乐胖代购免代理版

{"id":"https://openalex.org/W3089949728","doi":"https://doi.org/10.1109/icra40945.2020.9196647","title":"Split Deep Q-Learning for Robust Object Singulation","display_name":"Split Deep Q-Learning for Robust Object Singulation","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3089949728","doi":"https://doi.org/10.1109/icra40945.2020.9196647","mag":"3089949728"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/records/5163224/files/v2.0.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5064197953","display_name":"Iason Sarantopoulos","orcid":"https://orcid.org/0000-0002-8873-2366"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Iason Sarantopoulos","raw_affiliation_strings":["Aristotle University of Thessaloniki,Department of Electrical and Computer Engineering,Thessaloniki,Greece,54124"],"affiliations":[{"raw_affiliation_string":"Aristotle University of Thessaloniki,Department of Electrical and Computer Engineering,Thessaloniki,Greece,54124","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026621294","display_name":"Marios Kiatos","orcid":"https://orcid.org/0000-0002-2522-2529"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Marios Kiatos","raw_affiliation_strings":["Aristotle University of Thessaloniki,Department of Electrical and Computer Engineering,Thessaloniki,Greece,54124"],"affiliations":[{"raw_affiliation_string":"Aristotle University of Thessaloniki,Department of Electrical and Computer Engineering,Thessaloniki,Greece,54124","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079421769","display_name":"Zoe Doulgeri","orcid":"https://orcid.org/0000-0003-2188-9358"},"institutions":[{"id":"https://openalex.org/I21370196","display_name":"Aristotle University of Thessaloniki","ror":"https://ror.org/02j61yw88","country_code":"GR","type":"education","lineage":["https://openalex.org/I21370196"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Zoe Doulgeri","raw_affiliation_strings":["Aristotle University of Thessaloniki,Department of Electrical and Computer Engineering,Thessaloniki,Greece,54124"],"affiliations":[{"raw_affiliation_string":"Aristotle University of Thessaloniki,Department of Electrical and Computer Engineering,Thessaloniki,Greece,54124","institution_ids":["https://openalex.org/I21370196"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015647299","display_name":"Sotiris Malassiotis","orcid":"https://orcid.org/0000-0002-3911-7527"},"institutions":[{"id":"https://openalex.org/I4210093649","display_name":"Information Technologies Institute","ror":"https://ror.org/0069akp70","country_code":"GR","type":"nonprofit","lineage":["https://openalex.org/I4210093649"]},{"id":"https://openalex.org/I4210134249","display_name":"Centre for Research and Technology Hellas","ror":"https://ror.org/03bndpq63","country_code":"GR","type":"facility","lineage":["https://openalex.org/I4210134249"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Sotiris Malassiotis","raw_affiliation_strings":["Information Technologies Institute (ITI) Center of Research and Technology Hellas (CERTH),Thessaloniki,Greece,57001"],"affiliations":[{"raw_affiliation_string":"Information Technologies Institute (ITI) Center of Research and Technology Hellas (CERTH),Thessaloniki,Greece,57001","institution_ids":["https://openalex.org/I4210093649","https://openalex.org/I4210134249"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.847,"has_fulltext":true,"fulltext_origin":"pdf","cited_by_count":32,"citation_normalized_percentile":{"value":0.999948,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"6225","last_page":"6231"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.9981,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9957,"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":[],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.56987464},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5200003},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.5152817},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.42010558}],"mesh":[],"locations_count":3,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9196647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://zenodo.org/record/5163224","pdf_url":"https://zenodo.org/records/5163224/files/v2.0.pdf","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":["European