{"id":"https://openalex.org/W4415524125","doi":"https://doi.org/10.1109/humanoids65713.2025.11203054","title":"Learning Point-to-Point Bipedal Walking Without Global Navigation","display_name":"Learning Point-to-Point Bipedal Walking Without Global Navigation","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524125","doi":"https://doi.org/10.1109/humanoids65713.2025.11203054"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203054","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114036882","display_name":"Xueyan Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xueyan Ma","raw_affiliation_strings":["Humanoid Robot (Shanghai) Co., Ltd.,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Humanoid Robot (Shanghai) Co., Ltd.,Shanghai,China","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017654505","display_name":"Boxing Wang","orcid":"https://orcid.org/0000-0001-5252-885X"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boxing Wang","raw_affiliation_strings":["Humanoid Robot (Shanghai) Co., Ltd.,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Humanoid Robot (Shanghai) Co., Ltd.,Shanghai,China","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113410747","display_name":"Chong Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chong Tian","raw_affiliation_strings":["Humanoid Robot (Shanghai) Co., Ltd.,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Humanoid Robot (Shanghai) Co., Ltd.,Shanghai,China","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101754704","display_name":"Boyang Xing","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boyang Xing","raw_affiliation_strings":["Humanoid Robot (Shanghai) Co., Ltd.,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Humanoid Robot (Shanghai) Co., Ltd.,Shanghai,China","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100405018","display_name":"Yufei Liu","orcid":"https://orcid.org/0000-0001-5495-7797"},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yufei Liu","raw_affiliation_strings":["Humanoid Robot (Shanghai) Co., Ltd.,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Humanoid Robot (Shanghai) Co., Ltd.,Shanghai,China","institution_ids":["https://openalex.org/I4210144102"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5114036882"],"corresponding_institution_ids":["https://openalex.org/I4210144102"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31736577,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9911999702453613,"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":0.9911999702453613,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5613999962806702},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5296000242233276},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5270000100135803},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5205000042915344},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49050000309944153},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45890000462532043},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45829999446868896},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4122999906539917},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4108999967575073}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5613999962806702},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5296000242233276},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5270000100135803},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5205000042915344},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5115000009536743},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49050000309944153},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45890000462532043},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45829999446868896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4239000082015991},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4122999906539917},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4108999967575073},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.374099999666214},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36730000376701355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33399999141693115},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.33329999446868896},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3181999921798706},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.31779998540878296},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3109000027179718},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3019999861717224},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3009999990463257},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.295199990272522},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.29319998621940613},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.27469998598098755},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2667999863624573},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26429998874664307},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.25859999656677246},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.25440001487731934}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203054","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203054","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W2061983716","https://openalex.org/W2143729862","https://openalex.org/W2906487027","https://openalex.org/W2911087563","https://openalex.org/W2914653242","https://openalex.org/W2980301669","https://openalex.org/W3010768390","https://openalex.org/W3206762371","https://openalex.org/W4229081732","https://openalex.org/W4283734789","https://openalex.org/W4286423847","https://openalex.org/W4313563049","https://openalex.org/W4367016688","https://openalex.org/W4390938336","https://openalex.org/W4402354114","https://openalex.org/W4403741606"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,61,70,91],"reinforcement":[4],"learning":[5],"framework":[6,143],"for":[7,52,153],"navigation-free":[8],"point-to-point":[9,148],"walking":[10,57],"in":[11,85,118,123],"bipedal":[12],"robots.":[13],"Unlike":[14],"traditional":[15],"velocity-command-based":[16],"approaches,":[17],"we":[18],"introduce":[19],"displacement-based":[20],"commands":[21],"that":[22],"align":[23],"more":[24],"naturally":[25],"with":[26,83],"the":[27,46,67,106,127,151],"discrete":[28,54],"stepping":[29],"nature":[30],"of":[31,48,72,113],"legged":[32],"locomotion.":[33],"Our":[34],"method":[35],"enables":[36],"smooth":[37],"transitions":[38],"between":[39],"standing":[40],"and":[41,50,55,65,75,88,120,134,146],"walking,":[42],"accurate":[43],"control":[44],"over":[45],"number":[47],"steps,":[49],"support":[51],"both":[53],"continuous":[56],"trajectories.":[58],"We":[59],"design":[60],"phase-encoded":[62],"command":[63],"format":[64],"train":[66],"policy":[68,80],"using":[69],"history":[71],"proprioceptive":[73],"states":[74],"well-crafted":[76],"reward":[77],"functions.":[78],"The":[79,141],"is":[81],"trained":[82],"PPO":[84],"Isaac":[86],"Lab":[87],"deployed":[89],"on":[90],"full-size":[92],"humanoid":[93],"robot":[94],"(1.8":[95],"meters":[96,117,133],"tall,":[97],"80":[98],"kg,":[99],"6":[100],"DoF":[101],"per":[102],"leg).":[103],"In":[104],"simulation,":[105],"controller":[107],"achieves":[108],"an":[109],"average":[110],"tracking":[111],"error":[112],"less":[114],"than":[115],"0.11":[116],"position":[119],"0.05":[121],"radians":[122,136],"heading.":[124],"On":[125],"hardware,":[126],"maximum":[128],"errors":[129],"reach":[130],"to":[131,138],"0.3":[132],"0.2":[135],"due":[137],"sim-to-real":[139],"discrepancies.":[140],"proposed":[142],"demonstrates":[144],"robust":[145],"efficient":[147],"locomotion":[149],"without":[150],"need":[152],"high-level":[154],"navigation":[155],"modules.":[156]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-10-24T00:00:00"}
