{"id":"https://openalex.org/W4400908487","doi":"https://doi.org/10.1109/siu61531.2024.10600873","title":"Failure Prevention in Bimanual Robots using Deep Deterministic Policy Gradient","display_name":"Failure Prevention in Bimanual Robots using Deep Deterministic Policy Gradient","publication_year":2024,"publication_date":"2024-05-15","ids":{"openalex":"https://openalex.org/W4400908487","doi":"https://doi.org/10.1109/siu61531.2024.10600873"},"language":"en","primary_location":{"id":"doi:10.1109/siu61531.2024.10600873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/siu61531.2024.10600873","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 32nd Signal Processing and Communications Applications Conference (SIU)","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/A5066975150","display_name":"Asel Menek\u015fe","orcid":null},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Asel Menek\u015fe","raw_affiliation_strings":["Istanbul Technical University,Artificial Intelligence and Robotics Laboratory (AIR Lab),Istanbul,Turkey"],"affiliations":[{"raw_affiliation_string":"Istanbul Technical University,Artificial Intelligence and Robotics Laboratory (AIR Lab),Istanbul,Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113300549","display_name":"Ak Abdullah Cihan","orcid":null},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Ak Abdullah Cihan","raw_affiliation_strings":["Istanbul Technical University,Artificial Intelligence and Robotics Laboratory (AIR Lab),Istanbul,Turkey"],"affiliations":[{"raw_affiliation_string":"Istanbul Technical University,Artificial Intelligence and Robotics Laboratory (AIR Lab),Istanbul,Turkey","institution_ids":["https://openalex.org/I48912391"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067273251","display_name":"Sanem Sar\u0131el","orcid":"https://orcid.org/0000-0003-2993-6681"},"institutions":[{"id":"https://openalex.org/I48912391","display_name":"Istanbul Technical University","ror":"https://ror.org/059636586","country_code":"TR","type":"education","lineage":["https://openalex.org/I48912391"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Sanem Sar\u0131el","raw_affiliation_strings":["Istanbul Technical University,Artificial Intelligence and Robotics Laboratory (AIR Lab),Istanbul,Turkey"],"affiliations":[{"raw_affiliation_string":"Istanbul Technical University,Artificial Intelligence and Robotics Laboratory (AIR Lab),Istanbul,Turkey","institution_ids":["https://openalex.org/I48912391"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5066975150"],"corresponding_institution_ids":["https://openalex.org/I48912391"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11541649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12423","display_name":"Software Reliability and Analysis Research","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T12423","display_name":"Software Reliability and Analysis Research","score":0.9769999980926514,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9036999940872192,"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/robot","display_name":"Robot","score":0.6844675540924072},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.646720826625824},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4945840537548065}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6844675540924072},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.646720826625824},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4945840537548065}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/siu61531.2024.10600873","is_oa":false,"landing_page_url":"https://doi.org/10.1109/siu61531.2024.10600873","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 32nd Signal Processing and Communications Applications Conference (SIU)","raw_type":"proceedings-article"},{"id":"pmh:oai:polen.itu.edu.tr:11527/66303","is_oa":false,"landing_page_url":"https://hdl.handle.net/11527/66303","pdf_url":null,"source":{"id":"https://openalex.org/S4306400460","display_name":"Istanbul Technical University Academic Open Archive (Istanbul Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I48912391","host_organization_name":"Istanbul Technical University","host_organization_lineage":["https://openalex.org/I48912391"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"One":[0],"of":[1,157],"the":[2,19,27,58,78,93,115,118,125,155,166,172],"key":[3],"challenges":[4],"in":[5,38,140],"learning":[6,39],"robot":[7,87,152],"object":[8],"interaction":[9],"behavior":[10],"is":[11,47,74,95],"to":[12,63,85,113,122,127,153],"obtain":[13],"an":[14,132],"optimal":[15],"policy":[16,41],"that":[17,42,52,92,165],"accomplishes":[18],"goal":[20,28,59,94,116],"safely.":[21],"In":[22,106],"reinforcement":[23],"learning,":[24],"representing":[25],"both":[26],"and":[29,101,161],"safety":[30,45,99,129],"constraints":[31,100],"with":[32,124],"a":[33,40,70,141,150,159],"reward":[34],"function":[35],"may":[36],"result":[37],"either":[43],"omits":[44],"or":[46],"too":[48],"conservative;":[49],"because":[50],"states":[51],"yield":[53],"high":[54],"rewards":[55],"for":[56,149],"achieving":[57],"are":[60],"often":[61],"closer":[62],"unsafe":[64,104],"zones.":[65],"To":[66],"overcome":[67],"this":[68,107],"problem,":[69],"dual-arm":[71],"cooperation":[72],"method":[73,137],"proposed,":[75],"which":[76],"decomposes":[77],"overall":[79],"task":[80,156],"into":[81],"two":[82],"subtasks":[83],"assigned":[84],"each":[86],"arm.":[88],"This":[89],"approach":[90],"ensures":[91],"achieved":[96],"while":[97,109],"considering":[98],"preventing":[102],"potential":[103],"situations.":[105],"method,":[108],"one":[110],"arm":[111,120],"learns":[112,121],"achieve":[114],"successfully,":[117],"other":[119],"interact":[123],"environment":[126,143],"ensure":[128],"by":[130],"defining":[131],"environmental":[133],"constraint.":[134],"The":[135],"proposed":[136],"was":[138,163],"tested":[139],"simulation":[142],"on":[144],"3":[145],"different":[146],"scenarios":[147],"adapted":[148],"humanoid":[151],"perform":[154],"stirring":[158,169],"bowl,":[160],"it":[162],"seen":[164],"second":[167],"arm-assisted":[168],"scenario":[170],"showed":[171],"best":[173],"performance.":[174]},"counts_by_year":[],"updated_date":"2026-03-06T13:50:29.536080","created_date":"2025-10-10T00:00:00"}