{"id":"https://openalex.org/W3169621876","doi":"https://doi.org/10.1109/icra48506.2021.9561639","title":"Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning","display_name":"Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3169621876","doi":"https://doi.org/10.1109/icra48506.2021.9561639","mag":"3169621876"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561639","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":"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/A5072631552","display_name":"Siddhant Gangapurwala","orcid":"https://orcid.org/0000-0002-1308-3744"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Siddhant Gangapurwala","raw_affiliation_strings":["Dynamic Robots Systems (DRS) Group, Oxford Robotics Institute, University of Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Robots Systems (DRS) Group, Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051019466","display_name":"Mathieu Geisert","orcid":"https://orcid.org/0000-0002-5651-8736"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Mathieu Geisert","raw_affiliation_strings":["Dynamic Robots Systems (DRS) Group, Oxford Robotics Institute, University of Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Robots Systems (DRS) Group, Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082437931","display_name":"Romeo Orsolino","orcid":"https://orcid.org/0000-0001-9847-2601"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Romeo Orsolino","raw_affiliation_strings":["Dynamic Robots Systems (DRS) Group, Oxford Robotics Institute, University of Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Robots Systems (DRS) Group, Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072974727","display_name":"Maurice Fallon","orcid":"https://orcid.org/0000-0003-2940-0879"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maurice Fallon","raw_affiliation_strings":["Dynamic Robots Systems (DRS) Group, Oxford Robotics Institute, University of Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Robots Systems (DRS) Group, Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068877998","display_name":"Ioannis Havoutis","orcid":"https://orcid.org/0000-0002-4371-4623"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ioannis Havoutis","raw_affiliation_strings":["Dynamic Robots Systems (DRS) Group, Oxford Robotics Institute, University of Oxford, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Robots Systems (DRS) Group, Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5072631552"],"corresponding_institution_ids":["https://openalex.org/I40120149"],"apc_list":null,"apc_paid":null,"fwci":1.6127,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.8196349,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5973","last_page":"5979"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9944000244140625,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9753000140190125,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/trajectory","display_name":"Trajectory","score":0.7619097828865051},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7225132584571838},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6787238121032715},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6535061597824097},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5671660900115967},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.522365152835846},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4689708948135376},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44392433762550354},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10460498929023743}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7619097828865051},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7225132584571838},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6787238121032715},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6535061597824097},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5671660900115967},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.522365152835846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4689708948135376},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44392433762550354},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10460498929023743},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48506.2021.9561639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561639","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:ora.ox.ac.uk:uuid:a22e502f-b7ef-4c6e-9426-31812e180cd8","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:a22e502f-b7ef-4c6e-9426-31812e180cd8","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symplectic Elements","raw_type":"Conference item"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7054259338","display_name":null,"funder_award_id":"EP/S002383/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W1191599655","https://openalex.org/W1923344279","https://openalex.org/W2104733512","https://openalex.org/W2123871098","https://openalex.org/W2152161277","https://openalex.org/W2168342951","https://openalex.org/W2296360731","https://openalex.org/W2539534359","https://openalex.org/W2548802954","https://openalex.org/W2736601468","https://openalex.org/W2744484133","https://openalex.org/W2746481701","https://openalex.org/W2779458783","https://openalex.org/W2788030459","https://openalex.org/W2911087563","https://openalex.org/W2912399346","https://openalex.org/W2913754617","https://openalex.org/W2949510923","https://openalex.org/W2952629144","https://openalex.org/W2963465704","https://openalex.org/W2964114602","https://openalex.org/W2967727187","https://openalex.org/W3004201008","https://openalex.org/W3006305830","https://openalex.org/W3010768390","https://openalex.org/W3011016396","https://openalex.org/W3036820274","https://openalex.org/W3089564096","https://openalex.org/W3090721878","https://openalex.org/W3090829738","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3112664346","https://openalex.org/W3130593574","https://openalex.org/W3209027257","https://openalex.org/W4250058668","https://openalex.org/W4255064568","https://openalex.org/W4288626282","https://openalex.org/W4300309110","https://openalex.org/W6627932998","https://openalex.org/W6675999342","https://openalex.org/W6728925229","https://openalex.org/W6741002519","https://openalex.org/W6758288215","https://openalex.org/W6758741661","https://openalex.org/W6774110809","https://openalex.org/W6780476792","https://openalex.org/W6786748177","https://openalex.org/W6803304385","https://openalex.org/W6820391488"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2018658498","https://openalex.org/W2361427670","https://openalex.org/W2139910871"],"abstract_inverted_index":{"We":[0,46,76,132,206],"present":[1,222],"a":[2,14,36,48,60,67,73,81,111,127,147,201],"control":[3,37],"architecture":[4],"for":[5,72,185],"real-time":[6],"adaptation":[7],"and":[8,33,86,97,151,167,195,220],"tracking":[9,70,141,156,186],"of":[10,29,83,114,122,129,136,177,211,227],"trajectories":[11,191],"generated":[12],"using":[13,50,146],"terrain-aware":[15],"trajectory":[16,31,62,69],"optimization":[17],"solver.":[18],"This":[19],"approach":[20,214],"enables":[21],"us":[22],"to":[23,40,55,59,65,105,183,198,215],"circumvent":[24],"the":[25,115,119,123,134,142,155,160,171,178,216],"computationally":[26],"exhaustive":[27],"task":[28],"online":[30],"optimization,":[32],"further":[34,221],"introduces":[35],"solution":[38],"robust":[39],"systems":[41],"modeled":[42],"with":[43,154],"approximated":[44],"dynamics.":[45],"train":[47,77],"policy":[49,79,139],"deep":[51],"reinforcement":[52],"learning":[53],"(RL)":[54],"introduce":[56],"additive":[57],"deviations":[58],"reference":[61],"in":[63,103,118,163,175,225],"order":[64,104],"generate":[66],"feedback-based":[68],"system":[71,219],"quadrupedal":[74],"robot.":[75],"this":[78],"across":[80],"multitude":[82],"simulated":[84],"terrains":[85],"ensure":[87],"its":[88],"generality":[89],"by":[90,140],"introducing":[91,170],"training":[92,213],"methods":[93],"that":[94,169],"avoid":[95],"overfitting":[96],"convergence":[98],"towards":[99],"local":[100],"optima.":[101],"Additionally,":[102],"capture":[106],"terrain":[107,194],"information,":[108],"we":[109],"include":[110],"latent":[112],"representation":[113],"height":[116],"maps":[117],"observation":[120],"space":[121],"RL":[124],"environment":[125],"as":[126],"form":[128],"exteroceptive":[130],"feedback.":[131],"test":[133],"performance":[135],"our":[137,212,228],"trained":[138],"corrected":[143],"set":[144],"points":[145],"model-based":[148],"whole-body":[149],"controller":[150],"compare":[152],"it":[153],"behavior":[157],"obtained":[158],"without":[159],"corrective":[161,172],"feedback":[162,173],"several":[164],"simulation":[165],"environments,":[166],"show":[168,208],"results":[174],"increase":[176],"success":[179],"rate":[180],"from":[181,196],"72.7%":[182],"92.4%":[184],"precomputed":[187],"dynamic":[188],"long":[189],"horizon":[190],"on":[192,200],"flat":[193],"47.5%":[197],"80.3%":[199],"complex":[202],"modular":[203],"uneven":[204],"terrain.":[205],"also":[207],"successful":[209],"transfer":[210],"real":[217],"physical":[218],"cogent":[223],"arguments":[224],"support":[226],"framework.":[229]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":3}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
