{"id":"https://openalex.org/W3015082424","doi":"https://doi.org/10.1109/tnnls.2021.3082568","title":"Distributional Soft Actor-Critic: Off-Policy Reinforcement Learning for Addressing Value Estimation Errors","display_name":"Distributional Soft Actor-Critic: Off-Policy Reinforcement Learning for Addressing Value Estimation Errors","publication_year":2021,"publication_date":"2021-06-09","ids":{"openalex":"https://openalex.org/W3015082424","doi":"https://doi.org/10.1109/tnnls.2021.3082568","mag":"3015082424","pmid":"https://pubmed.ncbi.nlm.nih.gov/34101599"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2021.3082568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2021.3082568","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2001.02811","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067909017","display_name":"Jingliang Duan","orcid":"https://orcid.org/0000-0002-3697-1576"},"institutions":[{"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":"Jingliang Duan","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3697-1576","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082794136","display_name":"Yang Guan","orcid":"https://orcid.org/0000-0003-0689-0510"},"institutions":[{"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":"Yang Guan","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0689-0510","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100747108","display_name":"Shengbo Eben Li","orcid":"https://orcid.org/0000-0003-4923-3633"},"institutions":[{"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":"Shengbo Eben Li","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-4923-3633","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007325049","display_name":"Yangang Ren","orcid":"https://orcid.org/0000-0002-1173-7230"},"institutions":[{"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":"Yangang Ren","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1173-7230","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101697324","display_name":"Qi Sun","orcid":"https://orcid.org/0000-0002-2664-2509"},"institutions":[{"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":"Qi Sun","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100640936","display_name":"Bo Cheng","orcid":"https://orcid.org/0000-0002-1753-2922"},"institutions":[{"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":"Bo Cheng","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Center for Intelligent Connected Vehicles and Transportation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067909017"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":21.9661,"has_fulltext":false,"cited_by_count":284,"citation_normalized_percentile":{"value":0.99585393,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"33","issue":"11","first_page":"6584","last_page":"6598"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9980999827384949,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9980999827384949,"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/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9136999845504761,"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/T12794","display_name":"Adaptive Dynamic Programming Control","score":0.9125000238418579,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.9033297896385193},{"id":"https://openalex.org/keywords/bellman-equation","display_name":"Bellman equation","score":0.6381949186325073},{"id":"https://openalex.org/keywords/embedding","display_name":"Embedding","score":0.6022749543190002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5914995074272156},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5040823221206665},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.4962647557258606},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.45091208815574646},{"id":"https://openalex.org/keywords/value","display_name":"Value (mathematics)","score":0.4184775948524475},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3418304920196533},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3292767405509949},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1940857470035553},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.13480818271636963}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.9033297896385193},{"id":"https://openalex.org/C14646407","wikidata":"https://www.wikidata.org/wiki/Q1430750","display_name":"Bellman equation","level":2,"score":0.6381949186325073},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.6022749543190002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5914995074272156},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5040823221206665},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.4962647557258606},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.45091208815574646},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.4184775948524475},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3418304920196533},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3292767405509949},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1940857470035553},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.13480818271636963},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tnnls.2021.3082568","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2021.3082568","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:34101599","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34101599","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on neural networks and learning