Organization for Nuclear Research"],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false},{"is_oa":true,"landing_page_url":"https://arxiv.org/abs/1909.08105","pdf_url":"https://arxiv.org/pdf/1909.08105","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":["Cornell University"],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://zenodo.org/record/5163224","pdf_url":"https://zenodo.org/records/5163224/files/v2.0.pdf","source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":["European Organization for Nuclear Research"],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false},"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":27,"referenced_works":["https://openalex.org/W1969583232","https://openalex.org/W1999156278","https://openalex.org/W2014568170","https://openalex.org/W2036637075","https://openalex.org/W2065786943","https://openalex.org/W2098030884","https://openalex.org/W2125188427","https://openalex.org/W2128082316","https://openalex.org/W2145339207","https://openalex.org/W2158782408","https://openalex.org/W2173248099","https://openalex.org/W2201912979","https://openalex.org/W2405660904","https://openalex.org/W2885065155","https://openalex.org/W2904207885","https://openalex.org/W2910474428","https://openalex.org/W2918333121","https://openalex.org/W2962793652","https://openalex.org/W2963033241","https://openalex.org/W2963150697","https://openalex.org/W2963864421","https://openalex.org/W2969014098","https://openalex.org/W3011120880","https://openalex.org/W3021544315","https://openalex.org/W3098945452","https://openalex.org/W3112422759","https://openalex.org/W4301674170"],"related_works":["https://openalex.org/W4360585206","https://openalex.org/W4323565446","https://openalex.org/W4321369474","https://openalex.org/W4285208911","https://openalex.org/W4213079790","https://openalex.org/W3215138031","https://openalex.org/W3082895349","https://openalex.org/W3009238340","https://openalex.org/W2731899572","https://openalex.org/W2248239756"],"abstract_inverted_index":{"Extracting":[0],"a":[1,6,12,16,51,135,144],"known":[2],"target":[3,30,58,77],"object":[4,31,59,78],"from":[5,60,173],"pile":[7],"of":[8,66,70,124,140,160,166],"other":[9],"objects":[10,74],"in":[11,22,134],"cluttered":[13],"environment":[14,137,146],"is":[15,34,113,132,147],"challenging":[17],"robotic":[18,24],"manipulation":[19],"task":[20],"encountered":[21],"many":[23],"applications.":[25],"In":[26,46],"such":[27],"conditions,":[28],"the":[29,57,72,76,88,117,122,125,138,158,161,164,171],"touches":[32],"or":[33],"covered":[35],"by":[36,64,105],"adjacent":[37],"obstacle":[38],"objects,":[39],"thus":[40],"rendering":[41],"traditional":[42],"grasping":[43],"techniques":[44],"ineffective.":[45],"this":[47],"paper,":[48],"we":[49,91,155],"propose":[50],"pushing":[52,68],"policy":[53],"aiming":[54],"at":[55],"singulating":[56],"its":[61],"surrounding":[62],"clutter,":[63],"means":[65],"lateral":[67],"movements":[69],"both":[71],"neighboring":[73],"and":[75,95,107,120],"until":[79],"sufficient":[80],"'grasping":[81],"room'":[82],"has":[83],"been":[84],"achieved.":[85],"To":[86],"achieve":[87],"above":[89],"goal":[90],"employ":[92],"reinforcement":[93],"learning":[94,118,131],"particularly":[96],"Deep":[97],"Qlearning":[98],"(DQN)":[99],"to":[100,115,143,150],"learn":[101],"optimal":[102],"push":[103],"policies":[104,142],"trial":[106],"error.":[108],"A":[109],"novel":[110],"Split":[111],"DQN":[112],"proposed":[114],"improve":[116],"rate":[119],"increase":[121],"modularity":[123,159],"algorithm.":[126],"Experiments":[127],"show":[128],"that":[129,157],"although":[130],"performed":[133],"simulated":[136],"transfer":[139],"learned":[141],"real":[145],"effective":[148],"thanks":[149],"robust":[151],"feature":[152],"selection.":[153],"Finally,":[154],"demonstrate":[156],"algorithm":[162],"allows":[163],"addition":[165],"extra":[167],"primitives":[168],"without":[169],"retraining":[170],"model":[172],"scratch.":[174]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3089949728","counts_by_year":[{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":2}],"updated_date":"2025-01-02T03:56:46.281090","created_date":"2020-10-08"}