{"id":"https://openalex.org/W2795998072","doi":"https://doi.org/10.1109/iros.2018.8594193","title":"Learning Image-Conditioned Dynamics Models for Control of Underactuated Legged Millirobots","display_name":"Learning Image-Conditioned Dynamics Models for Control of Underactuated Legged Millirobots","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2795998072","doi":"https://doi.org/10.1109/iros.2018.8594193","mag":"2795998072"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594193","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594193","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5030973600","display_name":"Anusha Nagabandi","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Anusha Nagabandi","raw_affiliation_strings":["University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113018307","display_name":"Guangzhao Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guangzhao Yang","raw_affiliation_strings":["University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049084944","display_name":"Thomas Asmar","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Asmar","raw_affiliation_strings":["University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055091245","display_name":"Ravi Pandya","orcid":"https://orcid.org/0000-0003-0258-4604"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ravi Pandya","raw_affiliation_strings":["University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064156720","display_name":"Gregory Kahn","orcid":"https://orcid.org/0000-0003-1771-6147"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory Kahn","raw_affiliation_strings":["University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026322200","display_name":"Sergey Levine","orcid":"https://orcid.org/0000-0001-6764-2743"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sergey Levine","raw_affiliation_strings":["University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073886799","display_name":"Ronald S. Fearing","orcid":"https://orcid.org/0000-0001-6242-5379"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ronald S. Fearing","raw_affiliation_strings":["University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5030973600"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":1.9612,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.85412318,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4606","last_page":"4613"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.98089998960495,"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":0.9807000160217285,"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/terrain","display_name":"Terrain","score":0.8017669916152954},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7843738794326782},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7362771034240723},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6111195683479309},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5454394221305847},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5216484665870667},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4864084720611572},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3794253170490265},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3329768776893616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14048516750335693}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8017669916152954},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7843738794326782},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7362771034240723},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6111195683479309},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5454394221305847},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5216484665870667},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4864084720611572},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3794253170490265},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3329768776893616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14048516750335693},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594193","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594193","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":61,"referenced_works":["https://openalex.org/W945940369","https://openalex.org/W1483202606","https://openalex.org/W1503950469","https://openalex.org/W1522301498","https://openalex.org/W1568324189","https://openalex.org/W1569732988","https://openalex.org/W1599000175","https://openalex.org/W1771410628","https://openalex.org/W1975230295","https://openalex.org/W1977753016","https://openalex.org/W1988003703","https://openalex.org/W1999050977","https://openalex.org/W1999052969","https://openalex.org/W2001095967","https://openalex.org/W2011105010","https://openalex.org/W2024084391","https://openalex.org/W2039279693","https://openalex.org/W2044313349","https://openalex.org/W2055346300","https://openalex.org/W2062118960","https://openalex.org/W2065238107","https://openalex.org/W2070876714","https://openalex.org/W2089016645","https://openalex.org/W2091568354","https://openalex.org/W2091829036","https://openalex.org/W2100361537","https://openalex.org/W2105947986","https://openalex.org/W2108598243","https://openalex.org/W2110029398","https://openalex.org/W2112978907","https://openalex.org/W2121666081","https://openalex.org/W2129287493","https://openalex.org/W2138671676","https://openalex.org/W2140135625","https://openalex.org/W2140652513","https://openalex.org/W2145339207","https://openalex.org/W2154844948","https://openalex.org/W2163605009","https://openalex.org/W2167374596","https://openalex.org/W2171565529","https://openalex.org/W2303829726","https://openalex.org/W2549216668","https://openalex.org/W2575705757","https://openalex.org/W2737825825","https://openalex.org/W2789495361","https://openalex.org/W2962872206","https://openalex.org/W2963864421","https://openalex.org/W2964043796","https://openalex.org/W2964121744","https://openalex.org/W4250058668","https://openalex.org/W4254720880","https://openalex.org/W6624932236","https://openalex.org/W6629021139","https://openalex.org/W6631190155","https://openalex.org/W6638018090","https://openalex.org/W6675977238","https://openalex.org/W6684191040","https://openalex.org/W6684921986","https://openalex.org/W6692846177","https://openalex.org/W7061286564","https://openalex.org/W7073827480"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W3005657145","https://openalex.org/W2332067308","https://openalex.org/W2028594013","https://openalex.org/W1643150164"],"abstract_inverted_index":{"Millirobots":[0],"are":[1],"a":[2,70,93,116,164],"promising":[3],"robotic":[4],"platform":[5],"for":[6,68,111,130,161],"many":[7],"applications":[8],"due":[9],"to":[10,105,133,146],"their":[11],"small":[12],"size":[13],"and":[14,29,40,61,158,175,178],"low":[15],"manufacturing":[16],"costs.":[17],"Legged":[18],"millirobots,":[19,53],"in":[20,26],"particular,":[21],"can":[22,48,91,101,181],"provide":[23],"increased":[24],"mobility":[25],"complex":[27,62],"environments":[28],"improved":[30],"scaling":[31],"of":[32,87,96,163],"obstacles.":[33],"However,":[34],"controlling":[35,69],"these":[36,51,131],"small,":[37],"highly":[38],"dynamic,":[39],"underactuated":[41],"legged":[42,52,72,166],"systems":[43],"is":[44,75],"difficult.":[45],"Hand-engineered":[46],"controllers":[47],"sometimes":[49],"control":[50],"but":[54],"they":[55],"have":[56],"difficulties":[57],"with":[58,143],"dynamic":[59,165],"maneuvers":[60],"terrains.":[63],"We":[64],"present":[65],"an":[66],"approach":[67,128],"real-world":[71],"millirobot":[73,167],"that":[74,100],"based":[76],"on":[77,108,115,137,168],"learned":[78],"neural":[79,124],"network":[80,125],"models.":[81],"Using":[82],"less":[83],"than":[84],"17":[85],"minutes":[86],"data,":[88],"our":[89,127],"method":[90],"learn":[92],"predictive":[94],"model":[95],"the":[97,109,141,144],"robot's":[98],"dynamics":[99],"enable":[102],"effective":[103,159],"gaits":[104],"be":[106,134,182],"synthesized":[107],"fly":[110],"following":[112],"user-specified":[113],"waypoints":[114],"given":[117],"terrain.":[118],"Furthermore,":[119],"by":[120],"leveraging":[121],"expressive,":[122],"high-capacity":[123],"models,":[126],"allows":[129],"predictions":[132],"directly":[135],"conditioned":[136],"camera":[138],"images,":[139],"endowing":[140],"robot":[142],"ability":[145],"predict":[147],"how":[148],"different":[149],"terrains":[150],"might":[151],"affect":[152],"its":[153],"dynamics.":[154],"This":[155],"enables":[156],"sample-efficient":[157],"learning":[160],"locomotion":[162],"various":[169],"terrains,":[170],"including":[171],"gravel,":[172],"turf,":[173],"carpet,":[174],"styrofoam.":[176],"Videos":[177],"further":[179],"details":[180],"found":[183],"at":[184],"https://sites.google.com/view/imageconddyn.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}