{"id":"https://openalex.org/W4401416343","doi":"https://doi.org/10.1109/icra57147.2024.10611045","title":"Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback","display_name":"Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401416343","doi":"https://doi.org/10.1109/icra57147.2024.10611045"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611045","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":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/153828","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113187577","display_name":"Jenny Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134804","display_name":"BioMimetic Systems (United States)","ror":"https://ror.org/0437mk135","country_code":"US","type":"company","lineage":["https://openalex.org/I4210134804"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jenny Zhang","raw_affiliation_strings":["Biomimetic Robotics Lab, Massachusetts Institute of Technology,Cambridge,Massachusetts,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic Robotics Lab, Massachusetts Institute of Technology,Cambridge,Massachusetts,USA","institution_ids":["https://openalex.org/I4210134804","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084903357","display_name":"Steve Heim","orcid":"https://orcid.org/0000-0002-4916-7464"},"institutions":[{"id":"https://openalex.org/I4210134804","display_name":"BioMimetic Systems (United States)","ror":"https://ror.org/0437mk135","country_code":"US","type":"company","lineage":["https://openalex.org/I4210134804"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steve Heim","raw_affiliation_strings":["Biomimetic Robotics Lab, Massachusetts Institute of Technology,Cambridge,Massachusetts,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic Robotics Lab, Massachusetts Institute of Technology,Cambridge,Massachusetts,USA","institution_ids":["https://openalex.org/I4210134804","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033224913","display_name":"Se Hwan Jeon","orcid":"https://orcid.org/0000-0002-2791-7850"},"institutions":[{"id":"https://openalex.org/I4210134804","display_name":"BioMimetic Systems (United States)","ror":"https://ror.org/0437mk135","country_code":"US","type":"company","lineage":["https://openalex.org/I4210134804"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Se Hwan Jeon","raw_affiliation_strings":["Biomimetic Robotics Lab, Massachusetts Institute of Technology,Cambridge,Massachusetts,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic Robotics Lab, Massachusetts Institute of Technology,Cambridge,Massachusetts,USA","institution_ids":["https://openalex.org/I4210134804","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210134804","display_name":"BioMimetic Systems (United States)","ror":"https://ror.org/0437mk135","country_code":"US","type":"company","lineage":["https://openalex.org/I4210134804"]},{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Biomimetic Robotics Lab, Massachusetts Institute of Technology,Cambridge,Massachusetts,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic Robotics Lab, Massachusetts Institute of Technology,Cambridge,Massachusetts,USA","institution_ids":["https://openalex.org/I4210134804","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6511,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.64883396,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3426","last_page":"3433"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9977999925613403,"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":0.9977999925613403,"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/T10581","display_name":"Neural dynamics and brain function","score":0.9799000024795532,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9745000004768372,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5936262607574463},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.575721025466919},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.48263320326805115},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.4377613067626953},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2731434404850006},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.234788715839386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21099230647087097},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1774291694164276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15431001782417297}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5936262607574463},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.575721025466919},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.48263320326805115},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.4377613067626953},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2731434404850006},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.234788715839386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21099230647087097},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1774291694164276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15431001782417297},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra57147.2024.10611045","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611045","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"},{"id":"pmh:oai:dspace.mit.edu:1721.1/153828","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/153828","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/153828","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/153828","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1965549765","https://openalex.org/W1977655452","https://openalex.org/W1985834661","https://openalex.org/W2002101416","https://openalex.org/W2048963734","https://openalex.org/W2083990312","https://openalex.org/W2090373601","https://openalex.org/W2099312786","https://openalex.org/W2111712314","https://openalex.org/W2156174987","https://openalex.org/W2171073614","https://openalex.org/W2336281863","https://openalex.org/W2592950567","https://openalex.org/W2694031977","https://openalex.org/W2909553221","https://openalex.org/W2968213087","https://openalex.org/W2972810470","https://openalex.org/W2991562719","https://openalex.org/W3017594186","https://openalex.org/W3174759122","https://openalex.org/W3204973825","https://openalex.org/W3206762371","https://openalex.org/W3213886952","https://openalex.org/W4205430897","https://openalex.org/W4206589784","https://openalex.org/W4286611302","https://openalex.org/W4295680071","https://openalex.org/W4309323738","https://openalex.org/W4310886200","https://openalex.org/W4311486620","https://openalex.org/W4352976967","https://openalex.org/W4385751984","https://openalex.org/W4386766454","https://openalex.org/W6767349745","https://openalex.org/W6793715182","https://openalex.org/W6801964084","https://openalex.org/W6842936555","https://openalex.org/W6847063038","https://openalex.org/W6857201943"],"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":{"We":[0,42],"present":[1],"a":[2,48,53,82,91,99],"minimal":[3],"phase":[4,63],"oscillator":[5,45],"model":[6],"for":[7],"learning":[8],"quadrupedal":[9],"locomotion.":[10],"Each":[11],"of":[12,28,62,85],"the":[13,29,44,60,69],"four":[14],"oscillators":[15],"is":[16,96],"coupled":[17],"only":[18],"to":[19],"itself":[20,46],"and":[21,68,88,98],"its":[22],"corresponding":[23],"leg":[24],"through":[25],"local":[26,70],"feedback":[27,40,71],"ground":[30],"reaction":[31],"force,":[32],"which":[33],"can":[34],"be":[35],"interpreted":[36],"as":[37,47],"an":[38],"observer":[39],"gain.":[41],"interpret":[43],"latent":[49],"contact":[50],"state-estimator.":[51],"Through":[52],"systematic":[54],"ablation":[55],"study,":[56],"we":[57],"show":[58],"that":[59,75],"combination":[61],"observations,":[64],"simple":[65,86],"phase-based":[66],"rewards,":[67,87],"dynamics":[72],"induces":[73],"policies":[74],"exhibit":[76],"emergent":[77],"gait":[78],"preferences,":[79],"while":[80],"using":[81],"reduced":[83],"set":[84],"without":[89],"prescribing":[90],"specific":[92],"gait.":[93],"The":[94],"code":[95],"open-source,":[97],"video":[100],"synopsis":[101],"available":[102],"at":[103],"https://youtu.be/1NKQ0rSV3jU.":[104]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}