{"id":"https://openalex.org/W4285159093","doi":"https://doi.org/10.1109/tro.2022.3181014","title":"From Simulation to Reality: A Learning Framework for Fish-Like Robots to Perform Control Tasks","display_name":"From Simulation to Reality: A Learning Framework for Fish-Like Robots to Perform Control Tasks","publication_year":2022,"publication_date":"2022-06-21","ids":{"openalex":"https://openalex.org/W4285159093","doi":"https://doi.org/10.1109/tro.2022.3181014"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3181014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3181014","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5100669565","display_name":"Tianhao Zhang","orcid":"https://orcid.org/0000-0002-5939-3932"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tianhao Zhang","raw_affiliation_strings":["State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5939-3932","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032701030","display_name":"Runyu Tian","orcid":"https://orcid.org/0009-0002-0309-8595"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runyu Tian","raw_affiliation_strings":["State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104035815","display_name":"Hongqi Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongqi Yang","raw_affiliation_strings":["State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001586420","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0002-4484-8885"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["National Engineering Research Center of Software Engineering, Peking University, Beijing, China","State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-4484-8885","affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Software Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"State Key Laboratory for Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112547091","display_name":"Jinan Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinan Sun","raw_affiliation_strings":["National Engineering Research Center of Software Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Software Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101435571","display_name":"Shikun Zhang","orcid":"https://orcid.org/0000-0002-8576-2674"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shikun Zhang","raw_affiliation_strings":["National Engineering Research Center of Software Engineering, Peking University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Engineering Research Center of Software Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044920558","display_name":"Guangming Xie","orcid":"https://orcid.org/0000-0001-6504-0087"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4210106122","display_name":"Southern Marine Science and Engineering Guangdong Laboratory (Guangzhou)","ror":"https://ror.org/00y7mag53","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210106122"]},{"id":"https://openalex.org/I4391767778","display_name":"State Key Laboratory of Turbulence and Complex Systems","ror":"https://ror.org/04km98768","country_code":null,"type":"facility","lineage":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Xie","raw_affiliation_strings":["State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","Center for Multi-Agent Research, Institute for Artificial Intelligence, Peking University, Beijing, China","Southern Marine Science and Engineering Guangdong Laboratory, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-6504-0087","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Turbulence and Complex Systems, Intelligent Biomimetic Design Lab, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4391767778"]},{"raw_affiliation_string":"Center for Multi-Agent Research, Institute for Artificial Intelligence, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570","https://openalex.org/I4210100255"]},{"raw_affiliation_string":"Southern Marine Science and Engineering Guangdong Laboratory, Guangzhou, China","institution_ids":["https://openalex.org/I4210106122"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.9917,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.95867828,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"38","issue":"6","first_page":"3861","last_page":"3878"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9991000294685364,"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":0.9991000294685364,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9907000064849854,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.716429591178894},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6997137069702148},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.622368335723877},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6008366942405701},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48874473571777344},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4377998113632202},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4213358163833618},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4157661199569702},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.41273748874664307},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41129374504089355},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37363409996032715},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2572813332080841}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.716429591178894},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6997137069702148},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.622368335723877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6008366942405701},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48874473571777344},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4377998113632202},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4213358163833618},