{"id":"https://openalex.org/W4401415939","doi":"https://doi.org/10.1109/icra57147.2024.10610467","title":"LAGOON: Language-Guided Motion Control","display_name":"LAGOON: Language-Guided Motion Control","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415939","doi":"https://doi.org/10.1109/icra57147.2024.10610467"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610467","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/A5100363688","display_name":"Shusheng Xu","orcid":"https://orcid.org/0000-0003-1887-9263"},"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":true,"raw_author_name":"Shusheng Xu","raw_affiliation_strings":["Tsinghua University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083250867","display_name":"Huaijie Wang","orcid":null},"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":"Huaijie Wang","raw_affiliation_strings":["Tsinghua University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060862882","display_name":"Yutao Ouyang","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":"Yutao Ouyang","raw_affiliation_strings":["Shanghai Qi Zhi Institute,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute,Shanghai,China","institution_ids":["https://openalex.org/I4210122302"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011467160","display_name":"Jiaxuan Gao","orcid":null},"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":"Jiaxuan Gao","raw_affiliation_strings":["Tsinghua University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040605483","display_name":"Zhiyu Mei","orcid":null},"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":"Zhiyu Mei","raw_affiliation_strings":["Tsinghua University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103534722","display_name":"Chao Yu","orcid":null},"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":"Chao Yu","raw_affiliation_strings":["Tsinghua University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101541676","display_name":"Yi Wu","orcid":"https://orcid.org/0000-0002-5952-6520"},"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":"Yi Wu","raw_affiliation_strings":["Tsinghua University,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100363688"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.7895,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.7245958,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9743","last_page":"9750"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9991000294685364,"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/T12290","display_name":"Human Motion and Animation","score":0.9991000294685364,"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.998199999332428,"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/computer-science","display_name":"Computer science","score":0.6455047130584717},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5494921207427979},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5486664175987244},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44989532232284546},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39954257011413574},{"id":"https://openalex.org/keywords/natural-language-processing","display_name":"Natural language processing","score":0.3249284625053406},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.09773397445678711}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6455047130584717},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5494921207427979},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5486664175987244},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44989532232284546},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39954257011413574},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3249284625053406},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.09773397445678711}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610467","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":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W2042408133","https://openalex.org/W2089059393","https://openalex.org/W2342840547","https://openalex.org/W2729615412","https://openalex.org/W2736601468","https://openalex.org/W2767050701","https://openalex.org/W2769112066","https://openalex.org/W2784449021","https://openalex.org/W2796290181","https://openalex.org/W2884247313","https://openalex.org/W2962787969","https://openalex.org/W2963277051","https://openalex.org/W2982625143","https://openalex.org/W2987886924","https://openalex.org/W3035427621","https://openalex.org/W3036167779","https://openalex.org/W3039737909","https://openalex.org/W3101442004","https://openalex.org/W3104515094","https://openalex.org/W3105609823","https://openalex.org/W3121370741","https://openalex.org/W3126321819","https://openalex.org/W3144253442","https://openalex.org/W3147968035","https://openalex.org/W3181074849","https://openalex.org/W3213974477","https://openalex.org/W4205096660","https://openalex.org/W4224912544","https://openalex.org/W4285102521","https://openalex.org/W4286748781","https://openalex.org/W4297981470","https://openalex.org/W4298186886","https://openalex.org/W4309303752","https://openalex.org/W4310430604","https://openalex.org/W4312635677","https://openalex.org/W4312900898","https://openalex.org/W4319165322","https://openalex.org/W4372341521","https://openalex.org/W4385430644","https://openalex.org/W4386285856","https://openalex.org/W4390872595","https://openalex.org/W6679045638","https://openalex.org/W6704559304","https://openalex.org/W6718092244","https://openalex.org/W6741010574","https://openalex.org/W6749927861","https://openalex.org/W6751526458","https://openalex.org/W6753770476","https://openalex.org/W6770722459","https://openalex.org/W6771421419","https://openalex.org/W6779458208","https://openalex.org/W6779823529","https://openalex.org/W6783713337","https://openalex.org/W6784862516","https://openalex.org/W6796242396","https://openalex.org/W6800004206","https://openalex.org/W6801810553","https://openalex.org/W6801964084","https://openalex.org/W6809850638","https://openalex.org/W6810131932","https://openalex.org/W6810640255","https://openalex.org/W6840380725","https://openalex.org/W6844223692","https://openalex.org/W6847063038","https://openalex.org/W6847081674"],"related_works":["https://openalex.org/W4386051551","https://openalex.org/W3188962172","https://openalex.org/W2725946685","https://openalex.org/W2772917594","https://openalex.org/W4306742369","https://openalex.org/W4303457083","https://openalex.org/W2131146434","https://openalex.org/W2951359407","https://openalex.org/W4376623224","https://openalex.org/W3204019825"],"abstract_inverted_index":{"We":[0,73],"aim":[1],"to":[2,6,48,59,69,85,100,119,135,140],"control":[3,115],"a":[4,57,60,79,97,102,106,114,136,141],"robot":[5,62,89,143],"physically":[7,37,87],"behave":[8],"in":[9,117,149],"the":[10,70,121,150],"real":[11,151],"world":[12,152],"following":[13],"any":[14],"high-level":[15],"language":[16,92,107,155],"command":[17],"like":[18],"\"cartwheel\"":[19],"or":[20],"\"kick\".":[21],"Although":[22],"human":[23,103,123],"motion":[24,58,104],"datasets":[25],"exist,":[26],"this":[27],"task":[28],"remains":[29],"particularly":[30],"challenging":[31],"since":[32],"generative":[33],"models":[34],"can":[35,63,132,145],"produce":[36],"unrealistic":[38],"motions,":[39],"which":[40],"will":[41],"be":[42,133],"more":[43],"severe":[44],"for":[45],"robots":[46],"due":[47,68],"different":[49],"body":[50],"structures":[51],"and":[52],"physical":[53,61],"properties.":[54],"Deploying":[55],"such":[56],"cause":[64],"even":[65],"greater":[66],"difficulties":[67],"sim2real":[71],"gap.":[72],"develop":[74],"LAnguage-Guided":[75],"mOtion":[76],"cONtrol":[77],"(LAGOON),":[78],"multi-phase":[80],"reinforcement":[81],"learning":[82],"(RL)":[83],"method":[84],"generate":[86,101],"realistic":[88],"motions":[90],"under":[91,153],"commands.":[93,156],"LAGOON":[94],"first":[95],"leverages":[96],"pretrained":[98],"model":[99],"from":[105],"command.":[108],"Then":[109],"an":[110],"RL":[111],"phase":[112],"trains":[113],"policy":[116,131],"simulation":[118],"mimic":[120],"generated":[122],"motion.":[124],"Finally,":[125],"with":[126],"domain":[127],"randomization,":[128],"our":[129],"learned":[130],"deployed":[134],"quadrupedal":[137,142],"robot,":[138],"leading":[139],"that":[144],"take":[146],"diverse":[147],"behaviors":[148],"natural":[154]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}