{"id":"https://openalex.org/W2890218953","doi":"https://doi.org/10.1109/tii.2018.2868859","title":"Feedback Deep Deterministic Policy Gradient With Fuzzy Reward for Robotic Multiple Peg-in-Hole Assembly Tasks","display_name":"Feedback Deep Deterministic Policy Gradient With Fuzzy Reward for Robotic Multiple Peg-in-Hole Assembly Tasks","publication_year":2018,"publication_date":"2018-09-05","ids":{"openalex":"https://openalex.org/W2890218953","doi":"https://doi.org/10.1109/tii.2018.2868859","mag":"2890218953"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2018.2868859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2018.2868859","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","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/A5087396510","display_name":"Jing Xu","orcid":"https://orcid.org/0000-0002-2997-2351"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jing Xu","raw_affiliation_strings":["State Key Laboratory of Tribology, Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2997-2351","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology, Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007401897","display_name":"Zhimin Hou","orcid":"https://orcid.org/0000-0003-4864-7439"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhimin Hou","raw_affiliation_strings":["State Key Laboratory of Tribology, Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4864-7439","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology, Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100392089","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-8180-2886"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["State Key Laboratory of Tribology, Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology, Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020186872","display_name":"Bohao Xu","orcid":"https://orcid.org/0000-0002-6841-2795"},"institutions":[{"id":"https://openalex.org/I7350606","display_name":"Dalian Jiaotong University","ror":"https://ror.org/05gp45n31","country_code":"CN","type":"education","lineage":["https://openalex.org/I7350606"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bohao Xu","raw_affiliation_strings":["Department of Mechanical Engineering, Dalian Jiaotong University, Dalian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Dalian Jiaotong University, Dalian, China","institution_ids":["https://openalex.org/I7350606"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045734278","display_name":"Kuangen Zhang","orcid":"https://orcid.org/0000-0003-4242-5667"},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kuangen Zhang","raw_affiliation_strings":["State Key Laboratory of Tribology, Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology, Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100420346","display_name":"Ken Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4391768272","display_name":"State Key Laboratory of Tribology","ror":"https://ror.org/03h33sq24","country_code":null,"type":"facility","lineage":["https://openalex.org/I4391768272","https://openalex.org/I99065089"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ken Chen","raw_affiliation_strings":["State Key Laboratory of Tribology, Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology, Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment Control, Department of Mechanical Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089","https://openalex.org/I4391768272"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5087396510"],"corresponding_institution_ids":["https://openalex.org/I4391768272","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":9.9245,"has_fulltext":false,"cited_by_count":179,"citation_normalized_percentile":{"value":0.98536415,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"15","issue":"3","first_page":"1658","last_page":"1667"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9805999994277954,"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/computer-science","display_name":"Computer science","score":0.6533705592155457},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6485626697540283},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.6021276116371155},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.562963604927063},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5371665954589844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.521552562713623},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4683014452457428},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.44146090745925903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4085007309913635},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3817785382270813},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3524388074874878},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3240235447883606},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21198081970214844},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.19004389643669128},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18654757738113403}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6533705592155457},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6485626697540283},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.6021276116371155},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.562963604927063},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5371665954589844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.521552562713623},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4683014452457428},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.44146090745925903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4085007309913635},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3817785382270813},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3524388074874878},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3240235447883606},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21198081970214844},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.19004389643669128},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18654757738113403},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2018.2868859","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2018.2868859","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Industrial Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.699999988079071,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G1510028631","display_name":null,"funder_award_id":"51675291","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5106130658","display_name":null,"funder_award_id":"U1613205","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1845972764","https://openalex.org/W1977655452","https://openalex.org/W1982313484","https://openalex.org/W2106871887","https://openalex.org/W2121863487","https://openalex.org/W2213758982","https://openalex.org/W2284780761","https://openalex.org/W2417786368","https://openalex.org/W2580175322","https://openalex.org/W2588423609","https://openalex.org/W2604667643","https://openalex.org/W2605628166","https://openalex.org/W2612581922","https://openalex.org/W2733312032","https://openalex.org/W2753320496","https://openalex.org/W2797679738","https://openalex.org/W2962736495","https://openalex.org/W2963616477","https://openalex.org/W2963864421","https://openalex.org/W2963940579","https://openalex.org/W3103559770","https://openalex.org/W3106462682","https://openalex.org/W4214717370","https://openalex.org/W4302570325","https://openalex.org/W4399469378","https://openalex.org/W6684205842","https://openalex.org/W6684921986","https://openalex.org/W6691861496","https://openalex.org/W6695713252","https://openalex.org/W6716474083","https://openalex.org/W6732665253"],"related_works":["https://openalex.org/W2317351040","https://openalex.org/W8302103","https://openalex.org/W2952466936","https://openalex.org/W1988622314","https://openalex.org/W2393949104","https://openalex.org/W3046201198","https://openalex.org/W4293061921","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314"],"abstract_inverted_index":{"The":[0,148],"automatic":[1],"completion":[2],"of":[3,23,136,144,150,165],"multiple":[4],"peg-in-hole":[5,139],"assembly":[6,31,53,96,113,129,140],"tasks":[7],"by":[8,72,161],"robots":[9],"remains":[10],"a":[11,20,36,41,73,80,122,137],"formidable":[12],"challenge":[13],"because":[14],"the":[15,24,30,52,56,61,67,94,105,117,127,142,145,151,163],"traditional":[16,75],"control":[17],"strategies":[18],"require":[19],"complex":[21,128],"analysis":[22],"contact":[25,62],"model.":[26],"In":[27,64,78],"this":[28],"paper,":[29],"task":[32,54],"is":[33,48,70,84],"formulated":[34],"as":[35],"Markov":[37],"decision":[38],"process,":[39],"and":[40,98,108,133,155,170],"model-driven":[42],"deep":[43],"deterministic":[44],"policy":[45,58,97],"gradient":[46],"algorithm":[47,90],"proposed":[49,85,146],"to":[50,86],"accomplish":[51],"through":[55],"learned":[57],"without":[59],"analyzing":[60],"states.":[63],"our":[65,89],"algorithm,":[66],"learning":[68,118],"process":[69],"driven":[71],"simple":[74],"force":[76],"controller.":[77],"addition,":[79],"feedback":[81,156],"exploration":[82,157],"strategy":[83,158],"ensure":[87],"that":[88],"can":[91,103],"efficiently":[92],"explore":[93],"optimal":[95],"avoid":[99],"risky":[100],"actions,":[101],"which":[102],"address":[104],"data":[106],"efficiency":[107],"guarantee":[109],"stability":[110],"in":[111,168],"realistic":[112,134],"scenarios.":[114],"To":[115],"improve":[116],"efficiency,":[119],"we":[120],"utilize":[121],"fuzzy":[123,152],"reward":[124,153],"system":[125,154],"for":[126],"process.":[130],"Then,":[131],"simulations":[132,169],"experiments":[135],"dual":[138],"demonstrate":[141],"effectiveness":[143],"algorithm.":[147],"advantages":[149],"are":[159],"validated":[160],"comparing":[162],"performances":[164],"different":[166],"cases":[167],"experiments.":[171]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":30},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":32},{"year":2022,"cited_by_count":32},{"year":2021,"cited_by_count":22},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":11}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
