{"id":"https://openalex.org/W4382999276","doi":"https://doi.org/10.1109/tii.2023.3291699","title":"Sim-to-Real Transfer of Soft Robotic Navigation Strategies That Learns From the Virtual Eye-in-Hand Vision","display_name":"Sim-to-Real Transfer of Soft Robotic Navigation Strategies That Learns From the Virtual Eye-in-Hand Vision","publication_year":2023,"publication_date":"2023-07-03","ids":{"openalex":"https://openalex.org/W4382999276","doi":"https://doi.org/10.1109/tii.2023.3291699"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2023.3291699","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tii.2023.3291699","pdf_url":"https://ieeexplore.ieee.org/ielx7/9424/4389054/10171986.pdf","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":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/9424/4389054/10171986.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031063640","display_name":"Jiewen Lai","orcid":"https://orcid.org/0000-0002-2676-7387"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Jiewen Lai","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-2676-7387","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103232216","display_name":"Tian-Ao Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]},{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["CN","HK","US"],"is_corresponding":false,"raw_author_name":"Tian-Ao Ren","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing, China","CUHK - The Chinese University of Hong Kong [Hong Kong] (Shatin, NT, Hong Kong SAR - China)","Stanford University (450 Serra Mall, Stanford, CA 94305-2004 - United States)"],"raw_orcid":"https://orcid.org/0009-0008-5125-0209","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing, China","institution_ids":["https://openalex.org/I75390827"]},{"raw_affiliation_string":"CUHK - The Chinese University of Hong Kong [Hong Kong] (Shatin, NT, Hong Kong SAR - China)","institution_ids":["https://openalex.org/I177725633"]},{"raw_affiliation_string":"Stanford University (450 Serra Mall, Stanford, CA 94305-2004 - United States)","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082017096","display_name":"Wenchao Yue","orcid":"https://orcid.org/0000-0002-9788-3705"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Wenchao Yue","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-9788-3705","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103014462","display_name":"Shijian Su","orcid":"https://orcid.org/0000-0001-7155-2660"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shijian Su","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0001-7155-2660","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043355820","display_name":"Jason Y. K. Chan","orcid":"https://orcid.org/0000-0002-9480-4637"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jason Y. K. Chan","raw_affiliation_strings":["Department of Otorhinolaryngology, Head and Neck Surgery, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-9480-4637","affiliations":[{"raw_affiliation_string":"Department of Otorhinolaryngology, Head and Neck Surgery, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032340829","display_name":"Hongliang Ren","orcid":"https://orcid.org/0000-0002-6488-1551"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"HK","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Hongliang Ren","raw_affiliation_strings":["Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China"],"raw_orcid":"https://orcid.org/0000-0002-6488-1551","affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, SAR, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5031063640"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":2.9705,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.91559754,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"20","issue":"2","first_page":"2365","last_page":"2377"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":1.0,"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":1.0,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9811000227928162,"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/computer-science","display_name":"Computer science","score":0.649482250213623},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6345667243003845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.581084668636322},{"id":"https://openalex.org/keywords/imaging-phantom","display_name":"Imaging phantom","score":0.5679993033409119},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5088798999786377},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37839651107788086}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.649482250213623},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6345667243003845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.581084668636322},{"id":"https://openalex.org/C104293457","wikidata":"https://www.wikidata.org/wiki/Q28324852","display_name":"Imaging phantom","level":2,"score":0.5679993033409119},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5088798999786377},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37839651107788086},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tii.2023.3291699","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tii.2023.3291699","pdf_url":"https://ieeexplore.ieee.org/ielx7/9424/4389054/10171986.pdf","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":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-04538063v1","is_oa":false,"landing_page_url":"https://hal.science/hal-04538063/document","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Industrial Informatics, 2024, 20 (2), pp.2365-2377. ⟨10.1109/TII.2023.3291699⟩","raw_type":"Journal articles"}],"best_oa_location":{"id":"doi:10.1109/tii.2023.3291699","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tii.2023.3291699","pdf_url":"https://ieeexplore.ieee.org/ielx7/9424/4389054/10171986.pdf","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":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Informatics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320307285","display_name":"Impact Fund","ror":"https://ror.org/00jb20j87"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4382999276.pdf","grobid_xml":"https://content.openalex.org/works/W4382999276.