{"id":"https://openalex.org/W3040307255","doi":"https://doi.org/10.1109/iros45743.2020.9340737","title":"First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion","display_name":"First Steps: Latent-Space Control with Semantic Constraints for Quadruped Locomotion","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3040307255","doi":"https://doi.org/10.1109/iros45743.2020.9340737","mag":"3040307255"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9340737","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340737","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2007.01520","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083616654","display_name":"Alex Mitchell","orcid":"https://orcid.org/0000-0001-8655-7966"},"institutions":[{"id":"https://openalex.org/I2799847335","display_name":"Art Institute of Portland","ror":"https://ror.org/01cb0jg64","country_code":"US","type":"education","lineage":["https://openalex.org/I2799847335","https://openalex.org/I2799969541"]},{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Alexander L. Mitchell","raw_affiliation_strings":["Applied AI Lab (A2I)","Dynamic Robot Systems (DRS) Oxford Robotics Institute (ORI), University of Oxford","University of Oxford"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied AI Lab (A2I)","institution_ids":["https://openalex.org/I2799847335"]},{"raw_affiliation_string":"Dynamic Robot Systems (DRS) Oxford Robotics Institute (ORI), University of Oxford","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"University of Oxford","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023103880","display_name":"Martin Engelcke","orcid":"https://orcid.org/0000-0001-8306-1236"},"institutions":[{"id":"https://openalex.org/I2799847335","display_name":"Art Institute of Portland","ror":"https://ror.org/01cb0jg64","country_code":"US","type":"education","lineage":["https://openalex.org/I2799847335","https://openalex.org/I2799969541"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martin Engelcke","raw_affiliation_strings":["Applied AI Lab (A2I)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied AI Lab (A2I)","institution_ids":["https://openalex.org/I2799847335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015428481","display_name":"\u014ciwi Parker Jones","orcid":"https://orcid.org/0000-0003-0307-9837"},"institutions":[{"id":"https://openalex.org/I2799847335","display_name":"Art Institute of Portland","ror":"https://ror.org/01cb0jg64","country_code":"US","type":"education","lineage":["https://openalex.org/I2799847335","https://openalex.org/I2799969541"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oiwi Parker Jones","raw_affiliation_strings":["Applied AI Lab (A2I)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied AI Lab (A2I)","institution_ids":["https://openalex.org/I2799847335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043252058","display_name":"David Surovik","orcid":"https://orcid.org/0000-0002-9454-5874"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Surovik","raw_affiliation_strings":["Dynamic Robot Systems (DRS) Oxford Robotics Institute (ORI), University of Oxford"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Robot Systems (DRS) Oxford Robotics Institute (ORI), University of Oxford","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072631552","display_name":"Siddhant Gangapurwala","orcid":"https://orcid.org/0000-0002-1308-3744"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siddhant Gangapurwala","raw_affiliation_strings":["Dynamic Robot Systems (DRS) Oxford Robotics Institute (ORI), University of Oxford"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Robot Systems (DRS) Oxford Robotics Institute (ORI), University of Oxford","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082637012","display_name":"Oliwier Melon","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oliwier Melon","raw_affiliation_strings":["Dynamic Robot Systems (DRS) Oxford Robotics Institute (ORI), University of Oxford"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Robot Systems (DRS) Oxford Robotics Institute (ORI), University of Oxford","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068877998","display_name":"Ioannis Havoutis","orcid":"https://orcid.org/0000-0002-4371-4623"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ioannis Havoutis","raw_affiliation_strings":["Dynamic Robot Systems (DRS) Oxford Robotics Institute (ORI), University of Oxford"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dynamic Robot Systems (DRS) Oxford Robotics Institute (ORI), University of Oxford","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027013897","display_name":"Ingmar Posner","orcid":"https://orcid.org/0000-0001-6270-700X"},"institutions":[{"id":"https://openalex.org/I2799847335","display_name":"Art Institute of Portland","ror":"https://ror.org/01cb0jg64","country_code":"US","type":"education","lineage":["https://openalex.org/I2799847335","https://openalex.org/I2799969541"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ingmar Posner","raw_affiliation_strings":["Applied AI Lab (A2I)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Applied AI Lab (A2I)","institution_ids":["https://openalex.org/I2799847335"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06939203,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5343","last_page":"5350"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10812","display_name":"Human Pose and Action Recognition","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T12290","display_name":"Human Motion and