{"id":"https://openalex.org/W4385767992","doi":"https://doi.org/10.24963/ijcai.2023/610","title":"Learning to Self-Reconfigure for Freeform Modular Robots via Altruism Proximal Policy Optimization","display_name":"Learning to Self-Reconfigure for Freeform Modular Robots via Altruism Proximal Policy Optimization","publication_year":2023,"publication_date":"2023-08-01","ids":{"openalex":"https://openalex.org/W4385767992","doi":"https://doi.org/10.24963/ijcai.2023/610"},"language":"en","primary_location":{"id":"doi:10.24963/ijcai.2023/610","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2023/610","pdf_url":"https://www.ijcai.org/proceedings/2023/0610.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Thirty-Second International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.ijcai.org/proceedings/2023/0610.pdf","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100394369","display_name":"Lei Wu","orcid":"https://orcid.org/0000-0002-0268-6304"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Wu","raw_affiliation_strings":["Northwestern Polytechnical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101755580","display_name":"Bin Guo","orcid":"https://orcid.org/0009-0000-9675-0807"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Guo","raw_affiliation_strings":["Northwestern Polytechnical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019848695","display_name":"Qiuyun Zhang","orcid":"https://orcid.org/0000-0002-3905-962X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuyun Zhang","raw_affiliation_strings":["Northwestern Polytechnical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101677842","display_name":"Zhuo Sun","orcid":"https://orcid.org/0000-0003-3115-278X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuo Sun","raw_affiliation_strings":["Northwestern Polytechnical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047159198","display_name":"Jieyi Zhang","orcid":"https://orcid.org/0000-0002-6156-0541"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jieyi Zhang","raw_affiliation_strings":["Northwestern Polytechnical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100701166","display_name":"Zhiwen Yu","orcid":"https://orcid.org/0000-0002-9905-3238"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiwen Yu","raw_affiliation_strings":["Northwestern Polytechnical University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5494","last_page":"5502"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9742000102996826,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9742000102996826,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.9089462757110596},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.8825613856315613},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8146587610244751},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7205238342285156},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7181751132011414},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6810337901115417},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.6042413115501404},{"id":"https://openalex.org/keywords/observability","display_name":"Observability","score":0.5616682171821594},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.358389675617218},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2571626901626587},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.25148844718933105},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.18238171935081482},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08407720923423767}],"concepts":[{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.9089462757110596},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.8825613856315613},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8146587610244751},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7205238342285156},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7181751132011414},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6810337901115417},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.6042413115501404},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.5616682171821594},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.358389675617218},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2571626901626587},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.25148844718933105},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.18238171935081482},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08407720923423767},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.24963/ijcai.2023/610","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2023/610","pdf_url":"https://www.ijcai.org/proceedings/2023/0610.