{"id":"https://openalex.org/W4401416919","doi":"https://doi.org/10.1109/icra57147.2024.10610086","title":"Robust Quadrupedal Locomotion via Risk-Averse Policy Learning","display_name":"Robust Quadrupedal Locomotion via Risk-Averse Policy Learning","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416919","doi":"https://doi.org/10.1109/icra57147.2024.10610086"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610086","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5040762562","display_name":"Jiyuan Shi","orcid":"https://orcid.org/0000-0002-1438-7352"},"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":"Jiyuan Shi","raw_affiliation_strings":["Tsinghua University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044788927","display_name":"Chenjia Bai","orcid":"https://orcid.org/0000-0002-8379-9385"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenjia Bai","raw_affiliation_strings":["Shanghai Artificial Intelligence Laboratory,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Artificial Intelligence Laboratory,China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101965761","display_name":"Haoran He","orcid":"https://orcid.org/0000-0002-7340-8643"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoran He","raw_affiliation_strings":["Shanghai Artificial Intelligence Laboratory,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Artificial Intelligence Laboratory,China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101540919","display_name":"Lei Han","orcid":"https://orcid.org/0000-0003-1404-2415"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Han","raw_affiliation_strings":["Tencent Robotics X,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tencent Robotics X,China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100391397","display_name":"Dong Wang","orcid":"https://orcid.org/0000-0001-5501-6761"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Wang","raw_affiliation_strings":["Shanghai Artificial Intelligence Laboratory,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Artificial Intelligence Laboratory,China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101496244","display_name":"Bin Zhao","orcid":"https://orcid.org/0000-0002-0294-8538"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Zhao","raw_affiliation_strings":["Shanghai Artificial Intelligence Laboratory,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Artificial Intelligence Laboratory,China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4391012619"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065834747","display_name":"Mingguo Zhao","orcid":"https://orcid.org/0000-0001-9694-6957"},"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":"Mingguo Zhao","raw_affiliation_strings":["Tsinghua University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004942213","display_name":"Xiu Li","orcid":"https://orcid.org/0000-0002-7860-1784"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]},{"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":"Xiu Li","raw_affiliation_strings":["Shanghai Artificial Intelligence Laboratory,China","Tsinghua University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Artificial Intelligence Laboratory,China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4391012619"]},{"raw_affiliation_string":"Tsinghua University,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5106943753","display_name":"Xuelong Li","orcid":"https://orcid.org/0000-0003-2924-946X"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4391012619","display_name":"Shanghai Artificial Intelligence Laboratory","ror":"https://ror.org/03wkvpx79","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391012619"]},{"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":"Xuelong Li","raw_affiliation_strings":["Shanghai Artificial Intelligence Laboratory,China","Tsinghua University,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Artificial Intelligence Laboratory,China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4391012619"]},{"raw_affiliation_string":"Tsinghua