{"id":"https://openalex.org/W4383097398","doi":"https://doi.org/10.1109/icra48891.2023.10160522","title":"Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype via Terrain Authoring and Active Learning","display_name":"Generating a Terrain-Robustness Benchmark for Legged Locomotion: A Prototype via Terrain Authoring and Active Learning","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097398","doi":"https://doi.org/10.1109/icra48891.2023.10160522"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100393893","display_name":"Chong Zhang","orcid":"https://orcid.org/0000-0001-9609-8855"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Chong Zhang","raw_affiliation_strings":["ETH Zurich,Department of Mechanical and Process Engineering,Switzerland","Department of Mechanical and Process Engineering, ETH Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Department of Mechanical and Process Engineering,Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Department of Mechanical and Process Engineering, ETH Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041139710","display_name":"Lizhi Yang","orcid":"https://orcid.org/0000-0002-6101-7610"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lizhi Yang","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,United States","Department of Mechanical and Civil Engineering, California Institute of Technology, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,United States","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, United States","institution_ids":["https://openalex.org/I122411786"]}]}],"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":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"9190","last_page":"9196"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9975000023841858,"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":0.9975000023841858,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.9400956034660339},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.872393012046814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7585516571998596},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7176436185836792},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5915766954421997},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4902935326099396},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4812569320201874},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.42765742540359497},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3855386972427368},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3576597571372986},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.09511008858680725}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.9400956034660339},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.872393012046814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7585516571998596},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7176436185836792},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5915766954421997},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4902935326099396},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4812569320201874},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.42765742540359497},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3855386972427368},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3576597571372986},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.09511008858680725},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","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/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160522","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160522","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","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":45,"referenced_works":["https://openalex.org/W1781559127","https://openalex.org/W1901129140","https://openalex.org/W2029629075","https://openalex.org/W2031753087","https://openalex.org/W2169216879","https://openalex.org/W2242463693","https://openalex.org/W2295803031","https://openalex.org/W2532584108","https://openalex.org/W2751463909","https://openalex.org/W2754556368","https://openalex.org/W2788200022","https://openalex.org/W2899663614","https://openalex.org/W2903158431","https://openalex.org/W2950302787","https://openalex.org/W2963073614","https://openalex.org/W2975103460","https://openalex.org/W3010768390","https://openalex.org/W3041078985","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3111294788","https://openalex.org/W3112664346","https://openalex.org/W3169621876","https://openalex.org/W3169733862","https://openalex.org/W3204240397","https://openalex.org/W3216801340","https://openalex.org/W4205430897","https://openalex.org/W4214717370","https://openalex.org/W4250058668","https://openalex.org/W4283734789","https://openalex.org/W4286963241","https://openalex.org/W4287123203","https://openalex.org/W4298088832","https://openalex.org/W4313156423","https://openalex.org/W4320013936","https://openalex.org/W4385245566","https://openalex.org/W6638065451","https://openalex.org/W6639824700","https://openalex.org/W6690780867","https://openalex.org/W6739901393","https://openalex.org/W6755977528","https://openalex.org/W6790253128","https://openalex.org/W6796203516","https://openalex.org/W6801964084","https://openalex.org/W6804111251"],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W1992962589","https://openalex.org/W2130974462","https://openalex.org/W972276598","https://openalex.org/W4246352526","https://openalex.org/W3005657145","https://openalex.org/W4383097398","https://openalex.org/W1643150164"],"abstract_inverted_index":{"Terrain-aware":[0],"locomotion":[1,31],"has":[2],"become":[3],"an":[4],"emerging":[5],"topic":[6],"in":[7,22],"legged":[8,71],"robotics.":[9],"However,":[10],"it":[11],"is":[12],"hard":[13],"to":[14,65],"generate":[15,56],"diverse,":[16],"challenging,":[17],"and":[18,47,50,78],"realistic":[19],"unstructured":[20],"terrains":[21],"simulation,":[23],"which":[24],"limits":[25],"the":[26,38,51,62,75],"way":[27],"researchers":[28],"evaluate":[29],"their":[30],"policies.":[32],"In":[33],"this":[34],"paper,":[35],"we":[36],"prototype":[37],"generation":[39],"of":[40],"a":[41,67],"terrain":[42,45],"dataset":[43,64],"via":[44],"authoring":[46],"active":[48],"learning,":[49],"learned":[52],"samplers":[53],"can":[54],"stably":[55],"diverse":[57],"high-quality":[58],"terrains.":[59],"We":[60],"expect":[61],"generated":[63],"make":[66],"terrain-robustness":[68],"benchmark":[69],"for":[70],"locomotion.":[72],"The":[73],"dataset,":[74],"code":[76],"implementation,":[77],"some":[79],"policy":[80],"evaluations":[81],"are":[82],"released":[83],"at":[84],"https://bit.ly/3bn4j7f.":[85]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
