{"id":"https://openalex.org/W4402715920","doi":"https://doi.org/10.1109/cis-ram61939.2024.10673134","title":"Meta-Reinforcement Learning of Hierarchical Fault-Tolerant Controller for Multiple Leg Failures in Hexapod robots","display_name":"Meta-Reinforcement Learning of Hierarchical Fault-Tolerant Controller for Multiple Leg Failures in Hexapod robots","publication_year":2024,"publication_date":"2024-08-08","ids":{"openalex":"https://openalex.org/W4402715920","doi":"https://doi.org/10.1109/cis-ram61939.2024.10673134"},"language":"en","primary_location":{"id":"doi:10.1109/cis-ram61939.2024.10673134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram61939.2024.10673134","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","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/A5109786566","display_name":"Tengye Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tengye Xu","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016848207","display_name":"Zhe Yang","orcid":"https://orcid.org/0000-0001-7246-0012"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Yang","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041199618","display_name":"Qinyuan Ren","orcid":"https://orcid.org/0000-0001-9487-2675"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qinyuan Ren","raw_affiliation_strings":["Zhejiang University,College of Control Science and Engineering,Hangzhou,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zhejiang University,College of Control Science and Engineering,Hangzhou,China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":0.159,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.4562216,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"297","last_page":"302"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.996399998664856,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9771000146865845,"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/hexapod","display_name":"Hexapod","score":0.9837204813957214},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8495204448699951},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6783063411712646},{"id":"https://openalex.org/keywords/fault-tolerance","display_name":"Fault tolerance","score":0.6612673997879028},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6193757057189941},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5438355803489685},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.434085488319397},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36524438858032227},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20961007475852966},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.16691690683364868},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06456977128982544}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9837204813957214},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8495204448699951},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6783063411712646},{"id":"https://openalex.org/C63540848","wikidata":"https://www.wikidata.org/wiki/Q3140932","display_name":"Fault tolerance","level":2,"score":0.6612673997879028},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6193757057189941},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5438355803489685},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.434085488319397},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36524438858032227},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20961007475852966},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.16691690683364868},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06456977128982544},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cis-ram61939.2024.10673134","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cis-ram61939.2024.10673134","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE International Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W13333063","https://openalex.org/W1554148719","https://openalex.org/W1957247193","https://openalex.org/W2048450448","https://openalex.org/W2129112262","https://openalex.org/W2693243531","https://openalex.org/W2789741901","https://openalex.org/W2955450695","https://openalex.org/W2980712642","https://openalex.org/W3010754899","https://openalex.org/W3019265885","https://openalex.org/W3207380642","https://openalex.org/W4288358432","https://openalex.org/W4297201609","https://openalex.org/W4307509697","https://openalex.org/W4309323738","https://openalex.org/W4385245566","https://openalex.org/W4387724473","https://openalex.org/W6683263447"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W613729187","https://openalex.org/W2789574804","https://openalex.org/W2114803124","https://openalex.org/W2063353256","https://openalex.org/W123722128","https://openalex.org/W4390269031","https://openalex.org/W4389787393","https://openalex.org/W132946187","https://openalex.org/W3097667865"],"abstract_inverted_index":{"Hexapod":[0],"robots":[1],"used":[2],"in":[3,43,52,57,126],"resource":[4],"exploration":[5],"and":[6,144],"post-disaster":[7],"rescue":[8],"operations":[9],"often":[10],"face":[11],"the":[12,32,48,61,80,109,118,123,133,136],"risk":[13],"of":[14,26,78,100,112,122],"multiple":[15,93],"unexpected":[16,129],"leg":[17,83,105,130],"failures,":[18],"which":[19],"can":[20,55],"lead":[21],"to":[22,35,39,41,60,128,149],"an":[23],"immediate":[24],"threat":[25],"falling.":[27],"Traditional":[28],"controllers":[29],"generally":[30],"lack":[31],"fault-tolerance":[33],"required":[34],"adjust":[36],"locomotion":[37,94],"gaits":[38],"continue":[40],"move":[42],"a":[44,66,73],"target":[45],"direction.":[46],"Maintaining":[47],"original":[49],"motion":[50],"patterns":[51],"such":[53],"situations":[54],"result":[56],"severe":[58],"damage":[59],"robot.":[62],"This":[63],"work":[64],"proposes":[65],"hierarchical":[67],"fault-tolerant":[68,120],"control":[69],"scheme":[70],"that":[71],"employs":[72],"meta-learning":[74],"training":[75],"architecture":[76,90],"capable":[77],"addressing":[79],"non-stationary":[81],"multi-task":[82],"failure":[84],"adaptation":[85],"problem.":[86],"The":[87],"meta":[88],"Learning":[89],"simultaneously":[91],"trains":[92],"tasks":[95],"with":[96],"all":[97],"possible":[98],"configurations":[99],"one,":[101],"two":[102],"or":[103],"three":[104],"failures":[106],"occurring":[107],"during":[108],"normal":[110],"movement":[111],"hexapod":[113],"robots.":[114],"Experimental":[115],"results":[116],"demonstrate":[117],"exceptional":[119],"capabilities":[121],"trained":[124],"controller":[125,134],"adapting":[127],"failures.":[131],"Furthermore,":[132],"maintains":[135],"robot\u2019s":[137],"planar":[138],"mobility,":[139],"providing":[140],"superior":[141],"velocity":[142],"tracking":[143],"directional":[145],"following":[146],"abilities":[147],"compared":[148],"baselines.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
