{"id":"https://openalex.org/W4414004050","doi":"https://doi.org/10.1109/rcar65431.2025.11139752","title":"Feedback ACT with Closed-Loop Dynamics for Trajectory Generation of Excavators Loading Tasks","display_name":"Feedback ACT with Closed-Loop Dynamics for Trajectory Generation of Excavators Loading Tasks","publication_year":2025,"publication_date":"2025-06-01","ids":{"openalex":"https://openalex.org/W4414004050","doi":"https://doi.org/10.1109/rcar65431.2025.11139752"},"language":"en","primary_location":{"id":"doi:10.1109/rcar65431.2025.11139752","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139752","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5081473064","display_name":"Ziqing Zou","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ziqing Zou","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Syetems and Control, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Syetems and Control, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085160156","display_name":"Xiao Liu","orcid":"https://orcid.org/0000-0002-6209-8571"},"institutions":[{"id":"https://openalex.org/I4210091137","display_name":"NetEase (China)","ror":"https://ror.org/00fp6fj05","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091137"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Liu","raw_affiliation_strings":["NetEase Inc.,Fuxi Robotic Department,Hangzhou,China,310052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NetEase Inc.,Fuxi Robotic Department,Hangzhou,China,310052","institution_ids":["https://openalex.org/I4210091137"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053458494","display_name":"Yue Hu","orcid":"https://orcid.org/0000-0002-8115-7020"},"institutions":[{"id":"https://openalex.org/I4210091137","display_name":"NetEase (China)","ror":"https://ror.org/00fp6fj05","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091137"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Hu","raw_affiliation_strings":["NetEase Inc.,Fuxi Robotic Department,Hangzhou,China,310052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NetEase Inc.,Fuxi Robotic Department,Hangzhou,China,310052","institution_ids":["https://openalex.org/I4210091137"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019081110","display_name":"Rong Xiong","orcid":"https://orcid.org/0000-0001-9318-9014"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Syetems and Control, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Syetems and Control, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022008180","display_name":"Changjie Fan","orcid":"https://orcid.org/0000-0001-5420-0516"},"institutions":[{"id":"https://openalex.org/I4210091137","display_name":"NetEase (China)","ror":"https://ror.org/00fp6fj05","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091137"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changjie Fan","raw_affiliation_strings":["NetEase Inc.,Fuxi Robotic Department,Hangzhou,China,310052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NetEase Inc.,Fuxi Robotic Department,Hangzhou,China,310052","institution_ids":["https://openalex.org/I4210091137"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065987766","display_name":"Yingfeng Chen","orcid":"https://orcid.org/0000-0002-7995-2113"},"institutions":[{"id":"https://openalex.org/I4210091137","display_name":"NetEase (China)","ror":"https://ror.org/00fp6fj05","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210091137"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yingfeng Chen","raw_affiliation_strings":["NetEase Inc.,Fuxi Robotic Department,Hangzhou,China,310052"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NetEase Inc.,Fuxi Robotic Department,Hangzhou,China,310052","institution_ids":["https://openalex.org/I4210091137"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100371992","display_name":"Yue Wang","orcid":"https://orcid.org/0000-0002-0981-935X"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology and Institute of Cyber-Syetems and Control, Zhejiang University,Hangzhou,China,310027"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology and Institute of Cyber-Syetems and Control, Zhejiang University,Hangzhou,China,310027","institution_ids":["https://openalex.org/I55712492"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":"257","last_page":"262"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9865999817848206,"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":0.9865999817848206,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9818000197410583,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T14011","display_name":"Elevator Systems and Control","score":0.9746000170707703,"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/excavator","display_name":"Excavator","score":0.9453306198120117},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7598010897636414},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.6513267159461975},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6364676356315613},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.6312216520309448},{"id":"https://openalex.org/keywords/feedback-loop","display_name":"Feedback