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W1606850352","https://openalex.org/W1704704075","https://openalex.org/W1963534569","https://openalex.org/W1967429206","https://openalex.org/W2049224716","https://openalex.org/W2053614949","https://openalex.org/W2097770951","https://openalex.org/W2100858040","https://openalex.org/W2101667962","https://openalex.org/W2103452139","https://openalex.org/W2184993170","https://openalex.org/W2514131711","https://openalex.org/W2520982900","https://openalex.org/W2525973954","https://openalex.org/W2587897321","https://openalex.org/W2603777577","https://openalex.org/W2768326939","https://openalex.org/W2794685405","https://openalex.org/W2803735436","https://openalex.org/W2884324731","https://openalex.org/W2909634898","https://openalex.org/W2911546748","https://openalex.org/W2913446864","https://openalex.org/W2963037989","https://openalex.org/W2969919508","https://openalex.org/W2978410619","https://openalex.org/W2981981438","https://openalex.org/W3001232631","https://openalex.org/W3011060864","https://openalex.org/W3022163685","https://openalex.org/W3034637066","https://openalex.org/W3035294798","https://openalex.org/W3042873437","https://openalex.org/W3047693789","https://openalex.org/W3107437201","https://openalex.org/W3112160583","https://openalex.org/W3132082252","https://openalex.org/W3136827180","https://openalex.org/W3151387141","https://openalex.org/W3162343675","https://openalex.org/W3203417057","https://openalex.org/W4212876379","https://openalex.org/W4285277024","https://openalex.org/W4312648860","https://openalex.org/W4383097455","https://openalex.org/W4383109096","https://openalex.org/W4384626565"],"related_works":["https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2772917594","https://openalex.org/W2775347418","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"To":[0],"steer":[1],"a":[2,38,44,49,69,76,88,138,165],"soft":[3,18,46,181],"robot":[4,47,113,154,182,243],"precisely":[5],"in":[6,48,164],"an":[7,14],"unconstructed":[8],"environment":[9,51,168],"with":[10,194],"minimal":[11,195],"collision":[12,196],"remains":[13],"open":[15],"challenge":[16],"for":[17,28,106],"robots.":[19],"When":[20],"the":[21,53,66,83,96,107,112,117,124,129,133,149,153,161,187,191,205,212,217,242,246],"environments":[22],"are":[23,229],"unknown,":[24],"prior":[25],"motion":[26,104,136,197,228],"planning":[27],"navigation":[29],"may":[30],"not":[31],"always":[32],"be":[33],"available.":[34],"This":[35],"paper":[36],"presents":[37],"novel":[39],"Sim-to-Real":[40],"method":[41],"to":[42,62,82,101,152,158,160,190,199],"guide":[43],"cable-driven":[45],"static":[50],"under":[52],"Simulation":[54],"Open":[55],"Framework":[56],"Architecture":[57],"(SOFA).":[58],"The":[59,208,234],"scenario":[60],"aims":[61],"resemble":[63],"one":[64],"of":[65],"steps":[67],"during":[68],"simplified":[70],"transoral":[71],"tracheal":[72],"intubation":[73],"process":[74],"where":[75],"robotic":[77],"endotracheal":[78],"tube":[79],"is":[80],"guided":[81],"upper":[84],"trachea-larynx":[85],"location":[86],"by":[87,128],"flexible":[89],"video-assisted":[90],"endoscope/stylet.":[91],"In":[92],"SOFA,":[93],"we":[94,122,147],"employ":[95],"quadratic":[97],"programming":[98],"inverse":[99],"solver":[100],"obtain":[102],"collision-free":[103],"strategies":[105],"endoscope/stylet":[108],"manipulation":[109],"based":[110,170],"on":[111,171],"model":[114,143],"and":[115,132,220,224,231,245],"encode":[116],"virtual":[118,130,206],"eye-in-hand":[119,173,235],"vision.":[120],"Then,":[121],"associate":[123],"anatomical":[125],"features":[126],"recognized":[127],"vision":[131,174],"joint":[134,226],"space":[135,227],"using":[137],"closed-loop":[139,218],"nonlinear":[140],"autoregressive":[141],"exogenous":[142],"(NARX)":[144],"network.":[145],"Afterward,":[146],"transfer":[148],"learned":[150,203],"knowledge":[151],"prototype,":[155],"expecting":[156],"it":[157,201],"navigate":[159,185],"desired":[162,192],"spot":[163,193],"new":[166],"phantom":[167,189],"automatically":[169],"its":[172],"only.":[175],"Experiment":[176],"results":[177,209],"indicate":[178],"that":[179,211],"our":[180],"can":[183],"efficaciously":[184],"through":[186],"unstructured":[188],"according":[198],"what":[200],"has":[202],"from":[204],"environment.":[207],"show":[210],"average":[213],"R-squared":[214],"coefficient":[215],"between":[216,241],"NARX-forecasted":[219],"SOFA-referenced":[221],"robot's":[222],"cable":[223],"prismatic":[225],"0.963":[230],"0.997,":[232],"respectively.":[233],"visions":[236],"also":[237],"demonstrate":[238],"good":[239],"alignment":[240],"tip":[244],"glottis.":[247]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}