{"id":"https://openalex.org/W4410887064","doi":"https://doi.org/10.1109/syscon64521.2025.11014831","title":"Extraction of Non-Regular Pegs Using Tactile Sensing and Reinforcement Learning from Demonstrations","display_name":"Extraction of Non-Regular Pegs Using Tactile Sensing and Reinforcement Learning from Demonstrations","publication_year":2025,"publication_date":"2025-04-07","ids":{"openalex":"https://openalex.org/W4410887064","doi":"https://doi.org/10.1109/syscon64521.2025.11014831"},"language":"en","primary_location":{"id":"doi:10.1109/syscon64521.2025.11014831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon64521.2025.11014831","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International systems Conference (SysCon)","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/A5092336723","display_name":"Viral Rasik Galaiya","orcid":"https://orcid.org/0000-0001-9132-4104"},"institutions":[{"id":"https://openalex.org/I130438778","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03","country_code":"CA","type":"education","lineage":["https://openalex.org/I130438778"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Viral Galaiya","raw_affiliation_strings":["Memorial University of Newfoundland,Department of Computer Science,St. John's,NL,Canada"],"affiliations":[{"raw_affiliation_string":"Memorial University of Newfoundland,Department of Computer Science,St. John's,NL,Canada","institution_ids":["https://openalex.org/I130438778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076371573","display_name":"Ruslan Masinjila","orcid":null},"institutions":[{"id":"https://openalex.org/I130438778","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03","country_code":"CA","type":"education","lineage":["https://openalex.org/I130438778"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ruslan Masinjila","raw_affiliation_strings":["Memorial University of Newfoundland,Department of Computer Science,St. John's,NL,Canada"],"affiliations":[{"raw_affiliation_string":"Memorial University of Newfoundland,Department of Computer Science,St. John's,NL,Canada","institution_ids":["https://openalex.org/I130438778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014968228","display_name":"Soheil Khatibi","orcid":"https://orcid.org/0000-0002-2968-3576"},"institutions":[{"id":"https://openalex.org/I72541430","display_name":"Lakehead University","ror":"https://ror.org/023p7mg82","country_code":"CA","type":"education","lineage":["https://openalex.org/I72541430"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Soheil Khatibi","raw_affiliation_strings":["Lakehead University,Department of Computer Science,Thunder Bay,ON,Canada"],"affiliations":[{"raw_affiliation_string":"Lakehead University,Department of Computer Science,Thunder Bay,ON,Canada","institution_ids":["https://openalex.org/I72541430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004099977","display_name":"Thiago Eustaquio Alves de Oliveira","orcid":"https://orcid.org/0000-0002-7164-9064"},"institutions":[{"id":"https://openalex.org/I72541430","display_name":"Lakehead University","ror":"https://ror.org/023p7mg82","country_code":"CA","type":"education","lineage":["https://openalex.org/I72541430"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Thiago Eustaquio Alves de Oliveira","raw_affiliation_strings":["Lakehead University,Department of Computer Science,Thunder Bay,ON,Canada"],"affiliations":[{"raw_affiliation_string":"Lakehead University,Department of Computer Science,Thunder Bay,ON,Canada","institution_ids":["https://openalex.org/I72541430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033287150","display_name":"Vinicius Prado da Fonseca","orcid":"https://orcid.org/0000-0001-5705-3056"},"institutions":[{"id":"https://openalex.org/I130438778","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03","country_code":"CA","type":"education","lineage":["https://openalex.org/I130438778"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Vinicius Prado da Fonseca","raw_affiliation_strings":["Memorial University of Newfoundland,Department of Computer Science,St. John's,NL,Canada"],"affiliations":[{"raw_affiliation_string":"Memorial University of Newfoundland,Department of Computer Science,St. John's,NL,Canada","institution_ids":["https://openalex.org/I130438778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073613814","display_name":"Xianta Jiang","orcid":"https://orcid.org/0000-0002-3219-1871"},"institutions":[{"id":"https://openalex.org/I130438778","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03","country_code":"CA","type":"education","lineage":["https://openalex.org/I130438778"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xianta Jiang","raw_affiliation_strings":["Memorial University of Newfoundland,Department of Computer Science,St. John's,NL,Canada"],"affiliations":[{"raw_affiliation_string":"Memorial University of Newfoundland,Department of Computer Science,St. John's,NL,Canada","institution_ids":["https://openalex.org/I130438778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5092336723"],"corresponding_institution_ids":["https://openalex.org/I130438778"],"apc_list":null,"apc_paid":null,"fwci":1.4624,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.81907759,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9192000031471252,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9192000031471252,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6728873252868652},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6428422331809998},{"id":"https://openalex.org/keywords/tactile-sensor","display_name":"Tactile