{"id":"https://openalex.org/W4405778940","doi":"https://doi.org/10.1109/iros58592.2024.10801602","title":"Interruptive Language Control of Bipedal Locomotion","display_name":"Interruptive Language Control of Bipedal Locomotion","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405778940","doi":"https://doi.org/10.1109/iros58592.2024.10801602"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801602","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5102993615","display_name":"Ashish Malik","orcid":"https://orcid.org/0000-0003-0382-4374"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ashish Malik","raw_affiliation_strings":["Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,Oregon,USA,97331"],"affiliations":[{"raw_affiliation_string":"Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,Oregon,USA,97331","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019904004","display_name":"Stefan Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Stefan Lee","raw_affiliation_strings":["Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,Oregon,USA,97331"],"affiliations":[{"raw_affiliation_string":"Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,Oregon,USA,97331","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030052689","display_name":"Alan Fern","orcid":"https://orcid.org/0000-0001-5851-8935"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alan Fern","raw_affiliation_strings":["Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,Oregon,USA,97331"],"affiliations":[{"raw_affiliation_string":"Oregon State University,Collaborative Robotics and Intelligent Systems Institute,Corvallis,Oregon,USA,97331","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102993615"],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.29717959,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12394","last_page":"12399"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9312999844551086,"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"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9312999844551086,"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/computer-science","display_name":"Computer science","score":0.6292389631271362},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.5842973589897156},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5456942915916443},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27113598585128784},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.12183481454849243},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.06669861078262329}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6292389631271362},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.5842973589897156},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5456942915916443},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27113598585128784},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.12183481454849243},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.06669861078262329}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801602","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Reduced inequalities","score":0.5,"id":"https://metadata.un.org/sdg/10"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W3206762371","https://openalex.org/W4223604247","https://openalex.org/W4229081732","https://openalex.org/W4312606126","https://openalex.org/W4312996039","https://openalex.org/W4313952519","https://openalex.org/W4383066231","https://openalex.org/W4383097434","https://openalex.org/W4383108296","https://openalex.org/W4387764390","https://openalex.org/W4390874813","https://openalex.org/W4391759936","https://openalex.org/W4402672004","https://openalex.org/W6741002519","https://openalex.org/W6800774826","https://openalex.org/W6842751340","https://openalex.org/W6843759960","https://openalex.org/W6849581348","https://openalex.org/W6853664340","https://openalex.org/W6855078748"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W2042776672","https://openalex.org/W4253098096","https://openalex.org/W1973997235"],"abstract_inverted_index":{"We":[0],"study":[1],"the":[2,13,62,94,127,151,160,209,214],"problem":[3],"of":[4,8,15,50,155],"natural":[5,24,123],"language-based":[6,25,124],"control":[7,27],"dynamic":[9],"bipedal":[10,100,128],"locomotion":[11],"from":[12],"perspective":[14],"operational":[16],"robustness":[17,152],"and":[18,52,81,120,158,186,212],"hardware":[19],"safety.":[20,64],"Existing":[21],"work":[22,77],"on":[23,30],"robot":[26,36,63,88,101,129],"has":[28],"focused":[29],"episodic":[31],"command":[32],"execution":[33,55,82,90],"for":[34,67,84,126,149,177,208],"stable":[35],"platforms,":[37],"such":[38,156],"as":[39],"fixed-based":[40],"manipulators":[41],"in":[42,106,134,163],"table-top":[43],"scenarios.":[44],"These":[45],"scenarios":[46],"feature":[47],"non-overlapping":[48],"phases":[49],"instruction":[51,80,105],"execution,":[53],"with":[54,102],"mishaps":[56],"usually":[57],"posing":[58],"no":[59],"threat":[60],"to":[61,71,112,118,145,153,173,182,184,187,204,220],"This":[65],"allows":[66],"non-trivial":[68,205],"failure":[69,185,193,206],"rates":[70,207],"be":[72],"acceptable.":[73],"In":[74],"contrast,":[75],"our":[76,197],"involves":[78],"indistinguishable":[79],"stages":[83],"a":[85,99,103,122,147,175,192],"dynamically":[86],"unstable":[87],"where":[89],"failures":[91],"can":[92,132,202,218],"harm":[93],"robot.":[95],"For":[96],"example,":[97],"interrupting":[98],"new":[104,135],"certain":[107],"states":[108],"may":[109],"cause":[110],"it":[111],"fall.":[113],"Our":[114,141,169],"first":[115],"contribution":[116,143,171],"is":[117,144,172],"design":[119],"train":[121],"controller":[125,162,211],"Cassie":[130],"that":[131,179,189,200,213,223],"take":[133],"language":[136],"commands":[137],"at":[138],"any":[139],"time.":[140],"second":[142],"introduce":[146],"protocol":[148],"evaluating":[150,159],"interruptions":[154,178,201],"controllers":[157],"learned":[161],"simulation":[164],"under":[165],"different":[166],"interruption":[167],"distributions.":[168],"third":[170],"learn":[174],"detector":[176,190],"are":[180],"likely":[181],"lead":[183,203],"integrate":[188],"into":[191],"mitigation":[194,216],"strategy.":[195],"Overall,":[196],"results":[198],"show":[199],"original":[210],"proposed":[215],"strategy":[217],"help":[219],"significantly":[221],"reduce":[222],"rate.":[224]},"counts_by_year":[],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}