loop","score":0.6305451989173889},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5618751049041748},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.5435909032821655},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3825761377811432},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2050565481185913},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15974420309066772},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15836578607559204},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13890254497528076},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1337040364742279},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1286104917526245}],"concepts":[{"id":"https://openalex.org/C141392084","wikidata":"https://www.wikidata.org/wiki/Q182661","display_name":"Excavator","level":2,"score":0.9453306198120117},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7598010897636414},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.6513267159461975},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6364676356315613},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.6312216520309448},{"id":"https://openalex.org/C186886427","wikidata":"https://www.wikidata.org/wiki/Q5441213","display_name":"Feedback loop","level":2,"score":0.6305451989173889},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5618751049041748},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.5435909032821655},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3825761377811432},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2050565481185913},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15974420309066772},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15836578607559204},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13890254497528076},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1337040364742279},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1286104917526245},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar65431.2025.11139752","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139752","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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":10,"referenced_works":["https://openalex.org/W2054585537","https://openalex.org/W2066380996","https://openalex.org/W2128990851","https://openalex.org/W2904303363","https://openalex.org/W3175313230","https://openalex.org/W4200400891","https://openalex.org/W4385403811","https://openalex.org/W4385430674","https://openalex.org/W4388894246","https://openalex.org/W4402354127"],"related_works":["https://openalex.org/W2324465777","https://openalex.org/W2322335058","https://openalex.org/W2259382430","https://openalex.org/W2375499102","https://openalex.org/W2381125525","https://openalex.org/W3084132679","https://openalex.org/W2397460850","https://openalex.org/W4322484979","https://openalex.org/W4301401229","https://openalex.org/W2612895087"],"abstract_inverted_index":{"Automating":[0],"excavator":[1],"loading":[2],"tasks":[3],"falls":[4],"under":[5],"the":[6,44,133],"domain":[7],"of":[8,47,136],"robotic":[9,31],"operations,":[10],"often":[11],"tackled":[12],"using":[13],"imitation":[14,96],"learning.":[15],"These":[16],"methods":[17],"rely":[18],"on":[19],"generating":[20],"expert-like":[21],"trajectories,":[22],"followed":[23],"by":[24,98],"tracking":[25],"through":[26],"lower-level":[27],"controllers.":[28],"While":[29],"motor-driven":[30],"arms":[32],"have":[33],"achieved":[34],"highly":[35],"sophisticated":[36],"control,":[37],"construction":[38],"machinery":[39],"like":[40],"excavators":[41],"struggle":[42],"with":[43,70],"inherent":[45],"complexities":[46],"hydraulic":[48,120],"dynamics,":[49],"which":[50],"hinder":[51],"accurate":[52],"trajectory":[53],"tracking.":[54],"To":[55],"address":[56],"this,":[57],"we":[58],"propose":[59],"Feedback":[60],"ACT,":[61],"a":[62,66],"method":[63,93],"that":[64,76],"integrates":[65],"closed-loop":[67,83,102],"dynamics":[68],"network":[69],"feedback":[71],"correction":[72],"to":[73,107,126],"generate":[74],"trajectories":[75],"pre-compensate":[77],"for":[78,132],"controller":[79],"inaccuracies.":[80],"By":[81],"supervising":[82],"outcomes":[84],"during":[85],"training":[86],"and":[87,100],"iteratively":[88],"aligning":[89],"predicted":[90],"states,":[91],"our":[92],"reduces":[94],"end-effector":[95],"errors":[97],"31%":[99],"decreases":[101],"failure":[103],"rates":[104],"from":[105],"84%":[106],"less":[108],"than":[109],"12%":[110],"in":[111],"tests.":[112],"This":[113],"approach":[114],"not":[115],"only":[116],"improves":[117],"robustness":[118],"against":[119],"nonlinearities":[121],"but":[122],"also":[123],"ensures":[124],"adaptability":[125],"distribution":[127],"shifts,":[128],"offering":[129],"valuable":[130],"insights":[131],"practical":[134],"development":[135],"autonomous":[137],"excavation":[138],"systems.":[139]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
