{"id":"https://openalex.org/W4383066192","doi":"https://doi.org/10.1109/icra48891.2023.10161302","title":"Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments","display_name":"Learning to Walk by Steering: Perceptive Quadrupedal Locomotion in Dynamic Environments","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066192","doi":"https://doi.org/10.1109/icra48891.2023.10161302"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161302","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":"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/A5075135654","display_name":"Mingyo Seo","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mingyo Seo","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113698596","display_name":"Ryan Gupta","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan Gupta","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103412109","display_name":"Yifeng Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yifeng Zhu","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014274258","display_name":"Alexy Skoutnev","orcid":null},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexy Skoutnev","raw_affiliation_strings":["Vanderbilt University"],"affiliations":[{"raw_affiliation_string":"Vanderbilt University","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030826237","display_name":"Yuke Zhu","orcid":"https://orcid.org/0000-0002-9198-2227"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuke Zhu","raw_affiliation_strings":["The University of Texas at Austin"],"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5075135654"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":1.0125,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.72814961,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5099","last_page":"5105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"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/computer-science","display_name":"Computer science","score":0.7452875971794128},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6147845387458801},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5853687524795532},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.576888382434845},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.5579831600189209},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.536008358001709},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5218088626861572},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4939497113227844},{"id":"https://openalex.org/keywords/clutter","display_name":"Clutter","score":0.4545426368713379},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.4421147108078003},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.43137621879577637},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41037800908088684},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.360351026058197},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3218056261539459},{"id":"https://openalex.org/keywords/radar","display_name":"Radar","score":0.08731785416603088}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7452875971794128},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6147845387458801},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5853687524795532},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.576888382434845},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.5579831600189209},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.536008358001709},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5218088626861572},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4939497113227844},{"id":"https://openalex.org/C132094186","wikidata":"https://www.wikidata.org/wiki/Q641585","display_name":"Clutter","level":3,"score":0.4545426368713379},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.4421147108078003},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.43137621879577637},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41037800908088684},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.360351026058197},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3218056261539459},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"score":0.08731785416603088},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161302","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":[{"id":"https://openalex.org/G1823794863","display_name":null,"funder_award_id":"1955523,2145283","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7026459842","display_name":null,"funder_award_id":"N00014-22-1-2204","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W2095593876","https://openalex.org/W2117211893","https://openalex.org/W2139710904","https://openalex.org/W2145705329","https://openalex.org/W2297711053","https://openalex.org/W2470094176","https://openalex.org/W2736601468","https://openalex.org/W2739330054","https://openalex.org/W2771123153","https://openalex.org/W2788030459","https://openalex.org/W2901522995","https://openalex.org/W2909331752","https://openalex.org/W2950302787","https://openalex.org/W2963184939","https://openalex.org/W2972810470","https://openalex.org/W2972830116","https://openalex.org/W3003817470","https://openalex.org/W3004201008","https://openalex.org/W3010768390","https://openalex.org/W3034811151","https://openalex.org/W3037440645","https://openalex.org/W3041078985","https://openalex.org/W3069663381","https://openalex.org/W3087867916","https://openalex.org/W3090033167","https://openalex.org/W3090443808","https://openalex.org/W3093922502","https://openalex.org/W3100238596","https://openalex.org/W3104876774","https://openalex.org/W3112664346","https://openalex.org/W3140042148","https://openalex.org/W3175254947","https://openalex.org/W3178099496","https://openalex.org/W3187722890","https://openalex.org/W3204657926","https://openalex.org/W3209211683","https://openalex.org/W3213886952","https://openalex.org/W4210491718","https://openalex.org/W4286963241","https://openalex.org/W4311443585","https://openalex.org/W4312238192","https://openalex.org/W4394671432","https://openalex.org/W6741002519","https://openalex.org/W6767349745","https://openalex.org/W6780159193","https://openalex.org/W6782245617","https://openalex.org/W6783047220","https://openalex.org/W6793715182","https://openalex.org/W6794173013","https://openalex.org/W6798487212","https://openalex.org/W6799150178","https://openalex.org/W6801964084","https://openalex.org/W6802654813"],"related_works":["https://openalex.org/W3183948672","https://openalex.org/W3173606202","https://openalex.org/W3110381201","https://openalex.org/W2948807893","https://openalex.org/W2778153218","https://openalex.org/W1531601525","https://openalex.org/W1992956164","https://openalex.org/W2775028049","https://openalex.org/W2087283056","https://openalex.org/W1536304773"],"abstract_inverted_index":{"We":[0,31,110],"tackle":[1],"the":[2,41,59,67,83,112,130],"problem":[3,42],"of":[4,43,114],"perceptive":[5,44],"locomotion":[6,45],"in":[7,23,117],"dynamic":[8],"environments.":[9],"In":[10,62],"this":[11,63],"problem,":[12],"a":[13,33,79],"quadrupedal":[14],"robot":[15],"must":[16],"exhibit":[17],"robust":[18],"and":[19,28,53,82,102,108,119,124],"agile":[20],"walking":[21],"behaviors":[22,98],"response":[24],"to":[25,49,57],"environmental":[26],"clutter":[27],"moving":[29],"obstacles.":[30],"present":[32],"hierarchical":[34],"learning":[35,73,89],"framework,":[36,64],"named":[37],"PRELUDE,":[38],"which":[39],"decomposes":[40],"into":[46],"high-level":[47,68],"decision-making":[48],"predict":[50],"navigation":[51,69,97],"commands":[52],"low-level":[54,84],"gait":[55,85],"generation":[56],"realize":[58],"target":[60],"commands.":[61],"we":[65],"train":[66],"controller":[70,86],"with":[71,87,120],"imitation":[72],"on":[74,78],"human":[75,100],"demonstrations":[76],"collected":[77],"steerable":[80],"cart":[81],"reinforcement":[88],"(RL).":[90],"Therefore,":[91],"our":[92,115],"method":[93],"can":[94,126],"acquire":[95],"complex":[96],"from":[99,106],"supervision":[101],"discover":[103],"versatile":[104],"gaits":[105],"trial":[107],"error.":[109],"demonstrate":[111],"effectiveness":[113],"approach":[116],"simulation":[118],"hardware":[121],"experiments.":[122],"Videos":[123],"code":[125],"be":[127],"found":[128],"at":[129],"project":[131],"page:":[132],"https://ut-austin-rpl.github.io/PRELUDE.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}