{"id":"https://openalex.org/W4410771138","doi":"https://doi.org/10.1109/icrca64997.2025.11011014","title":"Hopping Control of a Monopod Robot: Reinforcement Learning vs Raibert Heuristic","display_name":"Hopping Control of a Monopod Robot: Reinforcement Learning vs Raibert Heuristic","publication_year":2025,"publication_date":"2025-03-07","ids":{"openalex":"https://openalex.org/W4410771138","doi":"https://doi.org/10.1109/icrca64997.2025.11011014"},"language":"en","primary_location":{"id":"doi:10.1109/icrca64997.2025.11011014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icrca64997.2025.11011014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 9th International Conference on Robotics, Control and Automation (ICRCA)","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":null,"display_name":"Zhuochen Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"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":"Zhuochen Yuan","raw_affiliation_strings":["Tsinghua University,Tsinghua Shenzhen International Graduate School,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Tsinghua Shenzhen International Graduate School,Shenzhen,China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042034627","display_name":"Linqi Ye","orcid":"https://orcid.org/0000-0003-3190-7660"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linqi Ye","raw_affiliation_strings":["Shanghai University,School of Future Technology,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University,School of Future Technology,Shanghai,China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076885280","display_name":"Houde Liu","orcid":"https://orcid.org/0000-0002-7314-3366"},"institutions":[{"id":"https://openalex.org/I4210114105","display_name":"Tsinghua\u2013Berkeley Shenzhen Institute","ror":"https://ror.org/02hhwwz98","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210114105","https://openalex.org/I95457486","https://openalex.org/I99065089"]},{"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":"Houde Liu","raw_affiliation_strings":["Tsinghua University,Tsinghua Shenzhen International Graduate School,Shenzhen,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Tsinghua Shenzhen International Graduate School,Shenzhen,China","institution_ids":["https://openalex.org/I4210114105","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101626172","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0001-6310-6214"},"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":"Bin Liang","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07223504,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"39","last_page":"44"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9589999914169312,"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"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9589999914169312,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9261000156402588,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9225999712944031,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8565077185630798},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6689807772636414},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.6246426105499268},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49017199873924255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4637964367866516},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4478625953197479}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8565077185630798},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6689807772636414},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.6246426105499268},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49017199873924255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4637964367866516},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4478625953197479}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icrca64997.2025.11011014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icrca64997.2025.11011014","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 9th International Conference on Robotics, Control and Automation (ICRCA)","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":20,"referenced_works":["https://openalex.org/W1577462537","https://openalex.org/W2002853107","https://openalex.org/W2043878167","https://openalex.org/W2073787051","https://openalex.org/W2086587468","https://openalex.org/W2111253117","https://openalex.org/W2120227089","https://openalex.org/W2150654894","https://openalex.org/W2161427949","https://openalex.org/W2491414412","https://openalex.org/W2509995583","https://openalex.org/W2767578104","https://openalex.org/W2911087563","https://openalex.org/W2951360122","https://openalex.org/W2964114602","https://openalex.org/W2973229164","https://openalex.org/W3093922502","https://openalex.org/W4250058668","https://openalex.org/W4285102613","https://openalex.org/W4401214187"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W2964765435"],"abstract_inverted_index":{"As":[0],"a":[1,11,27,73,98],"classic":[2],"control":[3,42,68],"problem,":[4],"monopod":[5,40,75],"hopping":[6,41,58,81],"was":[7],"traditionally":[8],"solved":[9],"using":[10],"state":[12],"machine-based":[13],"approach":[14,96],"known":[15],"as":[16,26],"the":[17,48,64,94],"Raibert":[18,50,65,95],"Heuristic.":[19,51],"Recently,":[20],"reinforcement":[21],"learning":[22],"(RL)":[23],"has":[24],"emerged":[25],"powerful":[28],"alternative":[29],"for":[30,101],"robotic":[31],"control.":[32],"In":[33],"this":[34],"paper,":[35],"we":[36],"apply":[37],"RL":[38,55],"to":[39],"and":[43,60,77,83],"compare":[44],"its":[45],"performance":[46],"with":[47],"traditional":[49],"Simulations":[52],"demonstrate":[53],"that":[54],"achieves":[56],"faster":[57],"speeds":[59],"better":[61],"robustness":[62],"than":[63],"method.":[66],"Both":[67],"strategies":[69],"were":[70],"implemented":[71],"on":[72,80],"simulated":[74],"robot":[76],"evaluated":[78],"based":[79],"speed":[82],"robustness.":[84],"The":[85],"results":[86],"highlight":[87],"RL\u2019s":[88],"superiority":[89],"in":[90,110],"complex":[91],"environments,":[92],"while":[93],"remains":[97],"good":[99],"solution":[100],"simpler":[102],"scenarios.":[103],"(The":[104],"attached":[105],"video":[106],"can":[107],"be":[108],"found":[109],"https://www.bilibili.com/video/BV1eTxgeuEjV)":[111]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