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4157661199569702},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.41273748874664307},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41129374504089355},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37363409996032715},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2572813332080841},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2022.3181014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3181014","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G6824663452","display_name":"\u53d7\u751f\u7269\u542f\u53d1\u7684\u591a\u6c34\u4e0b\u673a\u5668\u4eba\u73af\u5883\u81ea\u9002\u5e94\u96c6\u7fa4\u534f\u4f5c\u63a7\u5236\u65b9\u6cd5\u53ca\u5b9e\u9a8c\u7814\u7a76","funder_award_id":"61973007","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":50,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W41554520","https://openalex.org/W69147663","https://openalex.org/W1963656947","https://openalex.org/W1982582014","https://openalex.org/W2000076730","https://openalex.org/W2016977813","https://openalex.org/W2025577016","https://openalex.org/W2048963734","https://openalex.org/W2051176631","https://openalex.org/W2075732087","https://openalex.org/W2120308855","https://openalex.org/W2124267516","https://openalex.org/W2142092882","https://openalex.org/W2145339207","https://openalex.org/W2156174987","https://openalex.org/W2166995402","https://openalex.org/W2279487926","https://openalex.org/W2315398260","https://openalex.org/W2340642587","https://openalex.org/W2533095199","https://openalex.org/W2548997266","https://openalex.org/W2585005151","https://openalex.org/W2793128170","https://openalex.org/W2901870638","https://openalex.org/W2911087563","https://openalex.org/W2912971983","https://openalex.org/W2951507724","https://openalex.org/W2963864421","https://openalex.org/W2980897231","https://openalex.org/W2999008760","https://openalex.org/W2999176108","https://openalex.org/W3002469286","https://openalex.org/W3012544020","https://openalex.org/W3100789280","https://openalex.org/W3103532359","https://openalex.org/W3126763268","https://openalex.org/W3140343804","https://openalex.org/W3156506101","https://openalex.org/W3170422092","https://openalex.org/W3172321357","https://openalex.org/W3187378924","https://openalex.org/W3196920896","https://openalex.org/W4241119678","https://openalex.org/W6684921986","https://openalex.org/W6729933147","https://openalex.org/W6734206676","https://openalex.org/W6768844577","https://openalex.org/W6775683342","https://openalex.org/W6793907288"],"related_works":["https://openalex.org/W1904098742","https://openalex.org/W3158921809","https://openalex.org/W1980828932","https://openalex.org/W2161428574","https://openalex.org/W1972453571","https://openalex.org/W2077416514","https://openalex.org/W2618632915","https://openalex.org/W4292862729","https://openalex.org/W2170661558","https://openalex.org/W2999143598"],"abstract_inverted_index":{"The":[0],"fish-like":[1,106,228],"robot":[2,155,229],"is":[3,30,181,187,197,203,222],"one":[4],"of":[5,14,98,104,260,275],"the":[6,12,49,54,133,137,154,182,195,198,213,226,232,235,242,251,267,273],"typical":[7,171],"underwater":[8,51],"robots,":[9],"which":[10,186,202],"has":[11],"advantage":[13],"high":[15],"maneuverability":[16],"with":[17,191,207,266],"low":[18],"noise":[19],"due":[20],"to":[21,32,40,84,91,101,108,146,161,175,230],"its":[22],"bioinspired":[23],"structure":[24],"and":[25,62,80,86,123,136,254,263],"biomimetic":[26],"locomotion.":[27],"However,":[28],"it":[29],"challenging":[31],"efficiently":[33],"design":[34,142],"motion":[35,110,172],"controllers":[36],"for":[37,153],"such":[38],"robots":[39,107],"achieve":[41],"satisfactory":[42],"performance":[43],"on":[44,225],"specific":[45,164],"control":[46,93,111,165,173,184,200,215,261,269],"tasks":[47,174],"in":[48,89,156,234,245,250,258],"real":[50,236,252],"environment,":[52,129],"since":[53],"complex":[55],"fluid-structure":[56],"interaction":[57],"exists":[58],"during":[59],"their":[60],"swimming":[61],"exact":[63],"dynamic":[64],"models":[65],"are":[66,96],"absent.":[67],"In":[68],"this":[69],"article,":[70],"we":[71,114,141,168],"propose":[72],"a":[73,77,81,102,116,120,124,143,163,188,204],"learning":[74,150,220,277],"framework,":[75],"incorporating":[76],"simulation":[78,90,117,134,159,246],"system":[79,118,160],"training":[82,144],"methodology,":[83],"autonomously":[85],"fast":[87],"train":[88,147],"create":[92],"policies":[94,152,243],"that":[95,241],"capable":[97],"directly":[99,223],"applying":[100],"type":[103],"physical":[105,227],"perform":[109,162,231,255],"tasks.":[112],"First,":[113],"construct":[115],"combining":[119],"data-driven":[121],"environment":[122],"computational":[125],"fluid":[126],"dynamics":[127],"(CFD)-based":[128],"thus":[130,271],"well":[131,249],"balancing":[132],"accuracy":[135,262],"calculation":[138],"speed.":[139],"Second,":[140],"methodology":[145],"deep":[148],"reinforcement":[149],"(DRL)-based":[151],"our":[157,177,219,276],"constructed":[158],"task.":[166],"Then,":[167],"use":[169],"two":[170],"verify":[176],"proposed":[178],"framework.":[179,278],"One":[180],"path-following":[183],"task,":[185,212],"one-objective":[189],"problem":[190,206],"dense":[192],"rewards,":[193],"while":[194],"other":[196],"pose":[199],"task":[201,233],"two-objective":[205],"sparse":[208],"rewards.":[209],"For":[210],"each":[211],"DRL-based":[214],"policy":[216],"trained":[217,244],"by":[218],"framework":[221],"deployed":[224],"world.":[237],"Experimental":[238],"results":[239],"show":[240],"still":[247],"work":[248],"world,":[253],"even":[256],"better":[257],"terms":[259],"stability":[264],"compared":[265],"traditional":[268],"methods,":[270],"demonstrating":[272],"effectiveness":[274]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}