},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3662087321281433},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14649397134780884},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.04903653264045715}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7516260147094727},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6954636573791504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5387924313545227},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5253797769546509},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4525661766529083},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3662087321281433},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14649397134780884},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.04903653264045715},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3547647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3547647","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":[{"id":"https://openalex.org/G2360582917","display_name":null,"funder_award_id":"52075177","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5009339315","display_name":null,"funder_award_id":"2024A1515011190","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation 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/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W2556675116","https://openalex.org/W3028308378","https://openalex.org/W3029795912","https://openalex.org/W3081200565","https://openalex.org/W3137253783","https://openalex.org/W3174364619","https://openalex.org/W3197400104","https://openalex.org/W3203302482","https://openalex.org/W3205340058","https://openalex.org/W3206976301","https://openalex.org/W4210776196","https://openalex.org/W4280631854","https://openalex.org/W4293545723","https://openalex.org/W4319459184","https://openalex.org/W4385626951","https://openalex.org/W4386083503","https://openalex.org/W4389637871","https://openalex.org/W4393864190","https://openalex.org/W6747473740","https://openalex.org/W6785538922","https://openalex.org/W6791353385","https://openalex.org/W6847203660","https://openalex.org/W6853219587","https://openalex.org/W6869052895"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2560215812","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W2949601986","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W3196817267","https://openalex.org/W1976600725"],"abstract_inverted_index":{"Robotic":[0],"assembly":[1,150],"in":[2,123,146,152],"dynamic":[3,153],"and":[4,16,27,50,108,126,144,148,154],"unstructured":[5,155],"environments":[6,22,128],"poses":[7],"challenges":[8],"for":[9],"recent":[10],"methods,":[11],"due":[12],"to":[13,31,71,83],"background":[14,82],"noise":[15],"wide-ranging":[17],"errors.":[18],"Directly":[19],"learning":[20,70,147],"from":[21,47,80],"relies":[23],"on":[24,38,105],"complex":[25],"models":[26],"extensive":[28],"training":[29,43,116],"iterations":[30],"adapt.":[32],"Representation":[33],"selection":[34,110],"approaches,":[35],"which":[36],"depend":[37],"expert":[39],"knowledge,":[40],"can":[41],"reduce":[42],"costs":[44],"but":[45],"suffer":[46],"poor":[48],"robustness":[49],"high":[51,142],"manual":[52],"costs,":[53],"limiting":[54],"scalability.":[55],"In":[56],"response,":[57],"this":[58],"letter":[59],"proposes":[60],"a":[61],"system":[62,140],"that":[63],"integrates":[64],"task":[65,85,101],"attention":[66,102],"into":[67],"residual":[68],"reinforcement":[69],"address":[72],"these":[73],"challenges.":[74],"By":[75],"effectively":[76],"segmenting":[77],"task-relevant":[78],"information":[79],"the":[81,90,130],"leverage":[84],"attention,":[86],"our":[87,100,133,139],"approach":[88],"mitigates":[89],"impact":[91],"of":[92,132],"environmental":[93],"variability.":[94],"Additionally,":[95],"compared":[96],"with":[97],"existing":[98],"baselines,":[99],"mechanism":[103],"based":[104],"instance":[106],"segmentation":[107],"prompt-guided":[109],"does":[111],"not":[112],"require":[113],"additional":[114],"offline":[115],"or":[117],"local":[118],"fine-tuning.":[119],"Experimental":[120],"evaluations":[121],"conducted":[122],"both":[124],"simulated":[125],"real":[127],"demonstrate":[129],"superiority":[131],"method":[134],"over":[135],"various":[136],"baselines.":[137],"Specifically,":[138],"achieves":[141],"efficiency":[143],"effectiveness":[145],"executing":[149],"tasks":[151],"environments.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
