{"id":"https://openalex.org/W4415524659","doi":"https://doi.org/10.1109/humanoids65713.2025.11203191","title":"Learning to Walk in Costume: Adversarial Motion Priors for Aesthetically Constrained Humanoids","display_name":"Learning to Walk in Costume: Adversarial Motion Priors for Aesthetically Constrained Humanoids","publication_year":2025,"publication_date":"2025-09-30","ids":{"openalex":"https://openalex.org/W4415524659","doi":"https://doi.org/10.1109/humanoids65713.2025.11203191"},"language":null,"primary_location":{"id":"doi:10.1109/humanoids65713.2025.11203191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203191","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/A5082768374","display_name":"Arturo Flores Alvarez","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arturo Flores Alvarez","raw_affiliation_strings":["UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023737038","display_name":"Fatemeh Zargarbashi","orcid":"https://orcid.org/0009-0001-9734-2693"},"institutions":[{"id":"https://openalex.org/I4210110659","display_name":"Z\u00fcrcher Fachhochschule","ror":"https://ror.org/01sxmzj91","country_code":"CH","type":"education","lineage":["https://openalex.org/I4210110659"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fatemeh Zargarbashi","raw_affiliation_strings":["ETH Zürich,Dept. of Computer Science,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zürich,Dept. of Computer Science,Switzerland","institution_ids":["https://openalex.org/I4210110659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000715892","display_name":"Havel Liu","orcid":"https://orcid.org/0000-0003-1653-0471"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Havel Liu","raw_affiliation_strings":["UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102906628","display_name":"Shiqi Wang","orcid":"https://orcid.org/0000-0002-4700-3925"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shiqi Wang","raw_affiliation_strings":["UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Liam Edwards","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liam Edwards","raw_affiliation_strings":["UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119946873","display_name":"Jessica Anz","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jessica Anz","raw_affiliation_strings":["UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073386464","display_name":"Fan Xu","orcid":"https://orcid.org/0000-0003-0833-1982"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Xu","raw_affiliation_strings":["UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043420881","display_name":"Fan Shi","orcid":"https://orcid.org/0000-0002-9202-1727"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Fan Shi","raw_affiliation_strings":["National University of Singapore,Human-Centered Robotics Lab,Dept. of Electrical and Computer Engineering,Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of Singapore,Human-Centered Robotics Lab,Dept. of Electrical and Computer Engineering,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055713873","display_name":"Stelian Coros","orcid":"https://orcid.org/0000-0001-6604-4784"},"institutions":[{"id":"https://openalex.org/I4210110659","display_name":"Z\u00fcrcher Fachhochschule","ror":"https://ror.org/01sxmzj91","country_code":"CH","type":"education","lineage":["https://openalex.org/I4210110659"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Stelian Coros","raw_affiliation_strings":["ETH Zürich,Dept. of Computer Science,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zürich,Dept. of Computer Science,Switzerland","institution_ids":["https://openalex.org/I4210110659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis W. Hong","raw_affiliation_strings":["UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UCLA,Robotics and Mechanisms Laboratory (RoMeLa),Dept. of Mechanical and Aerospace Engineering,CA,USA","institution_ids":["https://openalex.org/I4210116723"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":10,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26853905,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"593","last_page":"600"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T14002","display_name":"Art, Technology, and Culture","score":0.8938000202178955,"subfield":{"id":"https://openalex.org/subfields/1213","display_name":"Visual Arts and Performing Arts"},"field":{"id":"https://openalex.org/fields/12","display_name":"Arts and Humanities"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T14002","display_name":"Art, Technology, and Culture","score":0.8938000202178955,"subfield":{"id":"https://openalex.org/subfields/1213","display_name":"Visual Arts and Performing Arts"},"field":{"id":"https://openalex.org/fields/12","display_name":"Arts and Humanities"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10783","display_name":"Additive Manufacturing and 3D Printing Technologies","score":0.8791999816894531,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12122","display_name":"Physical Unclonable Functions (PUFs) and Hardware