用强化学习打造可交互的光镊微机器人仿真平台，提升生物操作效率。
Interactive OT Gym: A Reinforcement Learning-Based Interactive Optical tweezer (OT)-Driven Microrobotics Simulation Platform
- 基于强化学习与力反馈设计交互式光镊仿真系统
- 协作操控任务完成时间减少67%，成功率100%
- 适合开发智能微操作系统的研究人员使用
光镊（OT）在生物医学应用中具备亚微米级精度的微操作能力。然而，在动态环境中控制多捕获点光镊实现多个复杂形状微机器人的协同操作仍具挑战。为此，我们提出Interactive OT Gym——一个基于强化学习（RL）的光镊驱动微机器人仿真平台。该平台支持复杂物理场模拟，集成触觉反馈接口、强化学习模块及上下文感知的共享控制策略，适用于光镊驱动微机器人在生物对象协同操作任务中的控制。系统实现人机控制无缝切换，显著提升操作灵活性。通过细胞操控任务评估，结果表明：相比纯人工或纯强化学习控制，该共享控制系统使任务完成时间缩短约67%，并达到100%成功率。凭借高保真度、强交互性、低成本和高速仿真能力，Interactive OT Gym可作为先进交互式光镊微操作系统与控制算法的研发训练平台。
原文摘要 · Abstract (English)
Optical tweezers (OT) offer unparalleled capabilities for micromanipulation with submicron precision in biomedical applications. However, controlling conventional multi-trap OT to achieve cooperative manipulation of multiple complex-shaped microrobots in dynamic environments poses a significant challenge. To address this, we introduce Interactive OT Gym, a reinforcement learning (RL)-based simulation platform designed for OT-driven microrobotics. Our platform supports complex physical field simulations and integrates haptic feedback interfaces, RL modules, and context-aware shared control strategies tailored for OT-driven microrobot in cooperative biological object manipulation tasks. This integration allows for an adaptive blend of manual and autonomous control, enabling seamless transitions between human input and autonomous operation. We evaluated the effectiveness of our platform using a cell manipulation task. Experimental results show that our shared control system significantly improves micromanipulation performance, reducing task completion time by approximately 67% compared to using pure human or RL control alone and achieving a 100% success rate. With its high fidelity, interactivity, low cost, and high-speed simulation capabilities, Interactive OT Gym serves as a user-friendly training and testing environment for the development of advanced interactive OT-driven micromanipulation systems and control algorithms. For more details on the project, please see our website https://sites.google.com/view/otgym
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