{"id":"https://openalex.org/W4415524670","doi":"https://doi.org/10.1109/humanoids65713.2025.11203023","title":"Latent Conditioned Loco-Manipulation Using Motion Priors","display_name":"Latent Conditioned Loco-Manipulation Using Motion Priors","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524670","doi":"https://doi.org/10.1109/humanoids65713.2025.11203023"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203023","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203023","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-05242643","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Maciej St\u0119pie\u0144","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Maciej St\u0119pie\u0144","raw_affiliation_strings":["Université de Toulouse,LAAS-CNRS,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université de Toulouse,LAAS-CNRS,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030760558","display_name":"Rafael Kourdis","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rafael Kourdis","raw_affiliation_strings":["Université de Toulouse,LAAS-CNRS,France","School of Informatics [Edimbourg] (Informatics Forum 10 Crichton Street Edinburgh EH8 9AB - United Kingdom)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université de Toulouse,LAAS-CNRS,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"School of Informatics [Edimbourg] (Informatics Forum 10 Crichton Street Edinburgh EH8 9AB - United Kingdom)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015386475","display_name":"C. Roux","orcid":"https://orcid.org/0000-0002-6826-5967"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Constant Roux","raw_affiliation_strings":["Université de Toulouse,LAAS-CNRS,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université de Toulouse,LAAS-CNRS,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071048560","display_name":"Olivier Stasse","orcid":"https://orcid.org/0000-0001-8569-6155"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Stasse","raw_affiliation_strings":["Université de Toulouse,LAAS-CNRS,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Université de Toulouse,LAAS-CNRS,France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.36531275,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"365","last_page":"372"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9983000159263611,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9983000159263611,"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"}},{"id":"https://openalex.org/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9894999861717224,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9858999848365784,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8170999884605408},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5665000081062317},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.49729999899864197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4862000048160553},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.46709999442100525},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.459199994802475},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.41260001063346863},{"id":"https://openalex.org/keywords/programming-by-demonstration","display_name":"Programming by demonstration","score":0.39100000262260437}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8170999884605408},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6811000108718872},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.574999988079071},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5665000081062317},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.49729999899864197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4862000048160553},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.46709999442100525},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.459199994802475},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.41260001063346863},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.39100000262260437},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.38179999589920044},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.37560001015663147},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3402000069618225},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3280999958515167},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.29820001125335693},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.29739999771118164},{"id":"https://openalex.org/C2779803651","wikidata":"https://www.wikidata.org/wiki/Q5282088","display_name":"Discriminator","level":3,"score":0.29679998755455017},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.28949999809265137},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26930001378059387},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.26919999718666077},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2599000036716461},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.25940001010894775},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2583000063896179}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203023","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203023","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-05242643v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05242643","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, South Korea. pp.365-372, ⟨10.1109/Humanoids65713.2025.11203023⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-05242643v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05242643","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"public-domain","license_id":"https://openalex.org/licenses/public-domain","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Sep 2025, Seoul, South Korea. pp.365-372, ⟨10.1109/Humanoids65713.2025.11203023⟩","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2123871098","https://openalex.org/W2801567109","https://openalex.org/W2977389550","https://openalex.org/W3096831136","https://openalex.org/W3147968035","https://openalex.org/W4229044820","https://openalex.org/W4312900898","https://openalex.org/W4367016688","https://openalex.org/W4383066216","https://openalex.org/W4383108291","https://openalex.org/W4401414804","https://openalex.org/W4403741606","https://openalex.org/W4404738510","https://openalex.org/W4405778675","https://openalex.org/W4405786041"],"related_works":[],"abstract_inverted_index":{"Although":[0],"humanoid":[1,108,155],"and":[2,39,109,134,156,168],"quadruped":[3],"robots":[4],"provide":[5],"a":[6,59,136],"wide":[7],"range":[8],"of":[9],"capabilities,":[10],"current":[11],"control":[12,73],"methods,":[13],"such":[14],"as":[15,159,161],"Deep":[16],"Reinforcement":[17],"Learning,":[18],"focus":[19],"mainly":[20],"on":[21,164],"single":[22],"skills.":[23],"This":[24,88],"approach":[25,54,106],"is":[26,55],"inefficient":[27],"for":[28,94,139,152],"solving":[29],"more":[30,52],"complicated":[31],"tasks":[32],"where":[33],"high-level":[34],"goals,":[35],"physical":[36],"robot":[37],"limitations":[38],"desired":[40],"motion":[41,61],"style":[42],"might":[43],"all":[44],"need":[45],"to":[46,56,83,107,128],"be":[47,81],"taken":[48],"into":[49],"account.":[50],"A":[51],"effective":[53],"first":[57],"train":[58],"multipurpose":[60],"policy":[62,79],"that":[63],"acquires":[64],"low-level":[65],"skills":[66],"through":[67],"imitation,":[68],"while":[69],"providing":[70],"latent":[71],"space":[72],"over":[74],"skill":[75],"execution.":[76],"Then,":[77],"this":[78,101],"can":[80],"used":[82],"efficiently":[84],"solve":[85],"downstream":[86],"tasks.":[87],"method":[89],"has":[90],"already":[91],"been":[92],"successful":[93],"controlling":[95],"characters":[96],"in":[97,150],"computer":[98],"graphics.":[99],"In":[100],"work,":[102],"we":[103],"apply":[104],"the":[105,125,153],"quadrupedal":[110],"loco-manipulation":[111,149],"by":[112,147],"imitating":[113],"either":[114],"simple":[115],"synthetic":[116],"motions":[117],"or":[118],"kinematically":[119],"retargeted":[120],"dog":[121],"motions.":[122],"We":[123,143],"extend":[124],"original":[126],"formulation":[127],"handle":[129],"constraints,":[130],"ensuring":[131],"deployment":[132],"safety,":[133],"use":[135],"diffusion":[137],"discriminator":[138],"better":[140],"imitation":[141],"quality.":[142],"verify":[144],"our":[145],"methods":[146],"performing":[148],"simulation":[151],"H1":[154],"Solo12":[157,165],"quadruped,":[158],"well":[160],"deploying":[162],"policies":[163],"hardware.":[166],"Videos":[167],"code":[169],"are":[170],"available":[171],"at":[172],"https://gepetto.github.io/LaCoLoco/":[173]},"counts_by_year":[],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-24T00:00:00"}