Yanghong Li, Yahao Wang, Zhen Li, Lv Yingxiang, Jin Chai and Erbao Dong
This paper aims to design a deep reinforcement learning (DRL)-based variable impedance control policy that supports stability analysis for robot force tracking in complex…
Abstract
Purpose
This paper aims to design a deep reinforcement learning (DRL)-based variable impedance control policy that supports stability analysis for robot force tracking in complex geometric environments.
Design/methodology/approach
The DRL-based variable impedance controller explores and pre-learns the optimal policy for impedance parameter tuning in simulation scenarios with randomly generated workpieces. The trained results are then used as feedforward inputs to improve the force-tracking performance of the robot during contact. Based on Lyapunov’s theory, the stability of the proposed control policy is analysed to illustrate the interpretability of the results.
Findings
Simulations and experiments are performed on different types of complex environments. The results show that the proposed method is not only theoretically feasible but also has better force-tracking effects in practice.
Originality/value
Compared with most other DRL-based control policies, the proposed method possesses stability and interpretability, effectively avoids the overfitting phenomenon and thus has better simulation-to-real deployment results.
Details
Keywords
Hai-xi Jiang and Nan-ping Jiang
A more accurate comprehension of data elements and the exploration of new laws governing contemporary data in both theoretical and practical domains…
Abstract
Purpose
A more accurate comprehension of data elements and the exploration of new laws governing contemporary data in both theoretical and practical domains constitute a significant research topic.
Design/methodology/approach
Based on the perspective of evolutionary economics, this paper re-examines economic history and existing literature to study the following: changes in the “connotation of production factors” in economics caused by the evolution of production factors; the economic paradoxes formed by data in the context of social production processes and business models, which traditional theoretical frameworks fail to solve; the disruptive innovation of classical theory of value by multiple theories of value determination and the conflicts between the data market monopoly as well as the resulting distribution of value and the real economic society. The research indicates that contemporary advancements in data have catalyzed transformative innovation within the field of economics.
Findings
The research indicates that contemporary advancements in data have catalyzed disruptive innovation in the field of economics.
Originality/value
This paper, grounded in academic research, identifies four novel issues arising from contemporary data that cannot be adequately addressed within the confines of the classical economic theoretical framework.
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Keywords
This paper aims to establish a theoretical framework that can comprehensively explain the executive compensation in state-owned enterprises (SOEs) within the context of socialism…
Abstract
Purpose
This paper aims to establish a theoretical framework that can comprehensively explain the executive compensation in state-owned enterprises (SOEs) within the context of socialism with Chinese characteristics.
Design/methodology/approach
The author develops a theoretical framework for executive compensation in SOEs from the perspective of Marxist economics and points out that the executives in SOEs are engaged in management labor, and their compensation should adhere to the principle of distribution according to labor contribution.
Findings
Based on this theory, the author posits that the continuous upward trend of executive compensation in SOEs, is consistent with the trend of SOEs' ongoing expansion, which reflects a continuous improvement of SOE executives' management labor in both quality and quantity.
Originality/value
It is necessary to start with Marxist economic theory and scientifically study the issue of SOE executive compensation, adhere to the principle of distribution according to work in the context of a socialist market economy and implement the specific guideline of the Party Central Committee; only in this way can the long-term healthy development of SOEs be promoted continuously.