{"id":"https://openalex.org/W4317383737","doi":"https://doi.org/10.1109/robio55434.2022.10011961","title":"A Mobile Robot Experiment System with Lightweight Simulator Generator for Deep Reinforcement Learning Algorithm","display_name":"A Mobile Robot Experiment System with Lightweight Simulator Generator for Deep Reinforcement Learning Algorithm","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383737","doi":"https://doi.org/10.1109/robio55434.2022.10011961"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011961","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011961","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5100666566","display_name":"Yunfei Xiang","orcid":"https://orcid.org/0000-0003-3711-8312"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yunfei Xiang","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090846991","display_name":"Jiantao Qiu","orcid":"https://orcid.org/0000-0002-1328-2639"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiantao Qiu","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China","Shanghai AI Laboratory, Tsinghua University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Shanghai AI Laboratory, Tsinghua University, Shanghai, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112107807","display_name":"Jincheng Yu","orcid":"https://orcid.org/0009-0007-3831-3845"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jincheng Yu","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059366500","display_name":"Jiahao Tang","orcid":"https://orcid.org/0009-0006-5922-3139"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Tang","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034555845","display_name":"Guangjun Ge","orcid":"https://orcid.org/0000-0001-5855-6480"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"GuangJun Ge","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100445144","display_name":"Yu Wang","orcid":"https://orcid.org/0000-0002-0431-1039"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Wang","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023755254","display_name":"Huazhong Yang","orcid":"https://orcid.org/0000-0003-2421-353X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huazhong Yang","raw_affiliation_strings":["Tsinghua University,Department of Electronic Engineering,Beijing,China","Department of Electronic Engineering, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Electronic Engineering,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Electronic Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100666566"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.19290024,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"1508","last_page":"1514"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9937000274658203,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.797828733921051},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7891721129417419},{"id":"https://openalex.org/keywords/speedup","display_name":"Speedup","score":0.6175017952919006},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5800707340240479},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5352094769477844},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4755953252315521},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.46455520391464233},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4516073167324066},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.41621699929237366},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40722036361694336},{"id":"https://openalex.org/keywords/parallel-computing","display_name":"Parallel computing","score":0.10028529167175293}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.797828733921051},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7891721129417419},{"id":"https://openalex.org/C68339613","wikidata":"https://www.wikidata.org/wiki/Q1549489","display_name":"Speedup","level":2,"score":0.6175017952919006},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5800707340240479},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5352094769477844},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4755953252315521},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.46455520391464233},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4516073167324066},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.41621699929237366},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40722036361694336},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.10028529167175293},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011961","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011961","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2167340365","https://openalex.org/W2257979135","https://openalex.org/W2615547864","https://openalex.org/W2781726626","https://openalex.org/W2782093256","https://openalex.org/W2901136733","https://openalex.org/W2963809389","https://openalex.org/W2964138223","https://openalex.org/W2982316857","https://openalex.org/W2984561126","https://openalex.org/W2985533531","https://openalex.org/W3008967682","https://openalex.org/W3013828496","https://openalex.org/W3030656010","https://openalex.org/W3134226813","https://openalex.org/W3135164540","https://openalex.org/W3166052165","https://openalex.org/W4298159277","https://openalex.org/W4298857966","https://openalex.org/W4299802797","https://openalex.org/W6637967152","https://openalex.org/W6738796088","https://openalex.org/W6741002519","https://openalex.org/W6747134593","https://openalex.org/W6747473740","https://openalex.org/W6756486208","https://openalex.org/W6775289199","https://openalex.org/W6780559895","https://openalex.org/W6791533262","https://openalex.org/W6796367035"],"related_works":["https://openalex.org/W2058965144","https://openalex.org/W2164382479","https://openalex.org/W2146343568","https://openalex.org/W98480971","https://openalex.org/W2150291671","https://openalex.org/W2013643406","https://openalex.org/W2027972911","https://openalex.org/W2157978810","https://openalex.org/W2597809628","https://openalex.org/W3046370962"],"abstract_inverted_index":{"More":[0],"and":[1,57,86,154,166,177,183],"more":[2],"researchers":[3],"are":[4],"trying":[5],"to":[6,17,63,91,102,130],"use":[7],"deep":[8,23,136],"reinforcement":[9,24,137],"learning":[10,25],"(DRL)":[11],"for":[12,32],"mobile":[13],"robot":[14,178],"tasks":[15,147],"due":[16],"its":[18],"powerful":[19],"inference":[20],"capability.":[21],"However,":[22],"requires":[26],"a":[27,64,76,93,124,149],"large":[28],"amount":[29],"of":[30,43,67,69,106,135,151],"data":[31,55,60,107],"DRL":[33,58],"training":[34],"in":[35,98,148],"the":[36,41,44,47,50,53,70,99,104,110,120,132],"pre-experimental":[37],"stage,":[38],"which":[39],"hinders":[40],"application":[42],"algorithm.":[45],"On":[46],"other":[48],"hand,":[49],"inconsistency":[51],"between":[52],"ROS":[54,121],"interface":[56,61,122,126],"GYM-Like":[59],"leads":[62],"high":[65],"cost":[66],"migration":[68],"algorithm":[71],"verification.":[72],"This":[73],"paper":[74],"proposes":[75],"fast":[77,94],"simulator":[78,96],"generation":[79],"method":[80,143],"using":[81],"linear":[82],"approximate":[83,95],"kinematics":[84,152,163],"model":[85],"bake-based":[87],"lidar":[88,155,169],"rendering":[89,170],"methods":[90],"generate":[92],"used":[97],"pre-experiment":[100],"stage":[101],"solve":[103],"problem":[105],"cost.":[108],"At":[109],"same":[111],"time,":[112],"an":[113],"experimental":[114],"system":[115,179],"design":[116],"scheme":[117],"that":[118],"converts":[119],"into":[123],"GYM-like":[125],"is":[127],"also":[128],"proposed":[129,142],"simplify":[131],"deployment":[133],"process":[134],"learning.":[138],"We":[139,172],"evaluate":[140],"our":[141,174],"on":[144],"collision":[145],"avoidance":[146],"variety":[150],"models":[153],"scenarios.":[156],"Our":[157],"Method":[158],"achieves":[159],"about":[160],"14.2":[161],"times":[162,168],"simulation":[164,175],"speedup":[165],"2.56":[167],"speedup.":[171],"open-sourced":[173],"environment":[176],"software":[180],"at":[181],"https://github.com/efc-robot/MultiVehicleEnv":[182],"https://github.com/efc-robot/NICS_MultiRobot_Platform":[184]},"counts_by_year":[],"updated_date":"2025-12-21T23:12:01.093139","created_date":"2025-10-10T00:00:00"}