{"id":"https://openalex.org/W4383108187","doi":"https://doi.org/10.1109/icra48891.2023.10160571","title":"Learnable Tegotae-based Feedback in CPGs with Sparse Observation Produces Efficient and Adaptive Locomotion","display_name":"Learnable Tegotae-based Feedback in CPGs with Sparse Observation Produces Efficient and Adaptive Locomotion","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108187","doi":"https://doi.org/10.1109/icra48891.2023.10160571"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160571","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/A5040528117","display_name":"Christopher Herneth","orcid":"https://orcid.org/0000-0002-7875-6604"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Christopher Herneth","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060102825","display_name":"Mitsuhiro Hayashibe","orcid":"https://orcid.org/0000-0001-6179-5706"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuhiro Hayashibe","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072945772","display_name":"Dai Owaki","orcid":"https://orcid.org/0000-0003-1217-3892"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Dai Owaki","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University,Neuro-Robotics Lab,Department of Robotics,Sendai,Japan,980-8579","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1155","last_page":"1161"},"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":0.9955000281333923,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9872999787330627,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.8434183597564697},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7101842761039734},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7017134428024292},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6871830224990845},{"id":"https://openalex.org/keywords/construct","display_name":"Construct (python library)","score":0.5492151975631714},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4901445806026459},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4771106541156769},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.4754878282546997},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.47121137380599976},{"id":"https://openalex.org/keywords/cpg-site","display_name":"CpG site","score":0.4627103805541992},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44560256600379944},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44312334060668945},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38087859749794006},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37527844309806824},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13986167311668396}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8434183597564697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7101842761039734},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7017134428024292},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6871830224990845},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.5492151975631714},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4901445806026459},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4771106541156769},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.4754878282546997},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.47121137380599976},{"id":"https://openalex.org/C140173407","wikidata":"https://www.wikidata.org/wiki/Q1138358","display_name":"CpG site","level":5,"score":0.4627103805541992},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44560256600379944},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44312334060668945},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38087859749794006},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37527844309806824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13986167311668396},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C107038049","wikidata":"https://www.wikidata.org/wiki/Q35986","display_name":"Aesthetics","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C150194340","wikidata":"https://www.wikidata.org/wiki/Q26972","display_name":"Gene expression","level":3,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/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},{"id":"https://openalex.org/C190727270","wikidata":"https://www.wikidata.org/wiki/Q874745","display_name":"DNA methylation","level":4,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160571","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":33,"referenced_works":["https://openalex.org/W1494916908","https://openalex.org/W1945123189","https://openalex.org/W1988274707","https://openalex.org/W2051620263","https://openalex.org/W2054535616","https://openalex.org/W2075032588","https://openalex.org/W2116468180","https://openalex.org/W2122107405","https://openalex.org/W2156174987","https://openalex.org/W2171073614","https://openalex.org/W2479506852","https://openalex.org/W2541240395","https://openalex.org/W2555718925","https://openalex.org/W2623473014","https://openalex.org/W2694031977","https://openalex.org/W2736601468","https://openalex.org/W2781726626","https://openalex.org/W2909623657","https://openalex.org/W2913792742","https://openalex.org/W2945720286","https://openalex.org/W2959905290","https://openalex.org/W2962897394","https://openalex.org/W2962943672","https://openalex.org/W3034302232","https://openalex.org/W3090366022","https://openalex.org/W3162022551","https://openalex.org/W3164211996","https://openalex.org/W3212276269","https://openalex.org/W3216772467","https://openalex.org/W6730047546","https://openalex.org/W6765949483","https://openalex.org/W6780559895","https://openalex.org/W6804601995"],"related_works":["https://openalex.org/W1990068838","https://openalex.org/W2113517406","https://openalex.org/W2060577328","https://openalex.org/W2088984699","https://openalex.org/W2052071424","https://openalex.org/W2154526094","https://openalex.org/W2151114827","https://openalex.org/W2031589749","https://openalex.org/W2764257870","https://openalex.org/W2647069007"],"abstract_inverted_index":{"Central":[0],"Pattern":[1],"generators":[2],"(CPG)":[3],"are":[4,35,84],"a":[5,43,101],"biologically":[6],"inspired,":[7],"decentralized":[8],"control":[9,49,92,153],"architecture":[10],"that":[11,107],"enables":[12],"model-free,":[13],"but":[14],"yet":[15],"adaptively":[16],"stable":[17],"and":[18,53,71,75,96,113,147],"computational":[19],"lightweight":[20],"locomotion":[21,82,115],"capabilities":[22],"on":[23,100,116],"complex":[24],"robots.":[25],"Nevertheless,":[26],"no":[27],"unified":[28],"design":[29],"guidelines":[30],"for":[31],"closed-loop":[32,47],"CPG":[33,48,61],"controllers":[34],"available":[36],"in":[37,98],"the":[38,65,131,138,144],"literature.":[39],"Therefore,":[40],"we":[41],"propose":[42],"task-distributed,":[44],"end-to-end":[45,150],"trainable,":[46],"policy":[50,93],"by":[51,63],"generalizing":[52],"extending":[54],"Tegotae":[55,58,88,91,145,152],"control.":[56,89],"The":[57,90],"approach":[59,109,146],"modulates":[60],"activity":[62],"quantifying":[64],"discrepancy":[66],"between":[67],"internal":[68],"belief":[69],"states":[70],"environmental":[72],"reactions.":[73],"Spontaneous":[74],"adaptive":[76,114],"gait":[77],"formation":[78],"towards":[79],"situationally":[80],"efficient":[81,112],"patterns":[83],"intrinsic":[85],"properties":[86],"of":[87,127,133],"is":[94,137],"trained":[95],"benchmarked":[97],"simulation":[99],"1D":[102],"hopping":[103],"robot.":[104],"We":[105],"found":[106],"our":[108,134],"can":[110],"learn":[111],"minimal":[117],"feedback":[118],"information,":[119],"while":[120],"out-performing":[121],"unstructured,":[122],"classic":[123],"reinforcement":[124],"learning":[125],"policies":[126],"equal":[128],"complexity.":[129],"To":[130],"best":[132],"knowledge,":[135],"this":[136],"first":[139],"study":[140],"to":[141],"fully":[142],"generalize":[143],"construct":[148],"unimpeded,":[149],"trainable":[151],"policies.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
