{"id":"https://openalex.org/W7123343302","doi":"https://doi.org/10.1017/s0263574725103007","title":"Learning robust bipedal running via structured gait and trajectory guidance","display_name":"Learning robust bipedal running via structured gait and trajectory guidance","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7123343302","doi":"https://doi.org/10.1017/s0263574725103007"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725103007","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725103007","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083732310","display_name":"Yunpeng Liang","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunpeng Liang","raw_affiliation_strings":["Shanghai Jiao Tong University"],"raw_orcid":"https://orcid.org/0009-0004-3907-8902","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122857706","display_name":"Zhihui Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I882437043","display_name":"AGCO (Netherlands)","ror":"https://ror.org/021wep716","country_code":"NL","type":"company","lineage":["https://openalex.org/I4210126500","https://openalex.org/I882437043"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Zhihui Peng","raw_affiliation_strings":["AgiBot Technology Co. Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AgiBot Technology Co. Ltd","institution_ids":["https://openalex.org/I882437043"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111238142","display_name":"Yanzheng Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanzheng Zhao","raw_affiliation_strings":["Shanghai Jiao Tong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029654314","display_name":"Weixin Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weixin Yan","raw_affiliation_strings":["Shanghai Jiao Tong University"],"raw_orcid":"https://orcid.org/0000-0001-7173-4085","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5029654314"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":{"value":3550,"currency":"USD","value_usd":3550},"apc_paid":null,"fwci":2.6353,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.82812175,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"44","issue":"1","first_page":"150","last_page":"168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.963100016117096,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.963100016117096,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.012799999676644802,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.0044999998062849045,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/trajectory","display_name":"Trajectory","score":0.763700008392334},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5922999978065491},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5601999759674072},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.534600019454956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5063999891281128},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5045999884605408},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4781000018119812},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.47049999237060547},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46540001034736633}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.763700008392334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6538000106811523},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5922999978065491},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5601999759674072},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.534600019454956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5063999891281128},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5045999884605408},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4781000018119812},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.47049999237060547},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46540001034736633},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44839999079704285},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4392000138759613},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4230000078678131},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3603000044822693},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.35100001096725464},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3440000116825104},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.33889999985694885},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.33469998836517334},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.32659998536109924},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.3052999973297119},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.30070000886917114},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2935999929904938},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.28299999237060547},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.2815000116825104},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2757999897003174},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.25870001316070557},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.2583000063896179},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.2533000111579895}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725103007","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725103007","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W2003013030","https://openalex.org/W2158782408","https://openalex.org/W2161427949","https://openalex.org/W2161643831","https://openalex.org/W2792099719","https://openalex.org/W2911087563","https://openalex.org/W2964114602","https://openalex.org/W2972798201","https://openalex.org/W3093922502","https://openalex.org/W3136437429","https://openalex.org/W3142410314","https://openalex.org/W3176539729","https://openalex.org/W3206620955","https://openalex.org/W3206762371","https://openalex.org/W4224902844","https://openalex.org/W4226143977","https://openalex.org/W4378696928","https://openalex.org/W4387682164","https://openalex.org/W4389692427","https://openalex.org/W4395116617","https://openalex.org/W4402461874","https://openalex.org/W4403741606","https://openalex.org/W4405975125","https://openalex.org/W4416749978","https://openalex.org/W7083188390"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"Legged":[1],"robots":[2],"have":[3],"demonstrated":[4],"remarkable":[5],"potential":[6],"for":[7,46,109],"dynamic":[8],"locomotion":[9],"and":[10,23,56,91,113,121,133,154],"terrain":[11],"adaptability,":[12],"making":[13],"them":[14],"a":[15,42,51],"prominent":[16],"focus":[17],"of":[18,34],"research.":[19],"However,":[20],"achieving":[21],"robust":[22,47,150],"agile":[24],"bipedal":[25,48],"running":[26,146],"remains":[27],"challenging":[28],"due":[29],"to":[30,119],"the":[31,82,101],"complex":[32],"dynamics":[33,147],"legged":[35],"locomotion.":[36],"In":[37],"this":[38],"paper,":[39],"we":[40,85],"propose":[41],"reinforcement":[43],"learning":[44],"framework":[45],"running,":[49],"incorporating":[50],"simple":[52],"reference":[53,62],"trajectory":[54,69,102],"generator":[55],"an":[57],"asymmetric":[58],"actor-critic":[59],"architecture.":[60],"The":[61,141],"generator,":[63],"based":[64],"on":[65,151],"kinematics,":[66],"provides":[67],"diverse":[68],"references":[70],"while":[71,105,137],"preserving":[72,138],"key":[73],"gait":[74,139],"characteristics,":[75],"facilitating":[76],"efficient":[77],"policy":[78],"exploration.":[79],"To":[80],"mitigate":[81],"simulation-to-reality":[83],"gap,":[84],"extract":[86],"latent":[87],"variables":[88],"encoding":[89],"environmental":[90],"motion":[92],"information":[93],"from":[94],"dual":[95],"historical":[96],"observations.":[97],"Our":[98],"method":[99],"simplifies":[100],"generation":[103],"process":[104],"maintaining":[106],"effective":[107],"guidance":[108],"learning.":[110],"Extensive":[111],"simulation":[112],"physical":[114],"experiments":[115],"demonstrate":[116],"that,":[117],"compared":[118],"model-based":[120],"learning-based":[122],"baselines,":[123],"our":[124],"approach":[125],"achieves":[126],"higher":[127],"agility,":[128],"more":[129],"accurate":[130],"velocity":[131],"tracking,":[132],"stronger":[134],"disturbance":[135],"rejection":[136],"stability.":[140],"resulting":[142],"controller":[143],"exhibits":[144],"spring\u2013mass":[145],"that":[148],"remain":[149],"both":[152],"flat":[153],"uneven":[155],"terrains.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2026-01-14T00:00:00"}