{"id":"https://openalex.org/W4401416847","doi":"https://doi.org/10.1109/icra57147.2024.10610155","title":"ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots","display_name":"ManyQuadrupeds: Learning a Single Locomotion Policy for Diverse Quadruped Robots","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416847","doi":"https://doi.org/10.1109/icra57147.2024.10610155"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610155","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":"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/A5078319507","display_name":"Milad Shafiee","orcid":"https://orcid.org/0000-0002-2171-5326"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Milad Shafiee","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011177211","display_name":"Guillaume Bellegarda","orcid":"https://orcid.org/0000-0001-5809-3340"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Guillaume Bellegarda","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke Ijspeert","raw_affiliation_strings":["Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique Federale de Lausanne (EPFL),BioRobotics Laboratory","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":3.3387,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.92874119,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3471","last_page":"3477"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.996999979019165,"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":0.996999979019165,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9958000183105469,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9944999814033508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6435533165931702},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5805951952934265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3188427686691284}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6435533165931702},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5805951952934265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3188427686691284}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610155","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610155","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W2048963734","https://openalex.org/W2054186704","https://openalex.org/W2094496385","https://openalex.org/W2143314240","https://openalex.org/W2148430392","https://openalex.org/W2156174987","https://openalex.org/W2736601468","https://openalex.org/W2749701166","https://openalex.org/W2789182375","https://openalex.org/W2796290181","https://openalex.org/W2887137919","https://openalex.org/W2911087563","https://openalex.org/W2972514463","https://openalex.org/W3039737909","https://openalex.org/W3093922502","https://openalex.org/W3104515094","https://openalex.org/W3104876774","https://openalex.org/W3134580056","https://openalex.org/W3164709982","https://openalex.org/W3175254947","https://openalex.org/W3176539729","https://openalex.org/W3187133229","https://openalex.org/W3213974477","https://openalex.org/W4205430897","https://openalex.org/W4205967660","https://openalex.org/W4206589784","https://openalex.org/W4226143977","https://openalex.org/W4283787029","https://openalex.org/W4287646021","https://openalex.org/W4309323738","https://openalex.org/W4320855564","https://openalex.org/W4380687198","https://openalex.org/W4383097669","https://openalex.org/W4386026190","https://openalex.org/W4401414693","https://openalex.org/W4401414981","https://openalex.org/W6755667589","https://openalex.org/W6780559457","https://openalex.org/W6783987590","https://openalex.org/W6793715182","https://openalex.org/W6800004206","https://openalex.org/W6801964084","https://openalex.org/W6839805037","https://openalex.org/W6842936555","https://openalex.org/W6849420961","https://openalex.org/W6852786641"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"Learning":[0],"a":[1,12,50,102,109,119,132,157,189,243],"locomotion":[2,104],"policy":[3,52,105,155,226],"for":[4,26,42,210],"quadruped":[5,113],"robots":[6],"has":[7],"traditionally":[8],"been":[9],"constrained":[10],"to":[11,39,48,53,81,99,140,151,178,188,248],"specific":[13],"robot":[14,56,116],"morphology,":[15,67],"mass,":[16,74],"and":[17,32,66,76,143,173,214,232],"size.":[18],"The":[19,115],"learning":[20,71],"process":[21],"must":[22,36],"usually":[23],"be":[24,37],"repeated":[25],"every":[27],"new":[28,44],"robot,":[29],"where":[30],"hyperparameters":[31],"reward":[33],"function":[34],"weights":[35],"re-tuned":[38],"maximize":[40],"performance":[41],"each":[43],"system.":[45],"Alternatively,":[46],"attempting":[47],"train":[49,101],"single":[51,103,225],"accommodate":[54],"different":[55,195],"sizes,":[57],"while":[58],"maintaining":[59],"the":[60,160,166,176,197,202,207,211,219,224,229,251],"same":[61],"degrees":[62],"of":[63,107,112,122,159,175,250],"freedom":[64],"(DoF)":[65],"requires":[68],"either":[69],"complex":[70],"frameworks,":[72],"or":[73,126],"inertia,":[75],"dimension":[77],"randomization,":[78],"which":[79,184,205],"leads":[80],"prolonged":[82],"training":[83],"periods.":[84],"In":[85],"our":[86],"study,":[87],"we":[88,217,236],"show":[89],"that":[90],"drawing":[91],"inspiration":[92],"from":[93,137,148],"animal":[94],"motor":[95],"control":[96],"allows":[97],"us":[98],"effectively":[100,169],"capable":[106],"controlling":[108],"diverse":[110],"range":[111,135],"robots.":[114,234],"differences":[117],"encompass:":[118],"variable":[120],"number":[121],"DoFs,":[123],"(i.e.":[124],"12":[125],"16":[127],"joints),":[128],"three":[129],"distinct":[130],"morphologies,":[131],"broad":[133],"mass":[134],"spanning":[136],"2":[138],"kg":[139,245],"200":[141],"kg,":[142],"nominal":[144,254],"standing":[145],"heights":[146],"ranging":[147],"18":[149],"cm":[150],"100":[152],"cm.":[153],"Our":[154],"modulates":[156],"representation":[158],"Central":[161],"Pattern":[162,190],"Generator":[163],"(CPG)":[164],"in":[165],"spinal":[167],"cord,":[168],"coordinating":[170],"both":[171,228],"frequencies":[172],"amplitudes":[174],"CPG":[177],"produce":[179],"rhythmic":[180],"output":[181],"(Rhythm":[182],"Generation),":[183],"is":[185,201],"then":[186],"mapped":[187],"Formation":[191],"(PF)":[192],"layer.":[193],"Across":[194],"robots,":[196],"only":[198],"varying":[199],"component":[200],"PF":[203],"layer,":[204],"adjusts":[206],"scaling":[208],"parameters":[209],"stride":[212],"height":[213],"length.":[215],"Subsequently,":[216],"evaluate":[218],"sim-to-real":[220],"transfer":[221],"by":[222],"testing":[223],"on":[227],"Unitree":[230],"Go1":[231],"A1":[233,252],"Remarkably,":[235],"observe":[237],"robust":[238],"performance,":[239],"even":[240],"when":[241],"adding":[242],"15":[244],"load,":[246],"equivalent":[247],"125%":[249],"robot\u2019s":[253],"mass.":[255]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":9}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}