{"id":"https://openalex.org/W3106303400","doi":"https://doi.org/10.1109/icra48506.2021.9561160","title":"Learning to steer a locomotion contact planner","display_name":"Learning to steer a locomotion contact planner","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3106303400","doi":"https://doi.org/10.1109/icra48506.2021.9561160","mag":"3106303400"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561160","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.archives-ouvertes.fr/hal-02998757","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001512767","display_name":"Jason Chemin","orcid":null},"institutions":[{"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/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"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"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Jason Chemin","raw_affiliation_strings":["LAAS-CNRS, Univ. Toulouse, CNRS, France"],"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Univ. Toulouse, CNRS, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020382725","display_name":"Pierre Fernbach","orcid":"https://orcid.org/0000-0002-6850-7110"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pierre Fernbach","raw_affiliation_strings":["Toward, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"Toward, Toulouse, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030864184","display_name":"Daeun Song","orcid":"https://orcid.org/0000-0002-8009-2149"},"institutions":[{"id":"https://openalex.org/I138925566","display_name":"Ewha Womans University","ror":"https://ror.org/053fp5c05","country_code":"KR","type":"education","lineage":["https://openalex.org/I138925566"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Daeun Song","raw_affiliation_strings":["Dept. of CSE, Ewha Womans University, Korea"],"affiliations":[{"raw_affiliation_string":"Dept. of CSE, Ewha Womans University, Korea","institution_ids":["https://openalex.org/I138925566"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049026235","display_name":"Guilhem Saurel","orcid":"https://orcid.org/0000-0002-0867-1664"},"institutions":[{"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/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guilhem Saurel","raw_affiliation_strings":["LAAS-CNRS, Univ. Toulouse, CNRS, France"],"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Univ. Toulouse, CNRS, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046876471","display_name":"Nicolas Mansard","orcid":"https://orcid.org/0000-0002-8090-0601"},"institutions":[{"id":"https://openalex.org/I84500057","display_name":"Institut de Math\u00e9matiques de Toulouse","ror":"https://ror.org/014vp6c30","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I196454796","https://openalex.org/I4210141950","https://openalex.org/I4210152422","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405259414","https://openalex.org/I84500057"]},{"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/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/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"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"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Mansard","raw_affiliation_strings":["Artificial and Natural Intelligence Toulouse Institute, France","LAAS-CNRS, Univ. Toulouse, CNRS, France"],"affiliations":[{"raw_affiliation_string":"Artificial and Natural Intelligence Toulouse Institute, France","institution_ids":["https://openalex.org/I84500057"]},{"raw_affiliation_string":"LAAS-CNRS, Univ. Toulouse, CNRS, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043622443","display_name":"Steve Tonneau","orcid":"https://orcid.org/0000-0003-3001-8693"},"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/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]},{"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/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR","GB"],"is_corresponding":false,"raw_author_name":"Steve Tonneau","raw_affiliation_strings":["IPAB, The University of Edinburgh, Scotland","LAAS-CNRS, Univ. Toulouse, CNRS, France"],"affiliations":[{"raw_affiliation_string":"IPAB, The University of Edinburgh, Scotland","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"LAAS-CNRS, Univ. Toulouse, CNRS, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5001512767"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":0.0849,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.3524223,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"38","issue":null,"first_page":"4430","last_page":"4437"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9878000020980835,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9787999987602234,"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/motion-planning","display_name":"Motion planning","score":0.7136241793632507},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6942806243896484},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6632717847824097},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6405398845672607},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6262426972389221},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6138975024223328},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5471247434616089},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.49769166111946106},{"id":"https://openalex.org/keywords/generality","display_name":"Generality","score":0.47233739495277405},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4719642400741577},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.45049938559532166},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.44914889335632324},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.43604713678359985},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37948259711265564},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34015804529190063},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33179473876953125},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1638341248035431}],"concepts":[{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7136241793632507},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6942806243896484},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6632717847824097},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6405398845672607},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6262426972389221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6138975024223328},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