{"id":"https://openalex.org/W1999050977","doi":"https://doi.org/10.1109/iros.2012.6385955","title":"Toward fast policy search for learning legged locomotion","display_name":"Toward fast policy search for learning legged locomotion","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1999050977","doi":"https://doi.org/10.1109/iros.2012.6385955","mag":"1999050977"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5001763022","display_name":"Marc Peter Deisenroth","orcid":"https://orcid.org/0000-0003-1503-680X"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Peter Deisenroth","raw_affiliation_strings":["Intelligent-Autonomous-Systems Laboratory, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany","Intelligent-Autonomous-Systems Lab, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent-Autonomous-Systems Laboratory, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Intelligent-Autonomous-Systems Lab, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002235575","display_name":"Roberto Calandra","orcid":"https://orcid.org/0000-0001-9430-8433"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Roberto Calandra","raw_affiliation_strings":["Intelligent-Autonomous-Systems Laboratory, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany","Intelligent-Autonomous-Systems Lab, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent-Autonomous-Systems Laboratory, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Intelligent-Autonomous-Systems Lab, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015080938","display_name":"Andr\u00e9 Seyfarth","orcid":"https://orcid.org/0000-0001-8285-2415"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Seyfarth","raw_affiliation_strings":["Locomotion Laboratory, Department of Sport Science, Technische Universit\u00e4t Darmstadt, Germany","Locomotion Lab, Department of Sport Science, Technische Universit\u00e4t Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Locomotion Laboratory, Department of Sport Science, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Locomotion Lab, Department of Sport Science, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Intelligent-Autonomous-Systems Laboratory, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany","Intelligent-Autonomous-Systems Lab, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent-Autonomous-Systems Laboratory, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Intelligent-Autonomous-Systems Lab, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1787","last_page":"1792"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9609000086784363,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9564999938011169,"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/legged-robot","display_name":"Legged robot","score":0.8048344254493713},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6889435648918152},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.5736882090568542},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.5628411769866943},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5502543449401855},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5470144152641296},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5339924693107605},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4907125234603882},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.4654195308685303},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.44179248809814453},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4351847767829895}],"concepts":[{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.8048344254493713},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6889435648918152},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.5736882090568542},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.5628411769866943},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5502543449401855},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5470144152641296},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5339924693107605},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4907125234603882},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.4654195308685303},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.44179248809814453},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4351847767829895},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2012.6385955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385955","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:pure.mpg.de:item_1746978","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-000E-FE61-1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/12207","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/12207","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IROS 2012","raw_type":"Conference Paper"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:107902","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/6385955","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Konferenzver\u00f6ffentlichung"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W570314136","https://openalex.org/W1509504119","https://openalex.org/W1520597402","https://openalex.org/W1574423414","https://openalex.org/W1601795611","https://openalex.org/W1652568224","https://openalex.org/W1663973292","https://openalex.org/W1746819321","https://openalex.org/W1943339244","https://openalex.org/W2019428247","https://openalex.org/W2021068971","https://openalex.org/W2037729465","https://openalex.org/W2090190159","https://openalex.org/W2095661097","https://openalex.org/W2102162941","https://openalex.org/W2103617625","https://openalex.org/W2109008048","https://openalex.org/W2127107099","https://openalex.org/W2130105540","https://openalex.org/W2138136244","https://openalex.org/W2140135625","https://openalex.org/W2140652513","https://openalex.org/W2144834630","https://openalex.org/W2147537971","https://openalex.org/W2153917213","https://openalex.org/W2154560360","https://openalex.org/W2163668399","https://openalex.org/W2170839407","https://openalex.org/W2217719860","https://openalex.org/W2544683879","https://openalex.org/W4211049957","https://openalex.org/W6630552132","https://openalex.org/W6680657880"],"related_works":["https://openalex.org/W3034095766","https://openalex.org/W2206060124","https://openalex.org/W2739593313","https://openalex.org/W2371131212","https://openalex.org/W2243669827","https://openalex.org/W13333063","https://openalex.org/W2841879989","https://openalex.org/W3178074323","https://openalex.org/W2998534312","https://openalex.org/W2968327048"],"abstract_inverted_index":{"Legged":[0],"locomotion":[1,17,47,141],"is":[2],"one":[3],"of":[4,9,15,22,35,56,68,143],"the":[5,13,19,31,54,66,69,151],"most":[6],"versatile":[7],"forms":[8],"mobility.":[10],"However,":[11],"despite":[12],"importance":[14],"legged":[16,23,46,79,106],"and":[18,33],"large":[20],"number":[21],"robotics":[24],"studies,":[25],"no":[26],"biped":[27],"or":[28,60,86],"quadruped":[29],"matches":[30],"agility":[32],"versatility":[34],"their":[36],"biological":[37],"counterparts":[38],"to":[39,42,93,101,153,155],"date.":[40],"Approaches":[41],"designing":[43],"controllers":[44,77,89,104],"for":[45,75,78,105,115,129],"systems":[48,80],"are":[49],"often":[50],"based":[51,109],"on":[52,110],"either":[53,81],"assumption":[55],"perfectly":[57],"known":[58],"dynamics":[59],"mechanical":[61],"designs":[62],"that":[63,125],"substantially":[64],"reduce":[65],"dimensionality":[67],"problem.":[70],"The":[71],"few":[72],"existing":[73],"approaches":[74],"learning":[76,102,130],"require":[82],"exhaustive":[83],"real-world":[84],"data":[85],"they":[87],"improve":[88],"only":[90],"conservatively,":[91],"leading":[92],"slow":[94],"learning.":[95],"We":[96],"present":[97],"a":[98,120,144],"data-efficient":[99],"approach":[100,127,149],"feedback":[103],"locomotive":[107],"systems,":[108],"learned":[111,140],"probabilistic":[112],"forward":[113],"models":[114,142],"generating":[116],"walking":[117],"policies.":[118],"On":[119],"compass":[121],"walker,":[122],"we":[123,138],"show":[124],"our":[126],"allows":[128],"gait":[131],"policies":[132],"from":[133],"very":[134],"little":[135,160],"data.":[136],"Moreover,":[137],"analyze":[139],"biomechanically":[145],"inspired":[146],"biped.":[147],"Our":[148],"has":[150],"potential":[152],"scale":[154],"high-dimensional":[156],"humanoid":[157],"robots":[158],"with":[159],"loss":[161],"in":[162],"efficiency.":[163]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}