{"id":"https://openalex.org/W4407949855","doi":"https://doi.org/10.1109/cdc56724.2024.10886438","title":"SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion","display_name":"SYNLOCO: Synthesizing Central Pattern Generator and Reinforcement Learning for Quadruped Locomotion","publication_year":2024,"publication_date":"2024-12-16","ids":{"openalex":"https://openalex.org/W4407949855","doi":"https://doi.org/10.1109/cdc56724.2024.10886438"},"language":"en","primary_location":{"id":"doi:10.1109/cdc56724.2024.10886438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10886438","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd Conference on Decision and Control (CDC)","raw_type":"proceedings-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/A5103286512","display_name":"Xinyu Zhang","orcid":"https://orcid.org/0009-0009-9943-1903"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xinyu Zhang","raw_affiliation_strings":["Shenzhen Campus of Sun Yatsen University,School of Aeronautics and Astronautics,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"Shenzhen Campus of Sun Yatsen University,School of Aeronautics and Astronautics,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114189596","display_name":"Zhiyuan Xiao","orcid":null},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyuan Xiao","raw_affiliation_strings":["Shenzhen Campus of Sun Yatsen University,School of Aeronautics and Astronautics,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"Shenzhen Campus of Sun Yatsen University,School of Aeronautics and Astronautics,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064825247","display_name":"Qingrui Zhang","orcid":"https://orcid.org/0000-0002-1733-159X"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingrui Zhang","raw_affiliation_strings":["Shenzhen Campus of Sun Yatsen University,School of Aeronautics and Astronautics,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"Shenzhen Campus of Sun Yatsen University,School of Aeronautics and Astronautics,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100721259","display_name":"Wei Pan","orcid":"https://orcid.org/0000-0003-1121-9879"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wei Pan","raw_affiliation_strings":["The University of Manchester,Department of Computer Science,UK"],"affiliations":[{"raw_affiliation_string":"The University of Manchester,Department of Computer Science,UK","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103286512"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":0.5879,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65840036,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2640","last_page":"2645"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9952999949455261,"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":0.9952999949455261,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9829999804496765,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9710999727249146,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7069909572601318},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.606850266456604},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5965656042098999},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.5503567457199097},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.5091893076896667},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31839719414711},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19720834493637085},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13571959733963013},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.12162110209465027},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.09777900576591492},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.06413009762763977}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7069909572601318},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.606850266456604},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5965656042098999},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.5503567457199097},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5091893076896667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31839719414711},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19720834493637085},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13571959733963013},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.12162110209465027},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.09777900576591492},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.06413009762763977},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc56724.2024.10886438","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc56724.2024.10886438","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 63rd Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1481508412","https://openalex.org/W1494916908","https://openalex.org/W1963656947","https://openalex.org/W2048963734","https://openalex.org/W2767050701","https://openalex.org/W2796290181","https://openalex.org/W2911087563","https://openalex.org/W2955450695","https://openalex.org/W2963184939","https://openalex.org/W2964198579","https://openalex.org/W3080662046","https://openalex.org/W3093922502","https://openalex.org/W3177184855","https://openalex.org/W3185691815","https://openalex.org/W3199990163","https://openalex.org/W4283787029","https://openalex.org/W4309323738","https://openalex.org/W4317987839","https://openalex.org/W4386026190","https://openalex.org/W4405785131","https://openalex.org/W6741002519","https://openalex.org/W6800004206","https://openalex.org/W6801964084","https://openalex.org/W6847063038"],"related_works":["https://openalex.org/W1990068838","https://openalex.org/W4310083477","https://openalex.org/W2328553770","https://openalex.org/W2920061524","https://openalex.org/W2113517406","https://openalex.org/W1977959518","https://openalex.org/W2038908348","https://openalex.org/W2060577328","https://openalex.org/W2107890255","https://openalex.org/W2106552856"],"abstract_inverted_index":{"The":[0,164,182],"Central":[1],"Pattern":[2],"Generator":[3],"(CPG)":[4],"is":[5,115,139],"adept":[6],"at":[7],"generating":[8],"rhythmic":[9],"gait":[10],"patterns":[11],"characterized":[12],"by":[13],"consistent":[14,171],"timing":[15],"and":[16,60,80,96,118,144,161,172],"adequate":[17],"foot":[18],"clearance.":[19],"Yet,":[20],"its":[21,46,57,192],"open-loop":[22],"configuration":[23],"often":[24],"fails":[25],"to":[26,34,56,76],"adjust":[27],"the":[28,38,68,102,108,130],"system\u2019s":[29],"control":[30],"performance":[31],"in":[32,53,169],"response":[33],"environmental":[35],"variations.":[36],"On":[37],"other":[39],"hand,":[40],"Reinforcement":[41],"Learning":[42],"(RL),":[43],"celebrated":[44],"for":[45,194],"model-free":[47],"properties,":[48],"has":[49],"gained":[50],"significant":[51],"traction":[52],"robotics":[54],"due":[55],"inherent":[58],"adaptability":[59],"robustness.":[61],"However,":[62],"initiating":[63],"traditional":[64],"RL":[65],"approaches":[66],"from":[67],"ground":[69],"up":[70],"presents":[71],"a":[72,89,111,135,150],"risk":[73],"of":[74,104,110,133],"converging":[75],"suboptimal":[77],"local":[78],"minima":[79],"slow":[81],"learning":[82,131],"convergence.":[83],"In":[84],"this":[85],"paper,":[86],"we":[87],"propose":[88],"quadruped":[90,152],"locomotion":[91,112],"framework-called":[92],"SYNLOCO-by":[93],"synthesizing":[94],"CPG":[95],"RL,":[97],"which":[98],"can":[99],"ingeniously":[100],"integrate":[101],"strengths":[103],"both":[105,116],"methods,":[106],"enabling":[107],"development":[109],"controller":[113,184],"that":[114],"stable":[117],"natural":[119],"with":[120],"partial":[121],"state":[122],"observations":[123],"(e.g.,":[124],"no":[125,179],"velocity":[126,180],"measurements).":[127],"To":[128],"optimize":[129],"trajectory":[132],"SYNLOCO,":[134],"two-phase":[136],"training":[137],"strategy":[138],"presented.":[140],"Both":[141],"ablation":[142],"analysis":[143],"experimental":[145],"comparison":[146],"are":[147],"performed":[148],"using":[149],"real":[151],"robot":[153],"under":[154],"varied":[155],"conditions,":[156],"including":[157],"distinct":[158],"velocities,":[159],"terrains,":[160],"payload":[162],"capacities.":[163],"experiments":[165],"showcase":[166],"SYNLOCO\u2019s":[167],"efficiency":[168],"producing":[170],"clear-footed":[173],"gaits":[174],"across":[175],"diverse":[176],"scenarios,":[177],"despite":[178],"measurements.":[181],"developed":[183],"exhibits":[185],"resilience":[186],"against":[187],"substantial":[188],"parameter":[189],"variations,":[190],"underscoring":[191],"potential":[193],"robust":[195],"real-world":[196],"applications.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}
