{"id":"https://openalex.org/W4416748801","doi":"https://doi.org/10.1109/tase.2025.3637854","title":"Practical Mixed Palletizing Manipulator System: Incorporating Practical Reinforcement Learning and Configuration-Space Motion Planning","display_name":"Practical Mixed Palletizing Manipulator System: Incorporating Practical Reinforcement Learning and Configuration-Space Motion Planning","publication_year":2025,"publication_date":"2025-11-27","ids":{"openalex":"https://openalex.org/W4416748801","doi":"https://doi.org/10.1109/tase.2025.3637854"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2025.3637854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3637854","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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/A5081937055","display_name":"Woo Jin Ahn","orcid":"https://orcid.org/0000-0002-8261-8132"},"institutions":[{"id":"https://openalex.org/I191879574","display_name":"Inha University","ror":"https://ror.org/01easw929","country_code":"KR","type":"education","lineage":["https://openalex.org/I191879574"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Woo-Jin Ahn","raw_affiliation_strings":["Department of Artificial Intelligence, Inha University, Incheon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence, Inha University, Incheon, South Korea","institution_ids":["https://openalex.org/I191879574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112894488","display_name":"Kyuwon Ken Choi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyuwon Choi","raw_affiliation_strings":["Roboligent, Austin, TX, USA"],"affiliations":[{"raw_affiliation_string":"Roboligent, Austin, TX, USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101533866","display_name":"Seong-Woo Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Seong-Woo Kang","raw_affiliation_strings":["School of Electrical Engineering, Korea University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026025975","display_name":"Cheolkyun Rho","orcid":null},"institutions":[{"id":"https://openalex.org/I28927889","display_name":"IQVIA (United Kingdom)","ror":"https://ror.org/040g76k92","country_code":"GB","type":"company","lineage":["https://openalex.org/I28927889","https://openalex.org/I4210108991"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Cheol-Kyun Rho","raw_affiliation_strings":["AgileSoDA, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"AgileSoDA, Seoul, South Korea","institution_ids":["https://openalex.org/I28927889"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031063165","display_name":"Dong-Sung Pae","orcid":"https://orcid.org/0000-0003-1245-7318"},"institutions":[{"id":"https://openalex.org/I157264075","display_name":"Sangmyung University","ror":"https://ror.org/01x4whx42","country_code":"KR","type":"education","lineage":["https://openalex.org/I157264075"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-Sung Pae","raw_affiliation_strings":["Department of Software, Sangmyung University, Cheonan, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Software, Sangmyung University, Cheonan, South Korea","institution_ids":["https://openalex.org/I157264075"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079659183","display_name":"Myo Taeg Lim","orcid":"https://orcid.org/0000-0003-2990-8066"},"institutions":[{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Myo-Taeg Lim","raw_affiliation_strings":["School of Electrical Engineering, Korea University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea University, Seoul, South Korea","institution_ids":["https://openalex.org/I197347611"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5081937055"],"corresponding_institution_ids":["https://openalex.org/I191879574"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.51399403,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"455","last_page":"469"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12176","display_name":"Optimization and Packing Problems","score":0.9225999712944031,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12176","display_name":"Optimization and Packing Problems","score":0.9225999712944031,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11814","display_name":"Advanced Manufacturing and Logistics Optimization","score":0.045899998396635056,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T11223","display_name":"Maritime Ports and Logistics","score":0.0026000000070780516,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/pallet","display_name":"Pallet","score":0.8984000086784363},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6692000031471252},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6639000177383423},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.503000020980835},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4253999888896942},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.3732999861240387},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.3723999857902527}],"concepts":[{"id":"https://openalex.org/C51413319","wikidata":"https://www.wikidata.org/wiki/Q505996","display_name":"Pallet","level":2,"score":0.8984000086784363},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6692000031471252},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6639000177383423},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.503000020980835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47679999470710754},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4447000026702881},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4253999888896942},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4203000068664551},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