{"id":"https://openalex.org/W4413945028","doi":"https://doi.org/10.1109/icra55743.2025.11128309","title":"Robust Robot Walker: Learning Agile Locomotion over Tiny Traps","display_name":"Robust Robot Walker: Learning Agile Locomotion over Tiny Traps","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413945028","doi":"https://doi.org/10.1109/icra55743.2025.11128309"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5040608113","display_name":"Shaoting Zhu","orcid":"https://orcid.org/0009-0000-9294-6212"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoting Zhu","raw_affiliation_strings":["IIIS, Tsinghua University,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIS, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005974148","display_name":"Runze Huang","orcid":"https://orcid.org/0000-0001-6640-6271"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runhan Huang","raw_affiliation_strings":["IIIS, Tsinghua University,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIS, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031959594","display_name":"Linzhan Mou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linzhan Mou","raw_affiliation_strings":["Shanghai Qi Zhi Institute,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute,Shanghai,China","institution_ids":["https://openalex.org/I4210122302"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025049450","display_name":"Hao Zhao","orcid":"https://orcid.org/0000-0001-7903-581X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Zhao","raw_affiliation_strings":["IIIS, Tsinghua University,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IIIS, Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"15987","last_page":"15993"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9760000109672546,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.7875969409942627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6953808665275574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5762900114059448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4420916736125946},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4163787364959717},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.10789492726325989}],"concepts":[{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.7875969409942627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6953808665275574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5762900114059448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4420916736125946},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4163787364959717},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.10789492726325989}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128309","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128309","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":30,"referenced_works":["https://openalex.org/W1601495401","https://openalex.org/W2033709107","https://openalex.org/W2100913768","https://openalex.org/W2110987513","https://openalex.org/W2126654773","https://openalex.org/W2144907335","https://openalex.org/W2154777391","https://openalex.org/W2164796184","https://openalex.org/W2577008596","https://openalex.org/W2736449616","https://openalex.org/W2762248135","https://openalex.org/W2772157100","https://openalex.org/W2911087563","https://openalex.org/W3093922502","https://openalex.org/W3147968035","https://openalex.org/W3175254947","https://openalex.org/W4226143977","https://openalex.org/W4241015692","https://openalex.org/W4312574175","https://openalex.org/W4312655650","https://openalex.org/W4382365373","https://openalex.org/W4383066391","https://openalex.org/W4383108274","https://openalex.org/W4385430486","https://openalex.org/W4390494915","https://openalex.org/W4392763392","https://openalex.org/W4401415792","https://openalex.org/W4402449733","https://openalex.org/W4405785545","https://openalex.org/W4405786988"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2656997359","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890"],"abstract_inverted_index":{"Quadruped":[0],"robots":[1,21],"must":[2],"exhibit":[3],"robust":[4],"walking":[5],"capabilities":[6],"in":[7,117],"practical":[8],"applications.":[9],"In":[10],"this":[11,48],"work,":[12],"we":[13,79,106],"propose":[14],"a":[15,59,64,68,81,108],"novel":[16],"approach":[17,51],"that":[18],"enables":[19],"quadruped":[20],"to":[22,71,87],"pass":[23],"various":[24],"small":[25],"obstacles,":[26],"or":[27],"\u201ctiny":[28],"traps\u201d.":[29],"Existing":[30],"methods":[31],"often":[32],"rely":[33],"on":[34,54,135],"exteroceptive":[35],"sensors,":[36],"which":[37],"can":[38],"be":[39],"unreliable":[40],"for":[41,99,111],"detecting":[42],"such":[43],"tiny":[44,112],"traps.":[45,77],"To":[46,102],"overcome":[47],"limitation,":[49],"our":[50,129],"focuses":[52],"solely":[53],"proprioceptive":[55],"inputs.":[56],"We":[57],"introduce":[58],"two-stage":[60],"training":[61,93],"framework":[62],"incorporating":[63],"contact":[65],"encoder":[66],"and":[67,94,120,126,132],"classification":[69],"head":[70],"learn":[72],"implicit":[73],"representations":[74],"of":[75,83,92,97,128],"different":[76],"Additionally,":[78],"design":[80,107],"set":[82],"tailored":[84],"reward":[85],"functions":[86],"improve":[88],"both":[89,118],"the":[90,95,124],"stability":[91],"ease":[96],"deployment":[98],"goal-tracking":[100],"tasks.":[101],"benefit":[103],"further":[104],"research,":[105],"new":[109],"benchmark":[110],"trap":[113],"task.":[114],"Extensive":[115],"experiments":[116],"simulation":[119],"real-world":[121],"settings":[122],"demonstrate":[123],"effectiveness":[125],"robustness":[127],"method.":[130],"Videos":[131],"Appendix":[133],"are":[134],"page:":[136],"https://robust-robot-walker.github.io/":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
