{"id":"https://openalex.org/W4415524316","doi":"https://doi.org/10.1109/humanoids65713.2025.11203175","title":"No More Blind Spots: Learning Vision-Based Omnidirectional Bipedal Locomotion for Challenging Terrain","display_name":"No More Blind Spots: Learning Vision-Based Omnidirectional Bipedal Locomotion for Challenging Terrain","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524316","doi":"https://doi.org/10.1109/humanoids65713.2025.11203175"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203175","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/A5082095955","display_name":"Mohitvishnu S. Gadde","orcid":"https://orcid.org/0000-0002-3566-4275"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mohitvishnu S. Gadde","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems Institute, Oregon State University,Corvallis,OR,97331"],"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University,Corvallis,OR,97331","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006056405","display_name":"Pranay Dugar","orcid":"https://orcid.org/0000-0002-5598-7872"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pranay Dugar","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems Institute, Oregon State University,Corvallis,OR,97331"],"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University,Corvallis,OR,97331","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102993615","display_name":"Ashish Malik","orcid":"https://orcid.org/0000-0003-0382-4374"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ashish Malik","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems Institute, Oregon State University,Corvallis,OR,97331"],"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University,Corvallis,OR,97331","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030052689","display_name":"Alan Fern","orcid":"https://orcid.org/0000-0001-5851-8935"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Fern","raw_affiliation_strings":["Collaborative Robotics and Intelligent Systems Institute, Oregon State University,Corvallis,OR,97331"],"affiliations":[{"raw_affiliation_string":"Collaborative Robotics and Intelligent Systems Institute, Oregon State University,Corvallis,OR,97331","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5082095955"],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29113779,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"601","last_page":"608"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9593999981880188,"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":0.9593999981880188,"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/T10616","display_name":"Smart Agriculture and AI","score":0.9463000297546387,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9247999787330627,"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/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.8170999884605408},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6193000078201294},{"id":"https://openalex.org/keywords/rendering","display_name":"Rendering (computer graphics)","score":0.5342000126838684},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5232999920845032},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5074999928474426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4544000029563904},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4018999934196472}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.8170999884605408},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6912000179290771},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6193000078201294},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5455999970436096},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.5342000126838684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5295000076293945},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5232999920845032},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5074999928474426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4544000029563904},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4018999934196472},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3513000011444092},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3174000084400177},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30809998512268066},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.29499998688697815},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.29499998688697815},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.29440000653266907},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2915000021457672},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2782999873161316},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.2712000012397766},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.25290000438690186}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203175","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203175","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":[{"id":"https://openalex.org/G311505703","display_name":null,"funder_award_id":"2321851","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G694880240","display_name":null,"funder_award_id":"HR0011-24-9-0423","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W2158782408","https://openalex.org/W2905173465","https://openalex.org/W2964198579","https://openalex.org/W2968095971","https://openalex.org/W3093922502","https://openalex.org/W3176539729","https://openalex.org/W4205430897","https://openalex.org/W4285159888","https://openalex.org/W4312606126","https://openalex.org/W4312749288","https://openalex.org/W4383108196","https://openalex.org/W4390938336","https://openalex.org/W4401413790","https://openalex.org/W4401415792","https://openalex.org/W4401416668","https://openalex.org/W4401417431","https://openalex.org/W4402401628","https://openalex.org/W4405785864","https://openalex.org/W4412605573"],"related_works":[],"abstract_inverted_index":{"Effective":[0],"bipedal":[1,43,159],"locomotion":[2,138],"in":[3,19,64],"dynamic":[4],"environments,":[5],"such":[6,33],"as":[7],"cluttered":[8],"indoor":[9],"spaces":[10],"or":[11],"uneven":[12],"terrain,":[13],"requires":[14],"agile":[15],"and":[16,27,101,132],"adaptive":[17],"movement":[18,47],"all":[20],"directions.":[21],"This":[22,145],"necessitates":[23],"omnidirectional":[24,42,61,137,158],"terrain":[25,93],"sensing":[26],"a":[28,37,76,81,86,107],"controller":[29,79],"capable":[30],"of":[31,59,150,156],"processing":[32],"input.":[34],"We":[35,104],"present":[36],"learning":[38,70],"framework":[39,127],"for":[40,111],"vision-based":[41,87,157],"locomotion,":[44,160],"enabling":[45],"seamless":[46],"using":[48],"depth":[49,62],"images.":[50],"A":[51],"key":[52],"challenge":[53],"is":[54,128],"the":[55,148,153],"high":[56],"computational":[57],"cost":[58],"rendering":[60,97],"images":[63],"simulation,":[65],"making":[66],"traditional":[67],"sim-to-real":[68],"reinforcement":[69],"(RL)":[71],"impractical.":[72],"Our":[73,126],"method":[74],"combines":[75],"robust":[77],"blind":[78],"with":[80,139],"teacher":[82],"policy":[83],"that":[84],"supervises":[85],"student":[88,113],"policy,":[89],"trained":[90],"on":[91,142],"noise-augmented":[92],"data":[94,108],"to":[95,119,123,147,164],"avoid":[96],"costs":[98],"during":[99],"RL":[100],"ensure":[102],"robustness.":[103],"also":[105],"introduce":[106],"augmentation":[109],"technique":[110],"supervised":[112],"training,":[114],"accelerating":[115],"training":[116],"by":[117],"up":[118],"10":[120],"times":[121],"compared":[122],"conventional":[124],"methods.":[125],"validated":[129],"through":[130],"simulation":[131],"real-world":[133],"tests,":[134],"demonstrating":[135],"effective":[136],"minimal":[140],"reliance":[141],"expensive":[143],"rendering.":[144],"is,":[146],"best":[149],"our":[151],"knowledge,":[152],"first":[154],"demonstration":[155],"showcasing":[161],"its":[162],"adaptability":[163],"diverse":[165],"terrains.":[166]},"counts_by_year":[],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-24T00:00:00"}