{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,18]],"date-time":"2026-05-18T12:16:49Z","timestamp":1779106609186,"version":"3.51.4"},"reference-count":27,"publisher":"Institution of Engineering and Technology (IET)","issue":"1","license":[{"start":{"date-parts":[[2025,11,26]],"date-time":"2025-11-26T00:00:00Z","timestamp":1764115200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"},{"start":{"date-parts":[[2025,11,26]],"date-time":"2025-11-26T00:00:00Z","timestamp":1764115200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["ietresearch.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["CAAI Trans on Intel Tech"],"published-print":{"date-parts":[[2026,2]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>Humans can learn complex and dexterous manipulation tasks by observing videos, imitating and exploring. Multiple end\u2010effectors manipulation of free micron\u2010sized deformable cells is one of the challenging tasks in robotic micromanipulation. We propose an imitation\u2010enhanced reinforcement learning method inspired by the human learning process that enables robots to learn cell micromanipulation skills from videos. Firstly, for the microscopic robot micromanipulation videos, a multi\u2010task observation (MTO) network is designed to identify the two end\u2010effectors and the manipulated objects to obtain the spatiotemporal trajectories. The spatiotemporal constraints of the robot's actions are obtained by the task\u2010parameterised hidden Markov model (THMM). To simultaneously address the safety and dexterity of robot micromanipulation, an imitation learning optimisation\u2010based soft actor\u2010critic (ILOSAC) algorithm is proposed in which the robot can perform skill learning by demonstration and exploration. The proposed method is capable of performing complex cell manipulation tasks in a realistic physical environment. Experiments indicated that compared with current methods and manual remote manipulation, the proposed framework achieved a shorter operation time and less deformation of cells, which is expected to facilitate the development of robot skill learning.<\/jats:p>","DOI":"10.1049\/cit2.70076","type":"journal-article","created":{"date-parts":[[2025,11,26]],"date-time":"2025-11-26T16:14:46Z","timestamp":1764173686000},"page":"123-136","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Robotic Cell Micromanipulation Skill Learning via Imitation\u2010Enhanced Reinforcement Learning"],"prefix":"10.1049","volume":"11","author":[{"given":"Youchao","family":"Zhang","sequence":"first","affiliation":[{"name":"Key Team of Intelligent Bioindustry Innovation Team, Department of Biosystems Engineering Zhejiang University  Hangzhou China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fanghao","family":"Wang","sequence":"additional","affiliation":[{"name":"Key Team of Intelligent Bioindustry Innovation Team, Department of Biosystems Engineering Zhejiang University  Hangzhou China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3768-0719","authenticated-orcid":false,"given":"Xiangyu","family":"Guo","sequence":"additional","affiliation":[{"name":"Key Team of Intelligent Bioindustry Innovation Team, Department of Biosystems Engineering Zhejiang University  Hangzhou China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yibin","family":"Ying","sequence":"additional","affiliation":[{"name":"Key Team of Intelligent Bioindustry Innovation Team, Department of Biosystems Engineering Zhejiang University  Hangzhou China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6944-1483","authenticated-orcid":false,"given":"Mingchuan","family":"Zhou","sequence":"additional","affiliation":[{"name":"Key Team of Intelligent Bioindustry Innovation Team, Department of Biosystems Engineering Zhejiang University  Hangzhou China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhongliang","family":"Jiang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering University of Hong Kong  Hong Kong China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alois","family":"Knoll","sequence":"additional","affiliation":[{"name":"School of Computation, Information, and Technology Technical University of Munich  Munich Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"265","published-online":{"date-parts":[[2025,11,26]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2034831"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2021.3118205"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2022.3142671"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2022.3158200"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2023.3287364"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2019.2946746"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911413479"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909340212"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/tmech.2016.2574871"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/tase.2015.2411271"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO54168.2021.9739380"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2002.1258"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/tii.2020.3020065"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/tii.2020.3036693"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/tii.2023.3240585"},{"key":"e_1_2_8_17_1","volume-title":"Proceedings of the AAAI Conference on Artificial Intelligence","author":"Hester T.","year":"2018"},{"key":"e_1_2_8_18_1","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2022.3217833"},{"key":"e_1_2_8_19_1","unstructured":"M.Vecerik ToddH. 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