{"id":"https://openalex.org/W4312908419","doi":"https://doi.org/10.1109/iros47612.2022.9981984","title":"Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot","display_name":"Hierarchical Reinforcement Learning for Precise Soccer Shooting Skills using a Quadrupedal Robot","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312908419","doi":"https://doi.org/10.1109/iros47612.2022.9981984"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981984","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5034142902","display_name":"Yandong Ji","orcid":"https://orcid.org/0000-0002-6948-7465"},"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":"Yandong Ji","raw_affiliation_strings":["University of California,Berkeley","University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100735594","display_name":"Zhongyu Li","orcid":"https://orcid.org/0000-0001-8040-1098"},"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":"Zhongyu Li","raw_affiliation_strings":["University of California,Berkeley","University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102030677","display_name":"Yinan Sun","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":"Yinan Sun","raw_affiliation_strings":["University of California,Berkeley","University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070606710","display_name":"Xue Bin Peng","orcid":"https://orcid.org/0000-0003-0480-7816"},"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":"Xue Bin Peng","raw_affiliation_strings":["University of California,Berkeley","University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"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","University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045351810","display_name":"Glen Berseth","orcid":"https://orcid.org/0000-0001-7351-8028"},"institutions":[{"id":"https://openalex.org/I4210155582","display_name":"Centre Universitaire de Mila","ror":"https://ror.org/05s3cw058","country_code":"DZ","type":"education","lineage":["https://openalex.org/I4210155582"]}],"countries":["DZ"],"is_corresponding":false,"raw_author_name":"Glen Berseth","raw_affiliation_strings":["Université de Montréal,Mila"],"affiliations":[{"raw_affiliation_string":"Université de Montréal,Mila","institution_ids":["https://openalex.org/I4210155582"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054075105","display_name":"Koushil Sreenath","orcid":"https://orcid.org/0000-0002-5346-3637"},"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":"Koushil Sreenath","raw_affiliation_strings":["University of California,Berkeley","University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5034142902"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":17.9535,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.99728425,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1479","last_page":"1486"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"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"}},"topics":[{"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9562000036239624,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9534000158309937,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8880264759063721},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.730643630027771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6263382434844971},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.6079778075218201},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5246541500091553},{"id":"https://openalex.org/keywords/soccer-robot","display_name":"Soccer robot","score":0.5177773237228394},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5060433745384216},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47428613901138306},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.36879122257232666},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3687079846858978},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32172882556915283},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08519726991653442}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8880264759063721},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.730643630027771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6263382434844971},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.6079778075218201},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5246541500091553},{"id":"https://openalex.org/C2781188825","wikidata":"https://www.wikidata.org/wiki/Q7550336","display_name":"Soccer robot","level":5,"score":0.5177773237228394},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5060433745384216},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47428613901138306},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.36879122257232666},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3687079846858978},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32172882556915283},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08519726991653442},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981984","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1506540549","https://openalex.org/W1904781439","https://openalex.org/W1969074599","https://openalex.org/W1971703870","https://openalex.org/W2034702027","https://openalex.org/W2034813416","https://openalex.org/W2064082680","https://openalex.org/W2071705710","https://openalex.org/W2104112233","https://openalex.org/W2125188427","https://openalex.org/W2125612430","https://openalex.org/W2145972539","https://openalex.org/W2158782408","https://openalex.org/W2161361919","https://openalex.org/W2592538810","https://openalex.org/W2736601468","https://openalex.org/W2739330054","https://openalex.org/W2767050701","https://openalex.org/W2788030459","https://openalex.org/W2911087563","https://openalex.org/W2925173345","https://openalex.org/W2972810470","https://openalex.org/W3009507080","https://openalex.org/W3039737909","https://openalex.org/W3101442004","https://openalex.org/W3174857949","https://openalex.org/W3175254947","https://openalex.org/W3203830790","https://openalex.org/W3205196998","https://openalex.org/W3206620955","https://openalex.org/W3207033168","https://openalex.org/W4226143977","https://openalex.org/W4237733001","https://openalex.org/W6736742618","https://openalex.org/W6741002519","https://openalex.org/W6767349745","https://openalex.org/W6789305357","https://openalex.org/W6793715182","https://openalex.org/W6801655106"],"related_works":["https://openalex.org/W3127601461","https://openalex.org/W1508884035","https://openalex.org/W2366630049","https://openalex.org/W2381063526","https://openalex.org/W2381395396","https://openalex.org/W956645566","https://openalex.org/W2134294860","https://openalex.org/W1975304098","https://openalex.org/W2391962092","https://openalex.org/W2993515348"],"abstract_inverted_index":{"We":[0,141],"address":[1],"the":[2,14,58,65,81,87,129,143,157,163],"problem":[3,39],"of":[4,67],"enabling":[5],"quadrupedal":[6,149],"robots":[7],"to":[8,22,27,32,56,75,79,92,109,127,133,138,154,159],"perform":[9],"precise":[10],"shooting":[11],"skills":[12],"in":[13,162],"real":[15,164],"world":[16],"using":[17],"reinforcement":[18,107],"learning.":[19],"Developing":[20],"algorithms":[21],"enable":[23,152],"a":[24,29,33,37,68,93,101,112,124,135,139],"legged":[25,70],"robot":[26,42,150],"shoot":[28,80,134,156],"soccer":[30,136],"ball":[31,84,137,158],"given":[34],"target":[35],"is":[36],"challenging":[38],"that":[40,104,117],"combines":[41],"motion":[43,62,77,114,132],"control":[44,66,115],"and":[45,61,122,151],"planning":[46,78,125],"into":[47],"one":[48],"task.":[49],"To":[50],"solve":[51],"this":[52,97],"problem,":[53],"we":[54,73,99],"need":[55,74],"consider":[57,76],"dynamics":[59],"limitation":[60],"stability":[63],"during":[64],"dynamic":[69],"robot.":[71],"Moreover,":[72],"hard-to-model":[82],"deformable":[83],"rolling":[85],"on":[86,146],"ground":[88],"with":[89],"uncertain":[90],"friction":[91],"desired":[94,130],"location.":[95],"In":[96],"paper,":[98],"propose":[100],"hierarchical":[102],"framework":[103,145],"leverages":[105],"deep":[106],"learning":[108],"train":[110],"(a)":[111],"robust":[113],"policy":[116,126],"can":[118],"track":[119],"arbitrary":[120],"motions":[121],"(b)":[123],"decide":[128],"kicking":[131],"target.":[140],"deploy":[142],"proposed":[144],"an":[147],"A1":[148],"it":[153],"accurately":[155],"random":[160],"targets":[161],"world.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":16}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}