Animation","score":0.9955999851226807,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9922999739646912,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6668466329574585},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.6411150097846985},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6204121112823486},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.567406952381134},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.562821626663208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5077003240585327},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45608967542648315},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.43415623903274536},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.412917822599411},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3486005365848541},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3449859023094177},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3348430395126343},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18358507752418518}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6668466329574585},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6411150097846985},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6204121112823486},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.567406952381134},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.562821626663208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5077003240585327},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45608967542648315},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.43415623903274536},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.412917822599411},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3486005365848541},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3449859023094177},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3348430395126343},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18358507752418518},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros45743.2020.9340737","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9340737","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2007.01520","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.01520","pdf_url":"https://arxiv.org/pdf/2007.01520","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2007.01520","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2007.01520","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"},{"id":"mag:3040307255","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2007.01520","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2007.01520","pdf_url":"https://arxiv.org/pdf/2007.01520","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2483205037","display_name":null,"funder_award_id":"EP/M019918/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G4455703996","display_name":null,"funder_award_id":"2117771","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7054259338","display_name":null,"funder_award_id":"EP/S002383/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3040307255.pdf","grobid_xml":"https://content.openalex.org/works/W3040307255.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W1959608418","https://openalex.org/W2020018978","https://openalex.org/W2065238107","https://openalex.org/W2111253117","https://openalex.org/W2111904757","https://openalex.org/W2143729862","https://openalex.org/W2165739402","https://openalex.org/W2176412452","https://openalex.org/W2549216668","https://openalex.org/W2618245409","https://openalex.org/W2788030459","https://openalex.org/W2788200022","https://openalex.org/W2793991136","https://openalex.org/W2795756076","https://openalex.org/W2909553221","https://openalex.org/W2911087563","https://openalex.org/W2962897886","https://openalex.org/W2963430173","https://openalex.org/W2975524393","https://openalex.org/W3004647014","https://openalex.org/W3006305830","https://openalex.org/W3008616877","https://openalex.org/W3024175431","https://openalex.org/W3036820274","https://openalex.org/W4243639737","https://openalex.org/W4250058668","https://openalex.org/W6623316541","https://openalex.org/W6639732818","https://openalex.org/W6640963894","https://openalex.org/W6750409132","https://openalex.org/W6760888379","https://openalex.org/W6768153974","https://openalex.org/W6773900632"],"related_works":["https://openalex.org/W3130593574","https://openalex.org/W2890600282","https://openalex.org/W3199699279","https://openalex.org/W2736457169","https://openalex.org/W2953250718","https://openalex.org/W2032845773","https://openalex.org/W3149063732","https://openalex.org/W1712670318","https://openalex.org/W2178011566","https://openalex.org/W2084760838","https://openalex.org/W3104224800","https://openalex.org/W2140801763","https://openalex.org/W2564656965","https://openalex.org/W2610504928","https://openalex.org/W3103493014","https://openalex.org/W3111847214","https://openalex.org/W2610936573","https://openalex.org/W2618181420","https://openalex.org/W2079148749","https://openalex.org/W2261639268"],"abstract_inverted_index":{"Traditional":[0],"approaches":[1],"to":[2,34,162],"quadruped":[3,49],"control":[4,50,157],"frequently":[5],"employ":[6],"simplified,":[7],"hand-derived":[8],"models.":[9],"This":[10],"significantly":[11],"reduces":[12],"the":[13,16,89,112,145,152],"capability":[14],"of":[15,66,104,114,138,147],"robot":[17,166],"since":[18],"its":[19],"effective":[20],"kinematic":[21],"range":[22],"is":[23,136,151],"curtailed.":[24],"In":[25,40],"addition,":[26],"kinodynamic":[27],"constraints":[28,75,96],"are":[29,45,76,97],"often":[30],"non-differentiable":[31],"and":[32,73,82,100,124,141],"difficult":[33],"implement":[35],"in":[36,53,122],"an":[37,102],"optimisation":[38,52],"approach.":[39],"this":[41,134,150],"work,":[42],"these":[43],"challenges":[44],"addressed":[46],"by":[47,84],"framing":[48],"as":[51],"a":[54,63,93,126,163],"structured":[55],"latent":[56,90,155],"space.":[57,91],"A":[58],"deep":[59],"generative":[60],"model":[61],"captures":[62],"statistical":[64],"representation":[65],"feasible":[67],"joint":[68],"configurations,":[69],"whilst":[70],"complex":[71,95],"dynamic":[72],"terminal":[74],"expressed":[77],"via":[78],"high-level,":[79],"semantic":[80],"indicators":[81],"represented":[83],"learned":[85],"classifiers":[86],"operating":[87],"upon":[88],"As":[92],"consequence,":[94],"rendered":[98],"differentiable":[99],"evaluated":[101],"order":[103],"magnitude":[105],"faster":[106],"than":[107],"analytical":[108],"approaches.":[109],"We":[110],"validate":[111],"feasibility":[113],"locomotion":[115],"trajectories":[116],"optimised":[117],"using":[118],"our":[119,148],"approach":[120,135],"both":[121],"simulation":[123],"on":[125],"real-world":[127],"ANY-mal":[128],"quadruped.":[129],"Our":[130],"results":[131],"demonstrate":[132],"that":[133],"capable":[137],"generating":[139],"smooth":[140],"realisable":[142],"trajectories.":[143],"To":[144],"best":[146],"knowledge,":[149],"first":[153],"time":[154],"space":[156],"has":[158],"been":[159],"successfully":[160],"applied":[161],"complex,":[164],"real":[165],"platform.":[167]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2022-07-26T00:00:00"}