5471247434616089},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.49769166111946106},{"id":"https://openalex.org/C2780767217","wikidata":"https://www.wikidata.org/wiki/Q5532421","display_name":"Generality","level":2,"score":0.47233739495277405},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4719642400741577},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.45049938559532166},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.44914889335632324},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.43604713678359985},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37948259711265564},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34015804529190063},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33179473876953125},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1638341248035431},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra48506.2021.9561160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561160","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02998757v1","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-02998757","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:HAL:hal-02998757v3","is_oa":true,"landing_page_url":"https://hal.science/hal-02998757","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.ieee-icra.org/","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02998757v1","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-02998757","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6700000166893005,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W1757796397","https://openalex.org/W1771410628","https://openalex.org/W2006010000","https://openalex.org/W2015149365","https://openalex.org/W2042408133","https://openalex.org/W2074042377","https://openalex.org/W2095143145","https://openalex.org/W2119881003","https://openalex.org/W2133859362","https://openalex.org/W2138419444","https://openalex.org/W2283655042","https://openalex.org/W2345626358","https://openalex.org/W2415458238","https://openalex.org/W2460299708","https://openalex.org/W2475210682","https://openalex.org/W2545385919","https://openalex.org/W2563784145","https://openalex.org/W2587742116","https://openalex.org/W2597700484","https://openalex.org/W2611706523","https://openalex.org/W2614308505","https://openalex.org/W2726187156","https://openalex.org/W2736601468","https://openalex.org/W2739146943","https://openalex.org/W2739330054","https://openalex.org/W2767178383","https://openalex.org/W2769052358","https://openalex.org/W2788030459","https://openalex.org/W2789286310","https://openalex.org/W2796290181","https://openalex.org/W2801567109","https://openalex.org/W2890831342","https://openalex.org/W2906487027","https://openalex.org/W2963184939","https://openalex.org/W2963310566","https://openalex.org/W2963645756","https://openalex.org/W2963985863","https://openalex.org/W2986708244","https://openalex.org/W2987886924","https://openalex.org/W3010768390","https://openalex.org/W3021055704","https://openalex.org/W3029641972","https://openalex.org/W3047392033","https://openalex.org/W3089750699","https://openalex.org/W3099126917","https://openalex.org/W3104515094","https://openalex.org/W3108412994","https://openalex.org/W3127527157","https://openalex.org/W4297797010","https://openalex.org/W4298857966","https://openalex.org/W6637967152","https://openalex.org/W6638018090","https://openalex.org/W6733045190","https://openalex.org/W6740222838","https://openalex.org/W6741002519","https://openalex.org/W6748638692","https://openalex.org/W6776891491","https://openalex.org/W6778428183","https://openalex.org/W6790668762"],"related_works":["https://openalex.org/W2045049461","https://openalex.org/W1978893398","https://openalex.org/W2201908702","https://openalex.org/W4381094582","https://openalex.org/W2369625323","https://openalex.org/W2364579609","https://openalex.org/W1977906818","https://openalex.org/W1522139108","https://openalex.org/W2353528968","https://openalex.org/W4285089922"],"abstract_inverted_index":{"The":[0,150],"combinatorics":[1],"inherent":[2],"to":[3,34,49,58,77,86,138,190,230],"the":[4,15,23,31,36,40,61,113,117,147,161,164,170,188,192,198],"issue":[5],"of":[6,63,160],"planning":[7,228],"legged":[8,64],"locomotion":[9,65],"can":[10,97,222],"be":[11,98,176,223],"addressed":[12],"by":[13],"decomposing":[14],"problem:":[16],"first,":[17],"select":[18],"a":[19,26,52,74,80,88,93,107,122,129,140,153,157,183,218,226],"guide":[20,41,89],"path":[21,90,171,227],"abstracting":[22],"contacts":[24,174,189],"with":[25,106,133,182,225],"heuristic":[27],"model;":[28],"then":[29,180],"compute":[30,50],"contact":[32,95,184,212],"sequence":[33,96],"balance":[35],"robot":[37,165,193],"gait":[38],"along":[39,91,132],"path.":[42],"While":[43],"several":[44],"models":[45],"have":[46,55,127],"been":[47],"proposed":[48],"such":[51],"path,":[53],"none":[54],"yet":[56],"managed":[57],"efficiently":[59],"capture":[60],"complexity":[62],"on":[66],"arbitrary":[67],"terrain.":[68],"In":[69],"this":[70,220],"paper,":[71],"we":[72],"present":[73],"novel":[75],"method":[76],"automatically":[78],"build":[79],"local":[81,158],"controller,":[82],"or":[83],"steering":[84,148],"method,":[85],"generate":[87],"which":[92,115],"feasible":[94,211],"built.":[99],"Our":[100],"reinforcement":[101,142],"learning":[102,143],"approach":[103],"is":[104,179],"coupled":[105,181],"geometric":[108],"condition":[109],"for":[110],"feasibility":[111],"during":[112],"training,":[114],"improves":[116],"convergence":[118],"rate":[119,208],"without":[120],"incurring":[121],"loss":[123],"in":[124],"generality.":[125],"We":[126,195],"designed":[128],"dedicated":[130],"environment":[131],"an":[134,202],"associated":[135],"reward":[136],"function":[137],"run":[139],"classical":[141],"algorithm":[144,229],"that":[145,186,197],"computes":[146],"method.":[149],"policy":[151,200,221],"takes":[152],"target":[154],"velocity":[155],"and":[156,168,205],"heightmap":[159],"terrain":[162],"around":[163],"as":[166],"inputs,":[167],"steers":[169],"where":[172],"new":[173],"should":[175],"created.":[177],"It":[178],"generator":[185],"creates":[187],"support":[191],"movement.":[194],"show":[196],"trained":[199],"has":[201],"improved":[203],"generalization":[204],"higher":[206],"success":[207],"at":[209],"generating":[210],"plans":[213],"than":[214],"previous":[215],"approaches.":[216],"As":[217],"result,":[219],"used":[224],"navigate":[231],"complex":[232],"environments.":[233]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}