{"id":"https://openalex.org/W4402353773","doi":"https://doi.org/10.1109/ijcnn60899.2024.10650813","title":"A Real-World Quadrupedal Locomotion Benchmark for Offline Reinforcement Learning","display_name":"A Real-World Quadrupedal Locomotion Benchmark for Offline Reinforcement Learning","publication_year":2024,"publication_date":"2024-06-30","ids":{"openalex":"https://openalex.org/W4402353773","doi":"https://doi.org/10.1109/ijcnn60899.2024.10650813"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn60899.2024.10650813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn60899.2024.10650813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Joint Conference on Neural Networks (IJCNN)","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/A5101721657","display_name":"Hongyin Zhang","orcid":"https://orcid.org/0000-0001-9861-0568"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyin Zhang","raw_affiliation_strings":["Westlake University,School of Engineering,Hangzhou,China,310024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Westlake University,School of Engineering,Hangzhou,China,310024","institution_ids":["https://openalex.org/I3133055985"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017126063","display_name":"Shuyu Yang","orcid":"https://orcid.org/0000-0002-0537-7515"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuyu Yang","raw_affiliation_strings":["Westlake University,School of Engineering,Hangzhou,China,310024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Westlake University,School of Engineering,Hangzhou,China,310024","institution_ids":["https://openalex.org/I3133055985"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100665183","display_name":"Donglin Wang","orcid":"https://orcid.org/0000-0003-1359-6440"},"institutions":[{"id":"https://openalex.org/I3133055985","display_name":"Westlake University","ror":"https://ror.org/05hfa4n20","country_code":"CN","type":"education","lineage":["https://openalex.org/I3133055985"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Donglin Wang","raw_affiliation_strings":["Westlake University,School of Engineering,Hangzhou,China,310024"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Westlake University,School of Engineering,Hangzhou,China,310024","institution_ids":["https://openalex.org/I3133055985"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3133055985"],"apc_list":null,"apc_paid":null,"fwci":0.7112,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.70200936,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9944999814033508,"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":0.8708314895629883},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.8635249733924866},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7018621563911438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6794075965881348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4496760666370392},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.049555420875549316}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8708314895629883},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.8635249733924866},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7018621563911438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6794075965881348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4496760666370392},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.049555420875549316},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn60899.2024.10650813","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn60899.2024.10650813","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 International Joint Conference on Neural Networks (IJCNN)","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":37,"referenced_works":["https://openalex.org/W2029058516","https://openalex.org/W2121863487","https://openalex.org/W2145339207","https://openalex.org/W2257979135","https://openalex.org/W2909331752","https://openalex.org/W2946222143","https://openalex.org/W2979211489","https://openalex.org/W3016525976","https://openalex.org/W3022566517","https://openalex.org/W3037440645","https://openalex.org/W3128328080","https://openalex.org/W3144252049","https://openalex.org/W3165631200","https://openalex.org/W3205794883","https://openalex.org/W4300892751","https://openalex.org/W4383108274","https://openalex.org/W4385438620","https://openalex.org/W6684338915","https://openalex.org/W6754615820","https://openalex.org/W6757469721","https://openalex.org/W6763032370","https://openalex.org/W6763704811","https://openalex.org/W6767997047","https://openalex.org/W6768617876","https://openalex.org/W6769596995","https://openalex.org/W6774583691","https://openalex.org/W6776438516","https://openalex.org/W6776601253","https://openalex.org/W6777656069","https://openalex.org/W6779265984","https://openalex.org/W6780159193","https://openalex.org/W6785559887","https://openalex.org/W6790767801","https://openalex.org/W6791413555","https://openalex.org/W6796589144","https://openalex.org/W6802659552","https://openalex.org/W6847063038"],"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":{"Online":[0],"reinforcement":[1,61],"learning":[2,23,53,62],"(RL)":[3],"methods":[4,154],"are":[5],"often":[6],"data-inefficient":[7],"or":[8],"unreliable,":[9],"making":[10],"them":[11],"difficult":[12],"to":[13,47,70],"train":[14],"on":[15],"real":[16],"robotic":[17,24],"hardware,":[18],"especially":[19,158],"quadruped":[20],"robots.":[21],"So":[22],"tasks":[25],"from":[26],"pre-collected":[27],"data":[28],"is":[29,98,147],"a":[30,149,171],"promising":[31],"direction.":[32],"Agile":[33],"and":[34,64,138,155,163],"stable":[35],"legged":[36],"locomotion":[37,94],"remains":[38],"an":[39],"open":[40],"issue":[41],"in":[42,54,73,90,142,159],"its":[43],"general":[44],"form.":[45],"Analogous":[46],"the":[48,57,68,79,91,101,110,125,135,152],"rapid":[49],"progress":[50],"of":[51,59,161],"supervised":[52],"recent":[55],"years,":[56],"combination":[58],"offline":[60],"(ORL)":[63],"realistic":[65,92],"datasets":[66],"has":[67],"potential":[69],"make":[71],"breakthroughs":[72],"this":[74],"challenging":[75],"field.":[76],"To":[77],"facilitate":[78],"ORL":[80,88,118,127,177],"research":[81],"for":[82,174],"real-world":[83],"applications,":[84],"we":[85],"benchmark":[86,168],"ten":[87],"algorithms":[89,128],"quadrupedal":[93],"dataset.":[95],"The":[96],"dataset":[97],"collected":[99],"by":[100,116],"classical":[102,156],"model":[103],"predictive":[104],"control":[105],"(MPC)":[106],"method,":[107],"rather":[108],"than":[109],"online":[111,136],"RL":[112],"method":[113],"commonly":[114],"utilized":[115],"previous":[117],"benchmarks.":[119],"Extensive":[120],"experimental":[121],"results":[122],"show":[123],"that":[124],"best-performing":[126],"can":[129,169],"achieve":[130],"competitive":[131],"performance":[132],"compared":[133],"with":[134],"RL,":[137],"even":[139],"surpass":[140],"it":[141],"some":[143],"tasks.":[144],"However,":[145],"there":[146],"still":[148],"gap":[150],"between":[151],"learning-based":[153],"MPC,":[157],"terms":[160],"stability":[162],"task":[164],"response":[165],"accuracy.":[166],"Our":[167],"provide":[170],"fertile":[172],"ground":[173],"future":[175],"application-oriented":[176],"research.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}