.3732999861240387},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.3723999857902527},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3499000072479248},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.32670000195503235},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.32580000162124634},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32109999656677246},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.31630000472068787},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29739999771118164},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.2777000069618225},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.27549999952316284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26080000400543213},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.2563000023365021}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2025.3637854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3637854","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Automation Science and Engineering","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":52,"referenced_works":["https://openalex.org/W1920942232","https://openalex.org/W1969472392","https://openalex.org/W1971086298","https://openalex.org/W2005520780","https://openalex.org/W2029911354","https://openalex.org/W2059858577","https://openalex.org/W2095905764","https://openalex.org/W2103346564","https://openalex.org/W2128032460","https://openalex.org/W2140422704","https://openalex.org/W2145023731","https://openalex.org/W2149186423","https://openalex.org/W2153504150","https://openalex.org/W2167364922","https://openalex.org/W2294174507","https://openalex.org/W2598380049","https://openalex.org/W2611972117","https://openalex.org/W2746553466","https://openalex.org/W2776067374","https://openalex.org/W2795289540","https://openalex.org/W2810307462","https://openalex.org/W2930863966","https://openalex.org/W2963293747","https://openalex.org/W2967842325","https://openalex.org/W2967969632","https://openalex.org/W2976205474","https://openalex.org/W3033378018","https://openalex.org/W3082452785","https://openalex.org/W3091554847","https://openalex.org/W3171752851","https://openalex.org/W3175494061","https://openalex.org/W4200551870","https://openalex.org/W4224221644","https://openalex.org/W4226102240","https://openalex.org/W4285295959","https://openalex.org/W4302293602","https://openalex.org/W4316660701","https://openalex.org/W4319950026","https://openalex.org/W4321496558","https://openalex.org/W4327576913","https://openalex.org/W4380930001","https://openalex.org/W4383822210","https://openalex.org/W4385656307","https://openalex.org/W4389298298","https://openalex.org/W4390802371","https://openalex.org/W4391472031","https://openalex.org/W4391656570","https://openalex.org/W4401414111","https://openalex.org/W4401415884","https://openalex.org/W4402354047","https://openalex.org/W4402830235","https://openalex.org/W4403918976"],"related_works":[],"abstract_inverted_index":{"Palletizing,":[0],"also":[1],"known":[2],"as":[3,63],"the":[4,21,50,136,173,185,210],"3D":[5,158],"bin":[6],"packing":[7,17],"problem,":[8],"is":[9,43,132,149],"important":[10],"for":[11,48,82,196],"optimizing":[12],"space":[13],"utilization":[14,139],"and":[15,68,108,112,124,161,188,193,203,221],"automating":[16],"processes,":[18],"especially":[19],"in":[20,40,59,156,204],"logistics":[22],"industry.":[23],"In":[24,70],"practice,":[25],"handling":[26],"mixed":[27,51,77,96,197],"palletizing":[28,52,78,97,216],"scenarios,":[29],"where":[30],"a":[31,75,94,113,157,181,191],"variety":[32],"of":[33,35],"boxes":[34],"different":[36],"sizes":[37],"are":[38],"received":[39],"real":[41],"time,":[42],"considerably":[44],"challenging.":[45],"Existing":[46],"methods":[47],"solving":[49],"problem":[53],"often":[54],"overlook":[55],"practical":[56,76,95,142,194],"constraints":[57],"encountered":[58],"real-world":[60,84,205],"applications,":[61],"such":[62],"those":[64],"pertaining":[65],"to":[66,134,151],"stability":[67],"robustness.":[69],"this":[71],"paper,":[72],"we":[73],"propose":[74],"manipulator":[79,88,174,211],"system":[80,89,212],"designed":[81,133],"structured":[83],"warehouse":[85],"environments.":[86],"Our":[87],"has":[90],"two":[91],"main":[92],"components:":[93],"model":[98,131],"based":[99],"on":[100],"reinforcement":[101],"learning":[102],"(PMP-RL),":[103],"which":[104,119],"can":[105,120,213],"facilitate":[106],"stable":[107],"efficient":[109,125],"box":[110],"placing,":[111],"configuration-space":[114],"motion":[115,154,165],"planning":[116],"network":[117],"(CMPNet),":[118],"help":[121],"achieve":[122],"robust":[123,192],"collision-free":[126],"robot":[127],"movement.":[128],"The":[129],"PMP-RL":[130,186],"maximize":[135],"pallet":[137],"volume":[138],"while":[140],"incorporating":[141],"reward":[143],"functions":[144],"that":[145,209],"enhance":[146],"stability.":[147,223],"CMPNet":[148],"used":[150],"directly":[152],"predict":[153],"trajectories":[155],"configuration":[159],"space,":[160],"it":[162],"facilitates":[163],"real-time":[164],"generation":[166],"by":[167],"effectively":[168],"imitating":[169],"expert-level":[170],"paths.":[171],"Overall,":[172],"system,":[175,184],"comprising":[176],"an":[177],"automated":[178],"conveyor":[179],"belt,":[180],"camera-based":[182],"recognition":[183],"model,":[187],"CMPNet,":[189],"provide":[190],"framework":[195],"palletizing.":[198],"Experiments":[199],"conducted":[200],"via":[201],"simulations":[202],"environments":[206],"have":[207],"shown":[208],"handle":[214],"complex":[215],"tasks":[217],"with":[218],"high":[219,222],"efficiency":[220]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}