sensor","score":0.6024894714355469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5196822285652161},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.5090474486351013},{"id":"https://openalex.org/keywords/extraction","display_name":"Extraction (chemistry)","score":0.5044997930526733},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40137386322021484},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.33086949586868286},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14120134711265564},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11732557415962219},{"id":"https://openalex.org/keywords/chromatography","display_name":"Chromatography","score":0.07759636640548706},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07575258612632751}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6728873252868652},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6428422331809998},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.6024894714355469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5196822285652161},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.5090474486351013},{"id":"https://openalex.org/C4725764","wikidata":"https://www.wikidata.org/wiki/Q844704","display_name":"Extraction (chemistry)","level":2,"score":0.5044997930526733},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40137386322021484},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.33086949586868286},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14120134711265564},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11732557415962219},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.07759636640548706},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07575258612632751},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/syscon64521.2025.11014831","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon64521.2025.11014831","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International systems Conference (SysCon)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.4099999964237213,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W2618876269","https://openalex.org/W2782583282","https://openalex.org/W2945402292","https://openalex.org/W2968279087","https://openalex.org/W3045540573","https://openalex.org/W3081200565","https://openalex.org/W3112606007","https://openalex.org/W3131035944","https://openalex.org/W3131267413","https://openalex.org/W3186869035","https://openalex.org/W3198964038","https://openalex.org/W3203302482","https://openalex.org/W3205950068","https://openalex.org/W4226035577","https://openalex.org/W4285506274","https://openalex.org/W4293242667","https://openalex.org/W4312608271","https://openalex.org/W4313033336","https://openalex.org/W4387122127","https://openalex.org/W4387439839","https://openalex.org/W4388782297","https://openalex.org/W6637967152"],"related_works":["https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2107890255","https://openalex.org/W2106552856","https://openalex.org/W2145821588","https://openalex.org/W2086122291","https://openalex.org/W1987513656"],"abstract_inverted_index":{"As":[0],"robots":[1],"increasingly":[2],"take":[3],"on":[4,40,44,81],"human":[5,67,89,142],"tasks,":[6],"effective":[7],"human-robot":[8],"knowledge":[9],"transfer":[10],"becomes":[11],"crucial,":[12],"particularly":[13,74],"in":[14,27,126],"assembly":[15],"and":[16,31,99,144,198],"disassembly":[17],"tasks":[18],"where":[19],"visual":[20],"occlusion":[21],"poses":[22],"significant":[23],"challenges.":[24],"Pegs":[25],"inserted":[26],"parts":[28],"become":[29],"occluded,":[30],"their":[32,45,137],"extraction":[33,76,103],"requires":[34],"trajectory":[35],"updates":[36],"that":[37,118],"humans":[38],"perform":[39],"the":[41,56,63,147,167,180,189,195,202],"fly":[42],"based":[43],"tactile":[46,97,113],"perception.":[47],"However,":[48],"this":[49,115],"remains":[50],"challenging":[51],"for":[52,170,179,188,194,201],"robotic":[53,71],"agents":[54],"performing":[55],"same":[57],"task.":[58],"The":[59,78,154,173],"present":[60],"work":[61],"highlights":[62],"potential":[64],"of":[65,120,156,176],"leveraging":[66],"demonstrations":[68,90,143],"to":[69,95,130,150],"enhance":[70],"manipulation":[72],"skills,":[73],"peg":[75,102,181],"scenarios.":[77],"research":[79],"focuses":[80],"how":[82],"pretraining":[83,119,145,157],"Reinforcement":[84],"Learning":[85],"(RL)":[86],"models":[87],"with":[88,112,161],"affect":[91],"a":[92,109,121],"manipulator's":[93],"ability":[94],"infer":[96],"signals":[98],"improve":[100],"successful":[101],"rates.":[104],"Through":[105],"real-world":[106],"experiments":[107],"using":[108,158],"manipulator":[110],"equipped":[111],"sensors,":[114],"study":[116],"finds":[117],"reinforcement":[122],"learning":[123,168],"agent":[124],"results":[125],"fewer":[127],"episodes":[128,148,177],"required":[129,178],"extract":[131,151],"various":[132],"differently":[133],"shaped":[134],"pegs":[135,152,160,164],"from":[136],"corresponding":[138],"holes":[139],"successfully.":[140,153],"Overall,":[141],"reduced":[146,184],"needed":[149],"strategy":[155],"different":[159],"more":[162],"intricate":[163],"also":[165],"accelerates":[166],"process":[169],"simpler":[171],"objects.":[172],"average":[174],"number":[175],"removal":[182],"was":[183],"by":[185],"95.33":[186],"%":[187,193,200],"vertical":[190],"peg,":[191,197],"40.06":[192],"slanted":[196],"36.96":[199],"curved":[203],"peg.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-01T08:55:55.761014","created_date":"2025-10-10T00:00:00"}