{"id":"https://openalex.org/W3216801340","doi":"https://doi.org/10.1109/icra46639.2022.9812113","title":"Accessibility-Based Clustering for Efficient Learning of Locomotion Skills","display_name":"Accessibility-Based Clustering for Efficient Learning of Locomotion Skills","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3216801340","doi":"https://doi.org/10.1109/icra46639.2022.9812113","mag":"3216801340"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812113","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2109.11191","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100393893","display_name":"Chong Zhang","orcid":"https://orcid.org/0000-0001-9609-8855"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chong Zhang","raw_affiliation_strings":["Tsinghua University,Department of Precision Instrument,Beijing,China,100084"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Precision Instrument,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082041086","display_name":"Wanming Yu","orcid":"https://orcid.org/0000-0002-5522-7937"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wanming Yu","raw_affiliation_strings":["School of Informatics, University of Edinburgh,Edinburgh,United Kingdom,EH8 9AB"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh,Edinburgh,United Kingdom,EH8 9AB","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["School of Informatics, University of Edinburgh,Edinburgh,United Kingdom,EH8 9AB"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh,Edinburgh,United Kingdom,EH8 9AB","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"1600","last_page":"1606"},"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9846000075340271,"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/robustness","display_name":"Robustness (evolution)","score":0.8685667514801025},{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.7453652620315552},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7331588268280029},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7093009948730469},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.6603960990905762},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.6389940977096558},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.56749027967453},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.47483283281326294},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.44581133127212524}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8685667514801025},{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.7453652620315552},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7331588268280029},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7093009948730469},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.6603960990905762},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.6389940977096558},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.56749027967453},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.47483283281326294},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.44581133127212524},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra46639.2022.9812113","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812113","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2109.11191","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.11191","pdf_url":"https://arxiv.org/pdf/2109.11191","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:pure.ed.ac.uk:publications/7f610ce6-472b-42e5-ae93-4c161e78b0c7","is_oa":false,"landing_page_url":"https://arxiv.org/abs/2109.11191","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10159086","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10159086/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:  2022 International Conference on Robotics and Automation (ICRA).  (pp. pp. 1600-1606).  IEEE: Philadelphia, PA, USA. (2022)     ","raw_type":"Proceedings paper"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/7f610ce6-472b-42e5-ae93-4c161e78b0c7","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/7f610ce6-472b-42e5-ae93-4c161e78b0c7","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zhang, C, Yu, W & Li, Z 2022, Accessibility-Based Clustering for Efficient Learning of Locomotion Skills. in 2022 IEEE International Conference on Robotics and Automation, ICRA 2022. Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers, pp. 1600-1606, 39th IEEE International Conference on Robotics and Automation, ICRA 2022, Philadelphia, United States, 23/05/22. https://doi.org/10.1109/ICRA46639.2022.9812113","raw_type":"contributionToPeriodical"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2109.11191","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2109.11191","pdf_url":"https://arxiv.org/pdf/2109.11191","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[{"score":0.5,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1535574976","https://openalex.org/W1551713770","https://openalex.org/W1673310716","https://openalex.org/W1836741323","https://openalex.org/W1955830134","https://openalex.org/W1985368783","https://openalex.org/W1994079251","https://openalex.org/W2032378315","https://openalex.org/W2042408133","https://openalex.org/W2073373795","https://openalex.org/W2073459066","https://openalex.org/W2105486945","https://openalex.org/W2127218421","https://openalex.org/W2152430833","https://openalex.org/W2237216255","https://openalex.org/W2546975091","https://openalex.org/W2597430783","https://openalex.org/W2623046470","https://openalex.org/W2736601468","https://openalex.org/W2771691050","https://openalex.org/W2776406584","https://openalex.org/W2796290181","https://openalex.org/W2891051118","https://openalex.org/W2904246096","https://openalex.org/W2911087563","https://openalex.org/W2915553973","https://openalex.org/W2972758308","https://openalex.org/W3000914927","https://openalex.org/W3044967063","https://openalex.org/W3092277419","https://openalex.org/W3098742898","https://openalex.org/W3104515094","https://openalex.org/W3104722610","https://openalex.org/W3104730803","https://openalex.org/W3108144771","https://openalex.org/W3111294788","https://openalex.org/W3112178754","https://openalex.org/W3117372156","https://openalex.org/W3200962355","https://openalex.org/W3206833690","https://openalex.org/W4286963241","https://openalex.org/W4300892751","https://openalex.org/W6637131181","https://openalex.org/W6648515476","https://openalex.org/W6675866919","https://openalex.org/W6678914141","https://openalex.org/W6741002519","https://openalex.org/W6757592117","https://openalex.org/W6801964084","https://openalex.org/W6891797237"],"related_works":["https://openalex.org/W3204184292","https://openalex.org/W3176564347","https://openalex.org/W2355833770","https://openalex.org/W1985458517","https://openalex.org/W3031039437","https://openalex.org/W183202219","https://openalex.org/W3095877357","https://openalex.org/W4387877362","https://openalex.org/W4389650576","https://openalex.org/W4385595302"],"abstract_inverted_index":{"For":[0],"model-free":[1],"deep":[2],"reinforcement":[3],"learning":[4,150],"of":[5,10,26,35,59,79,131,152,161,180],"quadruped":[6],"locomotion,":[7],"the":[8,57,77,80,85,90,96,110,117,147,149,167,181,185],"initialization":[9],"robot":[11,143,168],"configurations":[12],"is":[13,39],"crucial":[14],"for":[15,71],"data":[16,27,102],"efficiency":[17,28,103],"and":[18,29,65,108],"robustness.":[19],"This":[20],"work":[21],"focuses":[22],"on":[23,47,84,123],"algorithmic":[24],"improvements":[25],"robustness":[30,111],"simultaneously":[31],"through":[32],"automatic":[33],"discovery":[34],"initial":[36,97],"states,":[37,64,98],"which":[38],"achieved":[40],"by":[41,104,112],"our":[42,136,153,165],"proposed":[43,66],"K-Access":[44,69],"algorithm":[45,70],"based":[46,83],"accessibility":[48,53,86],"metrics.":[49,87],"Specifically,":[50],"we":[51,99,134],"formulated":[52],"metrics":[54],"to":[55,119,146,172,189],"measure":[56],"difficulty":[58],"transitions":[60],"between":[61],"two":[62],"arbitrary":[63],"a":[67,127],"novel":[68],"state-space":[72],"clustering":[73],"that":[74],"automatically":[75],"discovers":[76],"centroids":[78,118],"static-pose":[81],"clusters":[82],"By":[88],"using":[89,139],"discovered":[91],"centroidal":[92],"static":[93],"poses":[94,174],"as":[95,126,195],"can":[100,169,187],"improve":[101],"reducing":[105],"redundant":[106],"explorations,":[107],"enhance":[109],"more":[113],"effective":[114],"explorations":[115],"from":[116],"sampled":[120],"poses.":[121],"Focusing":[122],"fall":[124],"recovery":[125],"very":[128],"hard":[129],"set":[130],"locomotion":[132],"skills,":[133],"validated":[135],"method":[137,154,186],"extensively":[138],"an":[140],"8-DoF":[141],"quadrupedal":[142],"Bittle.":[144],"Compared":[145],"baselines,":[148],"curve":[151],"converges":[155],"much":[156],"faster,":[157],"requiring":[158],"only":[159],"60%":[160],"training":[162],"episodes.":[163],"With":[164],"method,":[166],"successfully":[170],"recover":[171],"standing":[173],"within":[175],"3":[176],"seconds":[177],"in":[178],"99.4%":[179],"test":[182],"cases.":[183],"Moreover,":[184],"generalize":[188],"other":[190],"difficult":[191],"skills":[192],"successfully,":[193],"such":[194],"backflipping.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
