{"id":"https://openalex.org/W3097547934","doi":"https://doi.org/10.1109/icra48506.2021.9562022","title":"Learning a Centroidal Motion Planner for Legged Locomotion","display_name":"Learning a Centroidal Motion Planner for Legged Locomotion","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3097547934","doi":"https://doi.org/10.1109/icra48506.2021.9562022","mag":"3097547934"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562022","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562022","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":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2011.02818","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049996607","display_name":"Julian Viereck","orcid":"https://orcid.org/0000-0002-9049-5873"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]},{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I4210102264","display_name":"Shandong University of Political Science and Law","ror":"https://ror.org/01b2j5886","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210102264"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["CH","CN","DE","FR","US"],"is_corresponding":false,"raw_author_name":"Julian Viereck","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems T\u00fcbingen, Germany","Tandon School of Engineering, New York University, USA","New York University<sup>**</sup>"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Tandon School of Engineering, New York University, USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"New York University<sup>**</sup>","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I4210102264","https://openalex.org/I102475099"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026007843","display_name":"Ludovic Righetti","orcid":"https://orcid.org/0000-0002-6458-9112"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]},{"id":"https://openalex.org/I15196421","display_name":"University of Applied Sciences and Arts of Southern Switzerland","ror":"https://ror.org/05ep8g269","country_code":"CH","type":"education","lineage":["https://openalex.org/I15196421"]},{"id":"https://openalex.org/I4210102264","display_name":"Shandong University of Political Science and Law","ror":"https://ror.org/01b2j5886","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210102264"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["CH","CN","DE","FR","US"],"is_corresponding":false,"raw_author_name":"Ludovic Righetti","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems T\u00fcbingen, Germany","Tandon School of Engineering, New York University, USA","New York University<sup>**</sup>"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Tandon School of Engineering, New York University, USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"New York University<sup>**</sup>","institution_ids":["https://openalex.org/I15196421","https://openalex.org/I4210102264","https://openalex.org/I102475099"]}]}],"institutions":[],"countries_distinct_count":5,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2522,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.47282499,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4905","last_page":"4911"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9990000128746033,"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":0.9990000128746033,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9976000189781189,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9927999973297119,"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/computer-science","display_name":"Computer science","score":0.7029944062232971},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6446551084518433},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5896496772766113},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.555881917476654},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5501289963722229},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5166252255439758},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.48841923475265503},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.44051602482795715},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.42747819423675537},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3450865149497986}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7029944062232971},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6446551084518433},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5896496772766113},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.555881917476654},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5501289963722229},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5166252255439758},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.48841923475265503},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.44051602482795715},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42747819423675537},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3450865149497986},{"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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9562022","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562022","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:arXiv.org:2011.02818","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.02818","pdf_url":"https://arxiv.org/pdf/2011.02818","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":"mag:3097547934","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2011.02818","pdf_url":null,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2011.02818","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2011.02818","pdf_url":null,"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2011.02818","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2011.02818","pdf_url":"https://arxiv.org/pdf/2011.02818","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5600000023841858}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3097547934.pdf","grobid_xml":"https://content.openalex.org/works/W3097547934.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W2087617385","https://openalex.org/W2295431040","https://openalex.org/W2345626358","https://openalex.org/W2399015533","https://openalex.org/W2683777736","https://openalex.org/W2763052367","https://openalex.org/W2788030459","https://openalex.org/W2909331752","https://openalex.org/W2977389550","https://openalex.org/W3006033022","https://openalex.org/W3006305830","https://openalex.org/W3007035358","https://openalex.org/W3014488508","https://openalex.org/W3032919895","https://openalex.org/W3038194455","https://openalex.org/W3044718039","https://openalex.org/W3081791272","https://openalex.org/W3090829738","https://openalex.org/W3093424365","https://openalex.org/W3093481944","https://openalex.org/W3125490529","https://openalex.org/W3127527157","https://openalex.org/W3130657420","https://openalex.org/W6784810093","https://openalex.org/W6790668762","https://openalex.org/W6841112233"],"related_works":["https://openalex.org/W3207078110","https://openalex.org/W2743645497","https://openalex.org/W3136437429","https://openalex.org/W3029509103","https://openalex.org/W2968151796","https://openalex.org/W3206833690","https://openalex.org/W3105609823","https://openalex.org/W2956133328","https://openalex.org/W3101038655","https://openalex.org/W3099855898","https://openalex.org/W3204374554","https://openalex.org/W2953250718","https://openalex.org/W3131983787","https://openalex.org/W2571115941","https://openalex.org/W2137524737","https://openalex.org/W3209332701","https://openalex.org/W2563923653","https://openalex.org/W2772730941","https://openalex.org/W2737050134","https://openalex.org/W2997745232"],"abstract_inverted_index":{"Whole-body":[0],"optimizers":[1],"have":[2],"been":[3],"successful":[4],"at":[5,117],"automatically":[6],"computing":[7],"complex":[8],"dynamic":[9,105],"locomotion":[10,56],"behaviors.":[11],"However":[12],"they":[13,21],"are":[14,22,34],"often":[15],"limited":[16],"to":[17,26,48,99,133],"offline":[18],"planning":[19],"as":[20],"computationally":[23],"too":[24],"expensive":[25],"replan":[27],"with":[28,101,125],"a":[29,46,63,81,112,135,144],"high":[30,118],"frequency.":[31],"Simpler":[32],"models":[33],"then":[35],"typically":[36],"used":[37,110],"for":[38,55],"online":[39],"replanning.":[40],"In":[41],"this":[42],"paper":[43],"we":[44],"present":[45],"method":[47,132],"generate":[49,134],"whole":[50,92],"body":[51,93],"movements":[52],"in":[53,61,111],"real-time":[54],"tasks.":[57],"Our":[58,96],"approach":[59,97],"consists":[60],"learning":[62],"centroidal":[64,71],"neural":[65],"network":[66,86],"that":[67,107],"predicts":[68],"the":[69,74,78],"desired":[70,82],"motion":[72,94],"given":[73],"current":[75],"state":[76],"of":[77,138],"robot":[79],"and":[80,140],"contact":[83],"plan.":[84],"The":[85],"is":[87,121],"trained":[88],"using":[89],"an":[90],"existing":[91],"optimizer.":[95],"enables":[98],"learn":[100],"few":[102],"training":[103],"samples":[104],"motions":[106,142],"can":[108],"be":[109],"complete":[113],"whole-body":[114],"control":[115],"framework":[116],"frequency,":[119],"which":[120],"usually":[122],"not":[123],"attainable":[124],"typical":[126],"full-body":[127],"optimizers.":[128],"We":[129],"demonstrate":[130],"our":[131],"rich":[136],"set":[137],"walking":[139],"jumping":[141],"on":[143],"real":[145],"quadruped":[146],"robot.":[147]},"counts_by_year":[{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-01T08:55:40.977307","created_date":"2025-10-10T00:00:00"}
