{"id":"https://openalex.org/W4400727653","doi":"https://doi.org/10.1109/rose62198.2024.10591186","title":"Optimizing 7-DOF Robot Manipulator Path Using Deep Reinforcement Learning Techniques","display_name":"Optimizing 7-DOF Robot Manipulator Path Using Deep Reinforcement Learning Techniques","publication_year":2024,"publication_date":"2024-06-20","ids":{"openalex":"https://openalex.org/W4400727653","doi":"https://doi.org/10.1109/rose62198.2024.10591186"},"language":"en","primary_location":{"id":"doi:10.1109/rose62198.2024.10591186","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rose62198.2024.10591186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","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/A5081748461","display_name":"Mariam Kashkash","orcid":null},"institutions":[{"id":"https://openalex.org/I4210113480","display_name":"Mohamed bin Zayed University of Artificial Intelligence","ror":"https://ror.org/0258gkt32","country_code":"AE","type":"education","lineage":["https://openalex.org/I4210113480"]}],"countries":["AE"],"is_corresponding":true,"raw_author_name":"Mariam Kashkash","raw_affiliation_strings":["MBZUAI,Machine Learning Department,UAE"],"affiliations":[{"raw_affiliation_string":"MBZUAI,Machine Learning Department,UAE","institution_ids":["https://openalex.org/I4210113480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109797436","display_name":"Abdulmotaleb El Saddik","orcid":null},"institutions":[{"id":"https://openalex.org/I153718931","display_name":"University of Ottawa","ror":"https://ror.org/03c4mmv16","country_code":"CA","type":"education","lineage":["https://openalex.org/I153718931"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Abdulmotaleb El Saddik","raw_affiliation_strings":["University of Ottawa,Canada"],"affiliations":[{"raw_affiliation_string":"University of Ottawa,Canada","institution_ids":["https://openalex.org/I153718931"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057916222","display_name":"Mohsen Guizani","orcid":"https://orcid.org/0000-0002-8972-8094"},"institutions":[{"id":"https://openalex.org/I4210113480","display_name":"Mohamed bin Zayed University of Artificial Intelligence","ror":"https://ror.org/0258gkt32","country_code":"AE","type":"education","lineage":["https://openalex.org/I4210113480"]}],"countries":["AE"],"is_corresponding":false,"raw_author_name":"Mohsen Guizani","raw_affiliation_strings":["MBZUAI,Machine Learning Department,UAE"],"affiliations":[{"raw_affiliation_string":"MBZUAI,Machine Learning Department,UAE","institution_ids":["https://openalex.org/I4210113480"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081748461"],"corresponding_institution_ids":["https://openalex.org/I4210113480"],"apc_list":null,"apc_paid":null,"fwci":0.6593,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.68337504,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"01","last_page":"07"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9656999707221985,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9656999707221985,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9648000001907349,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9488000273704529,"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":0.8218933343887329},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6459231376647949},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5670841336250305},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5377317667007446},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4756069779396057},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4735390543937683},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4692435562610626},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44197922945022583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41940364241600037},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36165159940719604},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20912516117095947},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08447134494781494}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8218933343887329},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6459231376647949},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5670841336250305},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5377317667007446},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4756069779396057},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4735390543937683},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4692435562610626},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44197922945022583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41940364241600037},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36165159940719604},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20912516117095947},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08447134494781494},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rose62198.2024.10591186","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/rose62198.2024.10591186","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Symposium on Robotic and Sensors Environments (ROSE)","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":16,"referenced_works":["https://openalex.org/W2197726977","https://openalex.org/W2793763890","https://openalex.org/W2999969016","https://openalex.org/W4210613326","https://openalex.org/W4214717370","https://openalex.org/W4226092483","https://openalex.org/W4312443290","https://openalex.org/W4312645281","https://openalex.org/W4319736413","https://openalex.org/W4324325047","https://openalex.org/W4383503242","https://openalex.org/W6627932998","https://openalex.org/W6692846177","https://openalex.org/W6741002519","https://openalex.org/W6781841586","https://openalex.org/W6804332812"],"related_works":["https://openalex.org/W2359600231","https://openalex.org/W2380019117","https://openalex.org/W3138952546","https://openalex.org/W1987886368","https://openalex.org/W1660309994","https://openalex.org/W2369187583","https://openalex.org/W3197207153","https://openalex.org/W3154539612","https://openalex.org/W2391397427","https://openalex.org/W1996341361"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"three":[3,116],"different":[4,89],"Deep":[5,42],"Rein-forcement":[6],"Learning":[7],"(DRL)":[8],"techniques":[9],"to":[10,64,73,106],"find":[11],"a":[12,16,153],"free-obstacle":[13,150],"path":[14,83,120,151],"for":[15,84],"7-DOF":[17],"Robot":[18,28],"Manipulator":[19],"(RM).":[20],"The":[21,37,53,69,98,111,125,137],"robot":[22],"is":[23,71,130],"the":[24,75,82,85,108,115,119,122,141,144,149],"Kinova":[25],"Jaco":[26],"Assistive":[27],"arm;":[29],"its":[30],"DH":[31],"parameters":[32],"and":[33,47,59,96,100,132],"kinematics":[34],"are":[35,41,62],"presented.":[36],"suggested":[38,123],"DRL":[39],"methods":[40,79,129],"Q-Network":[43],"(DQN),":[44],"Actor-Critic":[45],"(AC),":[46],"Proximal":[48],"Policy":[49],"Optimization":[50],"(PPO)":[51],"algorithms.":[52],"environment,":[54],"state":[55],"space,":[56,58],"action":[57],"reward":[60,99,102],"function":[61],"defined":[63],"suit":[65],"all":[66],"proposed":[67,109],"methods.":[68,110],"experiment":[70],"run":[72],"validate":[74],"performance":[76],"of":[77,143],"these":[78,128],"in":[80,87,94,121,134,147,152],"finding":[81,148],"RM":[86],"two":[88],"environments.":[90,124],"These":[91],"environments":[92],"differ":[93],"obstacles":[95],"complexity.":[97],"average":[101],"evaluation":[103],"were":[104],"used":[105],"evaluate":[107],"results":[112],"showed":[113],"that":[114],"models":[117],"found":[118],"comparison":[126],"between":[127],"presented":[131],"discussed":[133],"this":[135],"paper.":[136],"result":[138],"discussion":[139],"clarified":[140],"superiority":[142],"PPO":[145],"method":[146],"complex":[154],"environment.":[155]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}