University,China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.4123,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.98514077,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"11459","last_page":"11466"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9919999837875366,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9886000156402588,"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/quadrupedalism","display_name":"Quadrupedalism","score":0.8157047033309937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.628165066242218},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.47190171480178833}],"concepts":[{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.8157047033309937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.628165066242218},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.47190171480178833},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610086","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","score":0.41999998688697815,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":60,"referenced_works":["https://openalex.org/W569478347","https://openalex.org/W1647779468","https://openalex.org/W1969027466","https://openalex.org/W2033436114","https://openalex.org/W2167326844","https://openalex.org/W2169206416","https://openalex.org/W2313791856","https://openalex.org/W2736601468","https://openalex.org/W2747329762","https://openalex.org/W2765302304","https://openalex.org/W2788030459","https://openalex.org/W2907537824","https://openalex.org/W2911087563","https://openalex.org/W2949207039","https://openalex.org/W2972810470","https://openalex.org/W2986399309","https://openalex.org/W3093922502","https://openalex.org/W3096954237","https://openalex.org/W3104876774","https://openalex.org/W3123216837","https://openalex.org/W3134580056","https://openalex.org/W4205430897","https://openalex.org/W4226143977","https://openalex.org/W4283787029","https://openalex.org/W4287080123","https://openalex.org/W4288626282","https://openalex.org/W4308364487","https://openalex.org/W4312238192","https://openalex.org/W4312441173","https://openalex.org/W4317987839","https://openalex.org/W4360976217","https://openalex.org/W4378942385","https://openalex.org/W4383108204","https://openalex.org/W4383108274","https://openalex.org/W4386075970","https://openalex.org/W4393160032","https://openalex.org/W4394674699","https://openalex.org/W4401416328","https://openalex.org/W6627932998","https://openalex.org/W6683300800","https://openalex.org/W6683517036","https://openalex.org/W6741002519","https://openalex.org/W6748758124","https://openalex.org/W6751629939","https://openalex.org/W6757380569","https://openalex.org/W6758741661","https://openalex.org/W6762639926","https://openalex.org/W6765780914","https://openalex.org/W6767349745","https://openalex.org/W6770012831","https://openalex.org/W6784643869","https://openalex.org/W6788575936","https://openalex.org/W6798487212","https://openalex.org/W6800004206","https://openalex.org/W6801964084","https://openalex.org/W6840739175","https://openalex.org/W6846664724","https://openalex.org/W6852849686","https://openalex.org/W6857025282","https://openalex.org/W7075998887"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W4388251424","https://openalex.org/W2008498579","https://openalex.org/W2923272690","https://openalex.org/W2559825912","https://openalex.org/W2064963663","https://openalex.org/W1966935220","https://openalex.org/W3100731831","https://openalex.org/W2806616984"],"abstract_inverted_index":{"The":[0],"robustness":[1,42,76,141],"of":[2,43,77,96],"legged":[3,22,78,148],"locomotion":[4,23,44],"is":[5,128],"crucial":[6],"for":[7],"quadrupedal":[8],"robots":[9],"in":[10,21,115,130,142,147],"challenging":[11],"terrains.":[12],"Recently,":[13],"Reinforcement":[14],"Learning":[15],"(RL)":[16],"has":[17],"shown":[18],"promising":[19],"results":[20],"and":[24,34,41,98,119,135,144],"various":[25,132],"methods":[26,48],"try":[27],"to":[28,37,51,73,91],"integrate":[29],"privileged":[30],"distillation,":[31],"scene":[32],"modeling,":[33],"external":[35,62,133],"sensors":[36],"improve":[38],"the":[39,75,93,105,136],"generalization":[40],"policies.":[45],"However,":[46],"these":[47],"are":[49],"hard":[50],"handle":[52],"uncertain":[53,145],"scenarios":[54,107],"such":[55],"as":[56],"abrupt":[57],"terrain":[58],"changes":[59],"or":[60],"unexpected":[61],"forces.":[63],"In":[64],"this":[65],"paper,":[66],"we":[67,81],"consider":[68],"a":[69,83,109,120],"novel":[70],"risk-sensitive":[71],"perspective":[72],"enhance":[74],"locomotion.":[79,149],"Specifically,":[80],"employ":[82],"distributional":[84],"value":[85],"function":[86],"learned":[87],"by":[88,103],"quantile":[89],"regression":[90],"model":[92],"aleatoric":[94],"uncertainty":[95],"environments,":[97],"perform":[99],"risk-averse":[100],"policy":[101,138],"learning":[102],"optimizing":[104],"worst-case":[106],"via":[108],"risk":[110],"distortion":[111],"measure.":[112],"Extensive":[113],"experiments":[114],"both":[116],"simulation":[117],"environments":[118],"real":[121],"Aliengo":[122],"robot":[123],"demonstrate":[124],"that":[125],"our":[126],"method":[127],"efficient":[129],"handling":[131],"disturbances,":[134],"resulting":[137],"exhibits":[139],"improved":[140],"harsh":[143],"situations":[146]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}