{"id":"https://openalex.org/W7170197503","doi":"https://doi.org/10.1145/3820709.3820741","title":"Future-Aware Reinforcement Learning for Precision Assembly via LSTM-Based Trajectory Prediction","display_name":"Future-Aware Reinforcement Learning for Precision Assembly via LSTM-Based Trajectory Prediction","publication_year":2026,"publication_date":"2026-05-21","ids":{"openalex":"https://openalex.org/W7170197503","doi":"https://doi.org/10.1145/3820709.3820741"},"language":null,"primary_location":{"id":"doi:10.1145/3820709.3820741","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3820709.3820741","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 6th International Conference on Robotics and Control Engineering","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3820709.3820741","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108838628","display_name":"M. Maarouf","orcid":null},"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":"Mohamed Maarouf","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0003-5505-6554","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108069610","display_name":"Zhufeng Shao","orcid":"https://orcid.org/0000-0002-6324-6505"},"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":"ZhuFeng Shao","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6324-6505","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101659755","display_name":"Ming Yao","orcid":"https://orcid.org/0009-0009-9973-148X"},"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":"Ming Yao","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0009-9973-148X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113903386","display_name":"X J Zhou","orcid":null},"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":"Xiang Zhou","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0005-5496-5558","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"135","last_page":"143"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":null,"topics":[],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6050000190734863},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.3873000144958496},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3718000054359436},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.3343000113964081},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31299999356269836},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.3089999854564667},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.2851000130176544}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6050000190734863},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5246000289916992},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42579999566078186},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3873000144958496},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3718000054359436},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3343000113964081},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31299999356269836},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3089999854564667},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3003999888896942},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29089999198913574},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.2851000130176544},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.28290000557899475},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2793999910354614},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.26030001044273376},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.2581000030040741},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.25529998540878296}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3820709.3820741","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3820709.3820741","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 6th International Conference on Robotics and Control Engineering","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3820709.3820741","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3820709.3820741","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 6th International Conference on Robotics and Control Engineering","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W2064675550","https://openalex.org/W4385430467","https://openalex.org/W4413925807"],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"LEGO":[1,186],"brick":[2],"assembly":[3,187],"represents":[4],"a":[5,40,99],"challenging":[6],"case":[7],"of":[8,125,193],"rigid":[9],"precision":[10],"assembly,":[11],"requiring":[12],"simultaneous":[13],"multi-stud":[14],"alignment":[15,29,139],"under":[16],"extremely":[17],"tight":[18],"tolerances.":[19],"Unlike":[20],"conventional":[21],"peg-in-hole":[22],"tasks":[23],"where":[24],"contact":[25,147,166,198],"force":[26,38,55,167],"diminishes":[27],"as":[28],"improves,":[30],"LEGO's":[31],"interference-fit":[32],"mechanism":[33],"requires":[34],"sustained":[35],"and":[36,56,79,115,149,182,196],"increasing":[37],"during":[39,168],"snap-engagement":[41],"phase.":[42,171],"This":[43],"inverted":[44],"force\u2013outcome":[45],"relationship":[46],"often":[47],"causes":[48],"standard":[49],"reactive":[50],"policies":[51],"to":[52,76,87,143,157],"prematurely":[53],"reduce":[54],"fail":[57],"at":[58],"the":[59,72,120,132,169,176,191],"final":[60],"insertion":[61,162],"stage.":[62],"Furthermore,":[63],"slight":[64],"misalignment":[65,195],"can":[66],"generate":[67],"upward":[68],"reaction":[69],"forces":[70],"along":[71],"gripper":[73],"axis,":[74],"leading":[75],"object":[77],"slip":[78],"in-hand":[80],"pose":[81],"drift\u2014failure":[82],"modes":[83],"that":[84,109,175],"are":[85],"difficult":[86],"detect":[88],"using":[89],"instantaneous":[90,129],"observations":[91],"alone.":[92],"To":[93],"address":[94],"these":[95],"challenges,":[96],"we":[97],"propose":[98],"future-aware":[100],"control":[101],"framework":[102,178],"based":[103],"on":[104,128],"Long":[105],"Short-Term":[106],"Memory":[107],"(LSTM)":[108],"predicts":[110],"short-horizon":[111],"future":[112,138],"end-effector":[113],"trajectories":[114],"incorporates":[116],"this":[117],"prediction":[118],"into":[119],"reinforcement":[121],"learning":[122],"objective.":[123],"Instead":[124],"relying":[126],"solely":[127],"state":[130],"feedback,":[131],"policy":[133],"is":[134,155],"guided":[135],"by":[136],"predicted":[137],"consistency,":[140],"enabling":[141],"it":[142],"distinguish":[144],"between":[145],"transient":[146],"disturbances":[148],"true":[150],"misalignment.":[151],"A":[152],"future-drift":[153],"penalty":[154],"introduced":[156],"encourage":[158],"stable":[159],"convergence":[160],"toward":[161],"while":[163],"maintaining":[164],"sufficient":[165],"snap":[170],"Simulation":[172],"results":[173],"demonstrate":[174],"proposed":[177],"significantly":[179],"improves":[180],"robustness":[181],"success":[183],"rate":[184],"in":[185,190],"tasks,":[188],"particularly":[189],"presence":[192],"subtle":[194],"complex":[197],"dynamics.":[199]},"counts_by_year":[],"updated_date":"2026-07-25T05:54:39.514286","created_date":"2026-07-24T00:00:00"}