Security","score":0.8474000096321106,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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":0.7462000250816345},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6717000007629395},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.5338000059127808},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5072000026702881},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.5012000203132629},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.413100004196167},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.36419999599456787},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.34049999713897705},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3382999897003174}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7462000250816345},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6717000007629395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.638700008392334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6029999852180481},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.5338000059127808},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5109999775886536},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5072000026702881},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.5012000203132629},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.413100004196167},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.36419999599456787},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.34049999713897705},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3382999897003174},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.336899995803833},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.3287000060081482},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.3278000056743622},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.32670000195503235},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.3172999918460846},{"id":"https://openalex.org/C512170562","wikidata":"https://www.wikidata.org/wiki/Q173799","display_name":"Entertainment","level":2,"score":0.31150001287460327},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3000999987125397},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.2705000042915344},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26969999074935913},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.26840001344680786},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2662000060081482},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.2653999924659729},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2637999951839447},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2630999982357025},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.25529998540878296},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2540999948978424}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids65713.2025.11203191","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids65713.2025.11203191","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1945123189","https://openalex.org/W3096749928","https://openalex.org/W3147968035","https://openalex.org/W3206620955","https://openalex.org/W4312900898","https://openalex.org/W4394872716","https://openalex.org/W4402354000","https://openalex.org/W4402354017","https://openalex.org/W4403741606"],"related_works":[],"abstract_inverted_index":{"We":[0,75],"present":[1,23],"a":[2,10,35,117],"Reinforcement":[3],"Learning":[4],"(RL)-based":[5],"locomotion":[6],"system":[7],"for":[8,15,120],"Cosmo,":[9],"custom-built":[11],"humanoid":[12],"robot":[13,66],"designed":[14],"entertainment":[16,21],"applications.":[17],"Unlike":[18],"traditional":[19],"humanoids,":[20],"robots":[22,121],"unique":[24],"challenges":[25],"due":[26],"to":[27,63,67,85,136],"aesthetic-driven":[28,137],"design":[29,138],"choices.":[30],"Cosmo":[31],"embodies":[32],"these":[33,55],"with":[34,126],"disproportionately":[36],"large":[37],"head":[38],"(16":[39],"%":[40],"of":[41],"total":[42],"mass),":[43],"limited":[44],"sensing,":[45],"and":[46,81,103,111],"protective":[47],"shells":[48],"that":[49,98,122,130],"considerably":[50],"restrict":[51],"movement.":[52],"To":[53],"address":[54],"challenges,":[56],"we":[57],"apply":[58],"Adversarial":[59],"Motion":[60],"Priors":[61],"(AMP)":[62],"enable":[64],"the":[65],"learn":[68],"naturallooking":[69],"movements":[70],"while":[71],"maintaining":[72],"physical":[73],"stability.":[74],"develop":[76],"tailored":[77],"domain":[78],"randomization":[79],"techniques":[80],"specialized":[82],"reward":[83],"structures":[84],"ensure":[86],"safe":[87],"sim-to-real,":[88],"protecting":[89],"valuable":[90],"hardware":[91],"components":[92],"during":[93],"deployment.":[94],"Our":[95],"experiments":[96],"demonstrate":[97],"AMP":[99],"generates":[100],"stable":[101],"standing":[102],"walking":[104],"behaviors":[105],"despite":[106],"Cosmo's":[107],"extreme":[108],"mass":[109],"distribution":[110],"movement":[112],"constraints.":[113,139],"These":[114],"results":[115],"establish":[116],"promising":[118],"direction":[119],"balance":[123],"aesthetic":[124],"appeal":[125],"functional":[127],"performance,":[128],"suggesting":[129],"learning-based":[131],"methods":[132],"can":[133],"effectively":[134],"adapt":[135]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-24T00:00:00"}