{"id":"https://openalex.org/W4402352467","doi":"https://doi.org/10.1109/ijcnn60899.2024.10651162","title":"HeteroMorpheus: Universal Control Based on Morphological Heterogeneity Modeling","display_name":"HeteroMorpheus: Universal Control Based on Morphological Heterogeneity Modeling","publication_year":2024,"publication_date":"2024-06-30","ids":{"openalex":"https://openalex.org/W4402352467","doi":"https://doi.org/10.1109/ijcnn60899.2024.10651162"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn60899.2024.10651162","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ijcnn60899.2024.10651162","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":"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/A5036205023","display_name":"Yifan Hao","orcid":"https://orcid.org/0009-0002-9823-2573"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"YiFan Hao","raw_affiliation_strings":["Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100397678","display_name":"Yang Yang","orcid":"https://orcid.org/0000-0002-8284-9926"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang Yang","raw_affiliation_strings":["Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114216037","display_name":"Junru Song","orcid":null},"institutions":[{"id":"https://openalex.org/I78988378","display_name":"Renmin University of China","ror":"https://ror.org/041pakw92","country_code":"CN","type":"education","lineage":["https://openalex.org/I78988378"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junru Song","raw_affiliation_strings":["Renmin University of China,Institute of Statistics and Big Data,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Renmin University of China,Institute of Statistics and Big Data,Beijing,China","institution_ids":["https://openalex.org/I78988378"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014330483","display_name":"Wei Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wei Peng","raw_affiliation_strings":["Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042634570","display_name":"Weien Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Weien Zhou","raw_affiliation_strings":["Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080700400","display_name":"Tingsong Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tingsong Jiang","raw_affiliation_strings":["Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102922572","display_name":"Wen Yao","orcid":"https://orcid.org/0000-0002-8590-4302"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen Yao","raw_affiliation_strings":["Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Millitary Science,Defense Innovation Institute,Beijing,China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5036205023"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12933656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"20","issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.8187999725341797,"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/T10320","display_name":"Neural Networks and Applications","score":0.8187999725341797,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6174155473709106},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44076260924339294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36141669750213623}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6174155473709106},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44076260924339294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36141669750213623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn60899.2024.10651162","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/ijcnn60899.2024.10651162","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":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2785948534","https://openalex.org/W3012871709","https://openalex.org/W3152878473","https://openalex.org/W4221148168","https://openalex.org/W4226363902","https://openalex.org/W4241414120","https://openalex.org/W4287646021","https://openalex.org/W4320167181","https://openalex.org/W4321649089","https://openalex.org/W4385245566","https://openalex.org/W6747769025","https://openalex.org/W6780559457","https://openalex.org/W6783987590","https://openalex.org/W6803732175","https://openalex.org/W6811355337","https://openalex.org/W6839805037","https://openalex.org/W6849780160","https://openalex.org/W6850368301"],"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":{"In":[0],"the":[1,64,105,113],"field":[2],"of":[3,67,94,97,107,115],"robotic":[4],"control,":[5],"designing":[6],"individual":[7],"controllers":[8],"for":[9],"each":[10],"robot":[11,23,95,126],"leads":[12],"to":[13,26,43,124],"high":[14],"computational":[15],"costs.":[16],"Universal":[17],"control":[18],"policies,":[19],"applicable":[20],"across":[21,50],"diverse":[22],"morphologies,":[24],"promise":[25],"mitigate":[27],"this":[28,72],"challenge.":[29],"Predominantly,":[30],"models":[31,56],"based":[32,80],"on":[33,81],"Graph":[34],"Neural":[35],"Networks":[36],"(GNN)":[37],"and":[38,121],"Transformers":[39],"are":[40],"employed,":[41],"owing":[42],"their":[44],"effectiveness":[45],"in":[46,112],"capturing":[47],"relational":[48],"dynamics":[49,96],"a":[51,77],"robot\u2019s":[52],"limbs.":[53,69],"However,":[54],"these":[55],"typically":[57],"employ":[58],"homogeneous":[59],"graph":[60,83],"structures":[61],"that":[62],"overlook":[63],"functional":[65],"diversity":[66],"different":[68],"To":[70],"bridge":[71],"gap,":[73],"we":[74,103],"introduce":[75],"HeteroMorpheus,":[76],"novel":[78],"method":[79,86],"heterogeneous":[82],"Transformer.":[84],"This":[85],"uniquely":[87],"addresses":[88],"limb":[89],"heterogeneity,":[90],"fostering":[91],"better":[92],"representation":[93],"various":[98],"morphologies.":[99,127],"Through":[100],"extensive":[101],"experiments":[102],"demonstrate":[104],"superiority":[106],"HeteroMorpheus":[108],"against":[109],"state-of-the-art":[110],"methods":[111],"capability":[114],"policy":[116],"generalization,":[117],"including":[118],"zero-shot":[119],"generalization":[120],"sample-efficient":[122],"transfer":[123],"unfamiliar":[125]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
