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@ARTICLE{Leinen:884720,
      author       = {Leinen, Philipp and Esders, Malte and Schütt, Kristof T.
                      and Wagner, Christian and Müller, Klaus-Robert and Tautz,
                      F. Stefan},
      title        = {{A}utonomous robotic nanofabrication with reinforcement
                      learning},
      journal      = {Science advances},
      volume       = {6},
      number       = {36},
      issn         = {2375-2548},
      address      = {Washington, DC [u.a.]},
      publisher    = {Assoc.},
      reportid     = {FZJ-2020-03214},
      pages        = {eabb6987 -},
      year         = {2020},
      abstract     = {The ability to handle single molecules as effectively as
                      macroscopic building blocks would enable the construction of
                      complex supramolecular structures inaccessible to
                      self-assembly. The fundamental challenges obstructing this
                      goal are the uncontrolled variability and poor observability
                      of atomic-scale conformations. Here, we present a strategy
                      to work around both obstacles and demonstrate autonomous
                      robotic nanofabrication by manipulating single molecules.
                      Our approach uses reinforcement learning (RL), which finds
                      solution strategies even in the face of large uncertainty
                      and sparse feedback. We demonstrate the potential of our RL
                      approach by removing molecules autonomously with a scanning
                      probe microscope from a supramolecular structure. Our RL
                      agent reaches an excellent performance, enabling us to
                      automate a task that previously had to be performed by a
                      human. We anticipate that our work opens the way toward
                      autonomous agents for the robotic construction of functional
                      supramolecular structures with speed, precision, and
                      perseverance beyond our current capabilities.},
      cin          = {PGI-3},
      ddc          = {500},
      cid          = {I:(DE-Juel1)PGI-3-20110106},
      pnm          = {143 - Controlling Configuration-Based Phenomena (POF3-143)},
      pid          = {G:(DE-HGF)POF3-143},
      typ          = {PUB:(DE-HGF)16},
      pubmed       = {pmid:32917594},
      UT           = {WOS:000567766700027},
      doi          = {10.1126/sciadv.abb6987},
      url          = {https://juser.fz-juelich.de/record/884720},
}