systems","raw_type":null},{"id":"pmh:oai:arXiv.org:2001.02811","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.02811","pdf_url":"https://arxiv.org/pdf/2001.02811","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2001.02811","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2001.02811","pdf_url":"https://arxiv.org/pdf/2001.02811","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5799999833106995}],"awards":[{"id":"https://openalex.org/G166390454","display_name":null,"funder_award_id":"U20A20334","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G76702134","display_name":null,"funder_award_id":"51575293","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"},{"id":"https://openalex.org/F4320322392","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":86,"referenced_works":["https://openalex.org/W51508254","https://openalex.org/W1522301498","https://openalex.org/W1771410628","https://openalex.org/W1959608418","https://openalex.org/W2018935401","https://openalex.org/W2093253120","https://openalex.org/W2115211925","https://openalex.org/W2121863487","https://openalex.org/W2145339207","https://openalex.org/W2145805610","https://openalex.org/W2155968351","https://openalex.org/W2158782408","https://openalex.org/W2165150801","https://openalex.org/W2257979135","https://openalex.org/W2462831000","https://openalex.org/W2554120691","https://openalex.org/W2593044849","https://openalex.org/W2594103415","https://openalex.org/W2609650878","https://openalex.org/W2726187156","https://openalex.org/W2736601468","https://openalex.org/W2746553466","https://openalex.org/W2765302304","https://openalex.org/W2766447205","https://openalex.org/W2781726626","https://openalex.org/W2786928559","https://openalex.org/W2787938642","https://openalex.org/W2788086877","https://openalex.org/W2798705390","https://openalex.org/W2803308811","https://openalex.org/W2899663614","https://openalex.org/W2904246096","https://openalex.org/W2905224739","https://openalex.org/W2941439130","https://openalex.org/W2949561945","https://openalex.org/W2949608212","https://openalex.org/W2951004968","https://openalex.org/W2951507724","https://openalex.org/W2952023104","https://openalex.org/W2962878825","https://openalex.org/W2963170229","https://openalex.org/W2963267001","https://openalex.org/W2963423916","https://openalex.org/W2963610502","https://openalex.org/W2963757175","https://openalex.org/W2963864421","https://openalex.org/W2963923407","https://openalex.org/W2963985863","https://openalex.org/W2964043796","https://openalex.org/W2964121744","https://openalex.org/W2964340928","https://openalex.org/W2999778183","https://openalex.org/W3002044607","https://openalex.org/W3011120880","https://openalex.org/W4214717370","https://openalex.org/W4297797010","https://openalex.org/W4298876402","https://openalex.org/W4302570325","https://openalex.org/W4394666657","https://openalex.org/W6602057636","https://openalex.org/W6631190155","https://openalex.org/W6638018090","https://openalex.org/W6640963894","https://openalex.org/W6681451320","https://openalex.org/W6683300800","https://openalex.org/W6684205842","https://openalex.org/W6684921986","https://openalex.org/W6692846177","https://openalex.org/W6713603661","https://openalex.org/W6734206676","https://openalex.org/W6734517396","https://openalex.org/W6736495777","https://openalex.org/W6740222838","https://openalex.org/W6741002519","https://openalex.org/W6747473740","https://openalex.org/W6748554570","https://openalex.org/W6748638692","https://openalex.org/W6748812242","https://openalex.org/W6748839928","https://openalex.org/W6750645735","https://openalex.org/W6751629939","https://openalex.org/W6755977528","https://openalex.org/W6757592117","https://openalex.org/W6775686901","https://openalex.org/W6780559895","https://openalex.org/W7055423279"],"related_works":["https://openalex.org/W2081900870","https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W2386410636","https://openalex.org/W3038962357","https://openalex.org/W2025663273","https://openalex.org/W3099153698","https://openalex.org/W3184322736","https://openalex.org/W3188986767"],"abstract_inverted_index":{"In":[0],"reinforcement":[1],"learning":[2,57],"(RL),":[3],"function":[4,60,101],"approximation":[5],"errors":[6],"are":[7],"known":[8],"to":[9,12,41,137],"easily":[10],"lead":[11],"the":[13,43,77,82,98,127,130,148,156],"Q":[14,48,67,83],"-value":[15,49,68,84],"overestimations,":[16],"thus":[17],"greatly":[18],"reducing":[19],"policy":[20,44,90],"performance.":[21,158],"This":[22],"article":[23],"presents":[24],"a":[25,58,87,109,121,134],"distributional":[26,88],"soft":[27,89],"actor-critic":[28,112],"(DSAC)":[29],"algorithm,":[30],"which":[31,118],"is":[32,72,94],"an":[33],"off-policy":[34,111],"RL":[35],"method":[36],"for":[37],"continuous":[38,122,152],"control":[39,153],"setting,":[40],"improve":[42],"performance":[45],"by":[46,96,125],"mitigating":[47],"overestimations.":[50],"We":[51,144],"first":[52],"discover":[53],"in":[54],"theory":[55],"that":[56],"distribution":[59,100,124],"of":[61,74,81,114,129,150],"state-action":[62,131],"returns":[63,132],"can":[64],"effectively":[65],"mitigate":[66],"overestimations":[69],"because":[70],"it":[71],"capable":[73],"adaptively":[75],"adjusting":[76],"update":[78],"step":[79],"size":[80],"function.":[85],"Then,":[86],"iteration":[91],"(DSPI)":[92],"framework":[93],"developed":[95],"embedding":[97],"return":[99,123],"into":[102],"maximum":[103],"entropy":[104],"RL.":[105],"Finally,":[106],"we":[107],"present":[108],"deep":[110],"variant":[113],"DSPI,":[115],"called":[116],"DSAC,":[117],"directly":[119],"learns":[120],"keeping":[126],"variance":[128],"within":[133],"reasonable":[135],"range":[136],"address":[138],"exploding":[139],"and":[140],"vanishing":[141],"gradient":[142],"problems.":[143],"evaluate":[145],"DSAC":[146],"on":[147],"suite":[149],"MuJoCo":[151],"tasks,":[154],"achieving":[155],"state-of-the-art":[157]},"counts_by_year":[{"year":2026,"cited_by_count":27},{"year":2025,"cited_by_count":94},{"year":2024,"cited_by_count":64},{"year":2023,"cited_by_count":43},{"year":2022,"cited_by_count":30},{"year":2021,"cited_by_count":20},{"year":2020,"cited_by_count":6}],"updated_date":"2026-05-22T09:01:20.584952","created_date":"2025-10-10T00:00:00"}