{"id":"https://openalex.org/W4414432529","doi":"https://doi.org/10.1109/case58245.2025.11163761","title":"Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupeds","display_name":"Isaac Sim-to-Real: Reinforcement Learning based Locomotion for Quadrupeds","publication_year":2025,"publication_date":"2025-08-17","ids":{"openalex":"https://openalex.org/W4414432529","doi":"https://doi.org/10.1109/case58245.2025.11163761"},"language":"en","primary_location":{"id":"doi:10.1109/case58245.2025.11163761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11163761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5099517731","display_name":"Jordan Dowdy","orcid":"https://orcid.org/0009-0000-4374-6943"},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jordan Dowdy","raw_affiliation_strings":["University of Louisville,Department of Electrical and Computer Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Louisville,Department of Electrical and Computer Engineering","institution_ids":["https://openalex.org/I142740786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033596369","display_name":"Jean Chagas Vaz","orcid":"https://orcid.org/0000-0002-2934-8209"},"institutions":[{"id":"https://openalex.org/I142740786","display_name":"University of Louisville","ror":"https://ror.org/01ckdn478","country_code":"US","type":"education","lineage":["https://openalex.org/I142740786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Chagas Vaz","raw_affiliation_strings":["University of Louisville,Faculty of Electrical and Computer Engineering,Louisville,KY,USA,40208"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Louisville,Faculty of Electrical and Computer Engineering,Louisville,KY,USA,40208","institution_ids":["https://openalex.org/I142740786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I142740786"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2194","last_page":"2199"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.980400025844574,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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/T10533","display_name":"Teaching and Learning Programming","score":0.980400025844574,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"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":0.9760000109672546,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9599000215530396,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8162999749183655},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.576200008392334},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.46459999680519104},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.45579999685287476},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.43160000443458557},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35499998927116394},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.35089999437332153}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8162999749183655},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.576200008392334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5735999941825867},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.46459999680519104},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.45579999685287476},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.43160000443458557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40619999170303345},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.382999986410141},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.35089999437332153},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.33489999175071716},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3151000142097473},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31220000982284546},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28870001435279846},{"id":"https://openalex.org/C2780586970","wikidata":"https://www.wikidata.org/wiki/Q1357284","display_name":"Popularity","level":2,"score":0.288100004196167},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.28279998898506165},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.2703999876976013},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.2549999952316284}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case58245.2025.11163761","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11163761","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W2018855542","https://openalex.org/W2618245409","https://openalex.org/W2783173101","https://openalex.org/W2909331752","https://openalex.org/W2911087563","https://openalex.org/W2947983634","https://openalex.org/W3011016396","https://openalex.org/W3134580056","https://openalex.org/W3150631816","https://openalex.org/W3203069471","https://openalex.org/W3207033168","https://openalex.org/W3212580602","https://openalex.org/W4367016688","https://openalex.org/W4383108196","https://openalex.org/W4383108873","https://openalex.org/W4389352651","https://openalex.org/W4390481291","https://openalex.org/W4392945120","https://openalex.org/W4401110147","https://openalex.org/W4401414693","https://openalex.org/W4401414901","https://openalex.org/W4402353773","https://openalex.org/W4405180201","https://openalex.org/W4407949855","https://openalex.org/W4411550967","https://openalex.org/W4414079055"],"related_works":[],"abstract_inverted_index":{"Learning-based":[0],"approaches":[1],"to":[2,128,137],"locomotion":[3,17,73],"have":[4],"risen":[5],"in":[6,8,50],"popularity":[7],"recent":[9],"years,":[10],"showing":[11,123],"the":[12,24,64,117,129],"capability":[13],"for":[14,28,99],"complex":[15],"legged":[16],"and":[18,39,42,92,142,149],"whole-body":[19,77],"control.":[20,78],"Reinforcement":[21],"learning":[22],"(RL),":[23],"primary":[25],"learning-based":[26],"approach":[27],"locomotion,":[29],"often":[30],"utilizes":[31,83],"a":[32,37,59,70,102,134],"high-performance":[33],"simulation":[34,51,88],"tool,":[35],"providing":[36],"controlled":[38],"efficient":[40],"training":[41],"development":[43],"environment.":[44],"However,":[45],"policies":[46],"that":[47],"perform":[48],"well":[49],"frequently":[52],"encounter":[53],"unexpected":[54],"challenges":[55],"when":[56],"deployed":[57],"on":[58,113],"physical":[60,114],"system,":[61],"known":[62],"as":[63],"sim-to-real":[65,104],"gap.":[66],"This":[67],"work":[68],"presents":[69],"robust":[71],"RL":[72,81,95],"framework":[74,82],"capable":[75],"of":[76,87,108,146,152],"The":[79,106],"proposed":[80],"Nvidia\u2019s":[84],"new":[85],"set":[86],"tools,":[89],"Isaac":[90,97],"Sim,":[91],"its":[93],"companion":[94],"framework,":[96],"Lab,":[98],"training,":[100],"achieving":[101],"zero-shot":[103],"policy.":[105],"performance":[107,127],"our":[109],"policy":[110],"is":[111],"validated":[112],"hardware":[115],"using":[116],"Unitree":[118],"Go1,":[119],"with":[120,133],"experimental":[121],"results":[122],"similar":[124],"velocity":[125],"tracking":[126],"quadrupeds\u2019":[130],"integrated":[131],"controller,":[132],"greater":[135],"ability":[136],"recover":[138],"from":[139],"large":[140],"disturbances,":[141],"achieve":[143],"linear":[144],"velocities":[145,151],"2.0":[147],"m/s":[148],"angular":[150],"1.8":[153],"rad/s.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
