{"id":"https://openalex.org/W4401415103","doi":"https://doi.org/10.1109/icra57147.2024.10610449","title":"HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation","display_name":"HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415103","doi":"https://doi.org/10.1109/icra57147.2024.10610449"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610449","doi":"https://doi.org/10.1109/icra57147.2024.10610449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610449","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2309.14225","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006953286","display_name":"Annan Tang","orcid":"https://orcid.org/0009-0005-4480-6182","observed_orcids":["https://orcid.org/0009-0005-4480-6182"]},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Annan Tang","raw_affiliation_strings":["The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103113765","display_name":"Takuma Hiraoka","orcid":"https://orcid.org/0009-0002-5681-4903","observed_orcids":["https://orcid.org/0009-0002-5681-4903"]},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuma Hiraoka","raw_affiliation_strings":["The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012872263","display_name":"Naoki Hiraoka","orcid":"https://orcid.org/0000-0001-9373-5708","observed_orcids":["https://orcid.org/0000-0001-9373-5708"]},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Hiraoka","raw_affiliation_strings":["The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043420881","display_name":"Fan Shi","orcid":"https://orcid.org/0000-0002-9202-1727","observed_orcids":["https://orcid.org/0000-0002-9202-1727"]},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fan Shi","raw_affiliation_strings":["The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087094940","display_name":"Kento Kawaharazuka","orcid":"https://orcid.org/0000-0002-7464-7187","observed_orcids":["https://orcid.org/0000-0002-7464-7187"]},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kento Kawaharazuka","raw_affiliation_strings":["The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072306746","display_name":"Kunio Kojima","orcid":"https://orcid.org/0000-0003-2198-8591","observed_orcids":["https://orcid.org/0000-0003-2198-8591"]},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kunio Kojima","raw_affiliation_strings":["The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692","observed_orcids":["https://orcid.org/0000-0001-6606-6692"]},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567","observed_orcids":["https://orcid.org/0000-0003-1273-1567"]},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo,JSK Lab, Graduate School of Information Science and Technology,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5006953286"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":5.3529,"has_fulltext":true,"cited_by_count":63,"citation_normalized_percentile":{"value":0.96231835,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"13107","last_page":"13114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.4535999894142151,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.4535999894142151,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.3955000042915344,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.12449999898672104,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot-locomotion","display_name":"humanoid locomotion","score":0.8859999775886536},{"id":"https://openalex.org/keywords/imitation-learning","display_name":"imitation learning","score":0.8100000023841858},{"id":"https://openalex.org/keywords/wasserstein-distance","display_name":"Wasserstein distance","score":0.7680000066757202},{"id":"https://openalex.org/keywords/motion-retargeting","display_name":"motion retargeting","score":0.8169999718666077},{"id":"https://openalex.org/keywords/model-collapse","display_name":"model collapse","score":0.7799999713897705},{"id":"https://openalex.org/keywords/dynamic-walking","display_name":"dynamic walking","score":0.41100001335144043}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8079506158828735},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.7914389371871948},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6724346280097961},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5909311175346375},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.5644823312759399},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5309692621231079},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.47768813371658325},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45582589507102966},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3889353275299072},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08141139149665833},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07084193825721741},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra57147.2024.10610449","doi":"https://doi.org/10.1109/icra57147.2024.10610449","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610449","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2309.14225","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2309.14225","pdf_url":"https://arxiv.org/pdf/2309.14225","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2309.14225","doi":"https://doi.org/10.48550/arxiv.2309.14225","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