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Thirty-Second International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.24963/ijcai.2023/610","is_oa":true,"landing_page_url":"https://doi.org/10.24963/ijcai.2023/610","pdf_url":"https://www.ijcai.org/proceedings/2023/0610.pdf","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Thirty-Second International Joint Conference on Artificial Intelligence","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G310112824","display_name":null,"funder_award_id":"62025205","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7930607411","display_name":null,"funder_award_id":"62102322","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8547503138","display_name":null,"funder_award_id":"62025205","funder_id":"https://openalex.org/F4320336125","funder_display_name":"National Science Fund for Distinguished Young Scholars"},{"id":"https://openalex.org/G8718608543","display_name":null,"funder_award_id":"62032020","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/F4320336125","display_name":"National Science Fund for Distinguished Young Scholars","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4385767992.pdf"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W1690519007","https://openalex.org/W2025888225","https://openalex.org/W2039868611","https://openalex.org/W2050673234","https://openalex.org/W2062366653","https://openalex.org/W2062414996","https://openalex.org/W2101392651","https://openalex.org/W2122682494","https://openalex.org/W2163689710","https://openalex.org/W2172160601","https://openalex.org/W2234984346","https://openalex.org/W2623431351","https://openalex.org/W2736601468","https://openalex.org/W2753541865","https://openalex.org/W2785315072","https://openalex.org/W2792847425","https://openalex.org/W2808079019","https://openalex.org/W2811374584","https://openalex.org/W2889987506","https://openalex.org/W2891661335","https://openalex.org/W2899318310","https://openalex.org/W2924849247","https://openalex.org/W2945322705","https://openalex.org/W2950993296","https://openalex.org/W2962869735","https://openalex.org/W2964051687","https://openalex.org/W2967563764","https://openalex.org/W2997649476","https://openalex.org/W3011301783","https://openalex.org/W3089418664","https://openalex.org/W3090267060","https://openalex.org/W3129469851","https://openalex.org/W3131329114","https://openalex.org/W3132389993","https://openalex.org/W3132467394","https://openalex.org/W3158732870","https://openalex.org/W3170118067","https://openalex.org/W3176725856","https://openalex.org/W3210860153","https://openalex.org/W3212902928","https://openalex.org/W3214241811","https://openalex.org/W4200045946","https://openalex.org/W4229677794","https://openalex.org/W4285102183","https://openalex.org/W4285102567","https://openalex.org/W4285102648","https://openalex.org/W4287870504","https://openalex.org/W4292259019","https://openalex.org/W4299802797","https://openalex.org/W4308064562","https://openalex.org/W6637413725","https://openalex.org/W6660296812","https://openalex.org/W6665915905","https://openalex.org/W6803771590","https://openalex.org/W6864014924"],"related_works":["https://openalex.org/W2963148304","https://openalex.org/W4386781757","https://openalex.org/W2554741953","https://openalex.org/W2064761790","https://openalex.org/W2247893165","https://openalex.org/W3158732870","https://openalex.org/W1983823126","https://openalex.org/W2101970395","https://openalex.org/W1653876660","https://openalex.org/W2116018944"],"abstract_inverted_index":{"The":[0,61],"advantages":[1],"of":[2,34,63,107,140],"modular":[3,36,59,65,95],"robot":[4,37],"systems":[5],"stem":[6],"from":[7],"their":[8],"ability":[9],"to":[10,17,19,27,102,133,148],"change":[11,33],"between":[12],"different":[13],"configurations,":[14],"enabling":[15],"them":[16],"adapt":[18],"complex":[20],"and":[21,31,54,71,143,159,161],"dynamic":[22],"real-world":[23],"environments.":[24],"Then,":[25],"how":[26],"perform":[28],"the":[29,35,40,72,104,129,138,149,154],"accurate":[30],"efficient":[32],"system,":[38],"i.e.,":[39],"self-reconfiguration":[41,91],"problem,":[42],"is":[43,75],"essential.":[44],"Existing":[45],"reconfiguration":[46,80,109],"algorithms":[47],"are":[48,55,67],"based":[49,97],"on":[50,98],"discrete":[51],"motion":[52,73],"primitives":[53],"suitable":[56],"for":[57,93],"lattice-type":[58],"robots.":[60],"modules":[62],"freeform":[64,94],"robots":[66,96],"connected":[68],"without":[69],"alignment,":[70],"space":[74],"continuous.":[76],"It":[77],"renders":[78],"existing":[79],"methods":[81],"infeasible.":[82],"In":[83],"this":[84],"paper,":[85],"we":[86,118,127],"design":[87,106,128],"a":[88,120],"parallel":[89],"distributed":[90,130],"algorithm":[92],"multi-agent":[99],"reinforcement":[100,124],"learning":[101],"realize":[103],"automatic":[105],"conflict-free":[108],"controllers":[110],"in":[111,137],"continuous":[112],"action":[113],"spaces.":[114],"To":[115],"avoid":[116],"conflicts,":[117],"incorporate":[119],"collaborative":[121],"mechanism":[122],"into":[123],"learning.":[125],"Furthermore,":[126],"termination":[131,136],"criteria":[132],"achieve":[134],"timely":[135],"presence":[139],"limited":[141],"communication":[142],"local":[144],"observability.":[145],"When":[146],"compared":[147],"baselines,":[150],"simulations":[151],"show":[152],"that":[153],"proposed":[155],"method":[156],"improves":[157],"efficiency":[158],"congruence,":[160],"module":[162],"movement":[163],"demonstrates":[164],"altruism.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}