{"id":"https://openalex.org/W4401413439","doi":"https://doi.org/10.1109/tai.2024.3440225","title":"Tailor-Made Reinforcement Learning Approach With Advanced Noise Optimization for Soft Continuum Robots","display_name":"Tailor-Made Reinforcement Learning Approach With Advanced Noise Optimization for Soft Continuum Robots","publication_year":2024,"publication_date":"2024-08-08","ids":{"openalex":"https://openalex.org/W4401413439","doi":"https://doi.org/10.1109/tai.2024.3440225"},"language":"en","primary_location":{"id":"doi:10.1109/tai.2024.3440225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tai.2024.3440225","pdf_url":null,"source":{"id":"https://openalex.org/S4210169448","display_name":"IEEE Transactions on Artificial Intelligence","issn_l":"2691-4581","issn":["2691-4581"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Artificial Intelligence","raw_type":"journal-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/A5102938681","display_name":"Jino Jayan","orcid":"https://orcid.org/0009-0001-4836-3391"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jino Jayan","raw_affiliation_strings":["Department of Electronics and Communication Engineering, College of Engineering Trivandrum, Kerala, India"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Communication Engineering, College of Engineering Trivandrum, Kerala, India","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014892343","display_name":"Lal Priya P.S.","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lal Priya P.S.","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, College of Engineering Trivandrum, Kerala, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, College of Engineering Trivandrum, Kerala, India","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015802600","display_name":"Hari Kumar R","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hari Kumar R.","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, College of Engineering Trivandrum, Kerala, India"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, College of Engineering Trivandrum, Kerala, India","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102938681"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11278319,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"5","issue":"11","first_page":"5509","last_page":"5518"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11749","display_name":"Iterative Learning Control Systems","score":0.9800999760627747,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9681000113487244,"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":0.7490363121032715},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5384336113929749},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5166587829589844},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.4548214077949524},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.44935843348503113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3505629301071167}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7490363121032715},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5384336113929749},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5166587829589844},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.4548214077949524},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.44935843348503113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3505629301071167},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tai.2024.3440225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tai.2024.3440225","pdf_url":null,"source":{"id":"https://openalex.org/S4210169448","display_name":"IEEE Transactions on Artificial Intelligence","issn_l":"2691-4581","issn":["2691-4581"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1891615552","https://openalex.org/W1936407254","https://openalex.org/W1997060717","https://openalex.org/W2041790498","https://openalex.org/W2063797945","https://openalex.org/W2118876932","https://openalex.org/W2169676681","https://openalex.org/W2525012751","https://openalex.org/W2611432532","https://openalex.org/W2787938642","https://openalex.org/W2901112449","https://openalex.org/W2946943579","https://openalex.org/W3008009191","https://openalex.org/W3035790680","https://openalex.org/W3048090341","https://openalex.org/W3112765272","https://openalex.org/W3175819369","https://openalex.org/W3179364417","https://openalex.org/W3202992521","https://openalex.org/W3204719635","https://openalex.org/W4206017848","https://openalex.org/W4221141393","https://openalex.org/W4226030884","https://openalex.org/W4288037467","https://openalex.org/W4317373450","https://openalex.org/W4362653751","https://openalex.org/W4366403971","https://openalex.org/W4380685612","https://openalex.org/W4381885995","https://openalex.org/W4385482421","https://openalex.org/W4386038399","https://openalex.org/W4386820857","https://openalex.org/W4388911926","https://openalex.org/W4389543067","https://openalex.org/W4389665780","https://openalex.org/W6748839928","https://openalex.org/W6774495894","https://openalex.org/W6810712973"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W2024136090","https://openalex.org/W2586732548","https://openalex.org/W3049728571","https://openalex.org/W2964765435","https://openalex.org/W4391331176"],"abstract_inverted_index":{"Advancements":[0],"in":[1,13,74,98,117,125,132,154,165],"the":[2,33,42,107,118,140,160],"fusion":[3],"of":[4,152],"reinforcement":[5],"learning":[6],"(RL)":[7],"and":[8,68,87,103,128,147],"soft":[9,24,148],"robotics":[10],"are":[11,115,137],"presented":[12],"this":[14],"study,":[15],"with":[16],"a":[17,53,122,129],"focus":[18],"on":[19],"refining":[20],"training":[21],"methodologies":[22],"for":[23,106,162],"planar":[25],"continuum":[26],"robots":[27],"(SPCRs).":[28],"The":[29],"proposed":[30,108,141],"modifications":[31],"to":[32,48,62],"twin-delayed":[34],"deep":[35],"deterministic":[36],"(TD3)":[37],"policy":[38],"gradient":[39],"algorithm":[40,111],"introduce":[41],"innovative":[43],"dynamic":[44],"harmonic":[45],"noise":[46],"(DHN)":[47],"enhance":[49],"exploration":[50],"adaptability.":[51],"Additionally,":[52],"tailored":[54],"adaptive":[55],"task":[56],"achievement":[57],"reward":[58,90],"(ATAR)":[59],"is":[60,157],"introduced":[61],"balance":[63],"goal":[64],"achievement,":[65],"time":[66],"efficiency,":[67],"trajectory":[69],"smoothness,":[70],"thereby":[71],"improving":[72],"precision":[73],"SPCR":[75],"navigation.":[76],"Evaluation":[77],"metrics,":[78],"including":[79],"mean":[80,84,88],"squared":[81],"distance":[82],"(MSD),":[83],"error":[85],"(ME),":[86],"episodic":[89],"(MER),":[91],"demonstrate":[92],"robust":[93],"generalization":[94],"capabilities.":[95],"Significant":[96],"improvements":[97],"average":[99],"reward,":[100],"success":[101,126],"rate,":[102],"convergence":[104,133],"speed":[105,134],"modified":[109],"TD3":[110,114,136],"over":[112,135],"traditional":[113],"highlighted":[116],"comparative":[119],"analysis.":[120],"Specifically,":[121],"45.17%":[123],"increase":[124,131],"rate":[127],"4.92%":[130],"demonstrated":[138],"by":[139],"TD3.":[142],"Beyond":[143],"insights":[144],"into":[145],"RL":[146,153],"robotics,":[149],"potential":[150],"applicability":[151],"diverse":[155],"scenarios":[156],"underscored,":[158],"laying":[159],"foundation":[161],"future":[163],"breakthroughs":[164],"real-world":[166],"applications.":[167]},"counts_by_year":[],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}