2309.14225","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2309.14225","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2309.14225","pdf_url":"https://arxiv.org/pdf/2309.14225","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401415103.pdf","grobid_xml":"https://content.openalex.org/works/W4401415103.grobid-xml"},"referenced_works_count":62,"referenced_works":["https://openalex.org/W1524012148","https://openalex.org/W2003013030","https://openalex.org/W2044627378","https://openalex.org/W2120435658","https://openalex.org/W2214607041","https://openalex.org/W2221569889","https://openalex.org/W2434014514","https://openalex.org/W2605135824","https://openalex.org/W2617322972","https://openalex.org/W2736601468","https://openalex.org/W2759973161","https://openalex.org/W2762522875","https://openalex.org/W2783563913","https://openalex.org/W2784449021","https://openalex.org/W2796290181","https://openalex.org/W2889450890","https://openalex.org/W2890026535","https://openalex.org/W2911087563","https://openalex.org/W2980301669","https://openalex.org/W3004240161","https://openalex.org/W3014488508","https://openalex.org/W3025281718","https://openalex.org/W3029641972","https://openalex.org/W3033602179","https://openalex.org/W3033836998","https://openalex.org/W3037562402","https://openalex.org/W3096243380","https://openalex.org/W3147968035","https://openalex.org/W3162157701","https://openalex.org/W3165718346","https://openalex.org/W3173049816","https://openalex.org/W3182474098","https://openalex.org/W3193576605","https://openalex.org/W3205983103","https://openalex.org/W3206363598","https://openalex.org/W4200577745","https://openalex.org/W4210700398","https://openalex.org/W4225918202","https://openalex.org/W4229044820","https://openalex.org/W4240805545","https://openalex.org/W4287818847","https://openalex.org/W4312900898","https://openalex.org/W4313036662","https://openalex.org/W4313197141","https://openalex.org/W4313563049","https://openalex.org/W4323527567","https://openalex.org/W4366851112","https://openalex.org/W4382365373","https://openalex.org/W4383097434","https://openalex.org/W4383109295","https://openalex.org/W4383109371","https://openalex.org/W4385275600","https://openalex.org/W4385430644","https://openalex.org/W4385486316","https://openalex.org/W4385756663","https://openalex.org/W4392763392","https://openalex.org/W4394674699","https://openalex.org/W4394872716","https://openalex.org/W4400362143","https://openalex.org/W6743668032","https://openalex.org/W6839426209","https://openalex.org/W6928820953"],"related_works":["https://openalex.org/W4413925792","https://openalex.org/W7161281433","https://openalex.org/W7220830251","https://openalex.org/W7131898982","https://openalex.org/W7123337870","https://openalex.org/W4414902670","https://openalex.org/W6891903499","https://openalex.org/W4402354017","https://openalex.org/W7162839737","https://openalex.org/W7131127775"],"abstract_inverted_index":{"Transferring":[0],"human":[1,37,53],"motion":[2,45],"skills":[3],"to":[4,25,47,68,73,104,165],"humanoid":[5,23,56,120],"robots":[6,24],"remains":[7],"a":[8,16,42,88,99,118,130],"significant":[9],"challenge.":[10],"In":[11],"this":[12],"study,":[13],"we":[14,40,86],"introduce":[15],"Wasserstein":[17],"adversarial":[18,59],"imitation":[19],"learning":[20],"system,":[21],"allowing":[22],"replicate":[26],"natural":[27],"whole-body":[28],"locomotion":[29,134,170],"patterns":[30,171],"and":[31,55,109,144],"execute":[32],"seamless":[33],"transitions":[34],"by":[35],"mimicking":[36],"motions.":[38,84],"First,":[39],"present":[41],"unified":[43],"primitive-skeleton":[44],"retargeting":[46],"mitigate":[48],"morphological":[49],"differences":[50],"between":[51,168],"arbitrary":[52],"demonstrators":[54],"robots.":[57],"An":[58],"critic":[60],"component":[61],"is":[62,115],"integrated":[63],"with":[64,77,98],"Reinforcement":[65],"Learning":[66],"(RL)":[67],"guide":[69],"the":[70,78,95,106,123,150,156,159],"control":[71,127],"policy":[72,128],"produce":[74],"behaviors":[75],"aligned":[76],"data":[79],"distribution":[80],"of":[81,133,152],"mixed":[82],"reference":[83],"Additionally,":[85],"employ":[87],"specific":[89],"Integral":[90],"Probabilistic":[91],"Metric":[92],"(IPM),":[93],"namely":[94],"Wasserstein-1":[96],"distance":[97],"novel":[100],"soft":[101],"boundary":[102],"constraint":[103],"stabilize":[105],"training":[107],"process":[108],"prevent":[110],"model":[111],"collapse.":[112],"Our":[113],"system":[114],"evaluated":[116],"on":[117],"full-sized":[119],"JAXON":[121],"in":[122,149,155],"simulator.":[124],"The":[125],"resulting":[126],"demonstrates":[129],"wide":[131],"range":[132],"patterns,":[135],"including":[136],"standing,":[137],"push-recovery,":[138],"squat":[139],"walking,":[140,143],"humanlike":[141],"straight-leg":[142],"dynamic":[145],"running.":[146],"Notably,":[147],"even":[148],"absence":[151],"transition":[153],"motions":[154],"demonstration":[157],"dataset,":[158],"robot":[160],"showcases":[161],"an":[162],"emerging":[163],"ability":[164],"transit":[166],"naturally":[167],"distinct":[169],"as":[172],"desired":[173],"speed":[174],"changes.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":26},{"year":2025,"cited_by_count":25},{"year":2024,"cited_by_count":12}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2024-08-09T00:00:00"}
