Reinforcement Learning-Based Control for Robotic Flexible Element Disassembly

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

1. Compare your work with the most advanced technological solutions？

 

2. In the main text, the full names of all abbreviations must be provided when defining abbreviations for the first time?

 

3. At present, only SAC, DDPG, and PPO have been compared. It is recommended to add Twin Delayed DDPG (TD3) to verify its robustness in high noise dynamic environments, especially its generalization ability in non search direction tasks?

 

4. The article only sets and  as fixed values, and a dynamic weighting mechanism based on real-time task progress or elasticity coefficient needs to be designed to further enhance the adaptability of force distance balance?

 

5. At present, the state space in the article only includes position, force, and distance. Real time deformation parameters of elastic elements and environmental friction coefficients should be added to comprehensively observe interactive dynamics.

 

6. Gazebo force model may be overly idealized and require the introduction of more complex random noise and perturbations to increase the algorithm's generalization ability to real-world scenarios?

 

7. Analyze the inference delay of PPO, SAC, and DDPG. Propose a model lightweight solution based on specific deployment requirements and verify its feasibility on edge devices?

 

8. At present, the article only relies on simulation to supplement the experiment of dismantling the refrigerator seal ring with a robotic arm, comparing the force control error and success rate differences between simulation and physical objects?

 

9. What challenges do we need to face when applying the control method proposed in this article to practice?

Comments on the Quality of English Language

It should be improved.

Author Response

 "Please see the attachment."

Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

The paper sound technically. The problem addressed here is quite interesting. But I have some curiosity about the research article as mentioned in the attached file.

Comments for author File: Comments.pdf

Author Response

 "Please see the attachment."

Author Response File: Author Response.pdf

Reviewer 3 Report

Comments and Suggestions for Authors

1. Supplement more cutting-edge research related to the disassembly of flexible components in robots, especially the achievements in the past year or two, to make the research background more timely; Conduct a more in-depth analysis of the shortcomings of existing research, highlighting the necessity and innovation of this study.
2. You need to explain in detail the basis for setting various parameters in the simulation environment, such as the range of elastic modulus and the selection of coefficients in the force model; Further elaborate on the details of data transfer and collaborative work between modules in the hybrid planning architecture, enhancing the comprehensibility and repeatability of the method.
3. Improve chart annotations, providing detailed explanations of the meanings and experimental conditions represented by each data in the chart; In depth analysis of the reasons for the differences in performance of different algorithms under different environmental configurations, combined with algorithm principles, provides more valuable references for subsequent research.

Comments on the Quality of English Language

Simplify complex and lengthy sentences, optimize the expression structure, and make the content easier to understand; Carefully check the use of professional terminology to ensure accuracy and correctness; It is recommended to have a professional English editor polish the entire text to improve the language quality.

Author Response

 "Please see the attachment."

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

Comments and Suggestions for Authors

It can be accepted.