{"id":"https://openalex.org/W4405785706","doi":"https://doi.org/10.1109/iros58592.2024.10802391","title":"Learning to Walk and Fly with Adversarial Motion Priors","display_name":"Learning to Walk and Fly with Adversarial Motion Priors","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785706","doi":"https://doi.org/10.1109/iros58592.2024.10802391"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802391","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/A5072898940","display_name":"Giuseppe L\u2019Erario","orcid":"https://orcid.org/0000-0001-6042-3222"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giuseppe L\u2019Erario","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090119084","display_name":"Drew Hanover","orcid":"https://orcid.org/0000-0002-1463-0260"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Drew Hanover","raw_affiliation_strings":["University of Zurich,Robotics and Perception Group,Switzerland"],"affiliations":[{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group,Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013089045","display_name":"\u00c1ngel Romero","orcid":"https://orcid.org/0000-0002-7977-7802"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"\u00c1ngel Romero","raw_affiliation_strings":["University of Zurich,Robotics and Perception Group,Switzerland"],"affiliations":[{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group,Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085971429","display_name":"Yunlong Song","orcid":"https://orcid.org/0000-0002-6352-3744"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Yunlong Song","raw_affiliation_strings":["University of Zurich,Robotics and Perception Group,Switzerland"],"affiliations":[{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group,Switzerland","institution_ids":["https://openalex.org/I202697423"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004259374","display_name":"Gabriele Nava","orcid":"https://orcid.org/0000-0001-8965-2934"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gabriele Nava","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077361406","display_name":"Paolo Maria Viceconte","orcid":"https://orcid.org/0000-0002-6903-4458"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Paolo Maria Viceconte","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Pucci","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057116316","display_name":"Davide Scaramuzza","orcid":"https://orcid.org/0000-0002-3831-6778"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Davide Scaramuzza","raw_affiliation_strings":["University of Zurich,Robotics and Perception Group,Switzerland"],"affiliations":[{"raw_affiliation_string":"University of Zurich,Robotics and Perception Group,Switzerland","institution_ids":["https://openalex.org/I202697423"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5072898940"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.8131,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.88063135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"10370","last_page":"10377"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9476000070571899,"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"}},"topics":[{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.9476000070571899,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9121999740600586,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.7856281995773315},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.7265345454216003},{"id":"https://openalex.org/keywords/on-the-fly","display_name":"On the fly","score":0.7122073769569397},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6562455296516418},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5784770250320435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.549919843673706},{"id":"https://openalex.org/keywords/random-walk","display_name":"Random walk","score":0.4188452363014221},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3594972491264343},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1948443353176117},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.12832507491111755},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.12312355637550354}],"concepts":[{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.7856281995773315},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.7265345454216003},{"id":"https://openalex.org/C2781020372","wikidata":"https://www.wikidata.org/wiki/Q533093","display_name":"On the fly","level":2,"score":0.7122073769569397},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6562455296516418},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5784770250320435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.549919843673706},{"id":"https://openalex.org/C121194460","wikidata":"https://www.wikidata.org/wiki/Q856741","display_name":"Random walk","level":2,"score":0.4188452363014221},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3594972491264343},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1948443353176117},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.12832507491111755},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.12312355637550354},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802391","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802391","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1945123189","https://openalex.org/W1970828146","https://openalex.org/W1991951278","https://openalex.org/W2006564886","https://openalex.org/W2061983716","https://openalex.org/W2064675550","https://openalex.org/W2096270451","https://openalex.org/W2123871098","https://openalex.org/W2133859362","https://openalex.org/W2143729862","https://openalex.org/W2592835906","https://openalex.org/W2796290181","https://openalex.org/W2913401277","https://openalex.org/W2951633861","https://openalex.org/W2962943672","https://openalex.org/W2992024580","https://openalex.org/W3003498933","https://openalex.org/W3010768390","https://openalex.org/W3039737909","https://openalex.org/W3048539707","https://openalex.org/W3147968035","https://openalex.org/W3203378087","https://openalex.org/W3206620955","https://openalex.org/W3206804182","https://openalex.org/W4205634661","https://openalex.org/W4214717370","https://openalex.org/W4229044820","https://openalex.org/W4284968714","https://openalex.org/W4285028015","https://openalex.org/W4286611302","https://openalex.org/W4312900898","https://openalex.org/W4313562873","https://openalex.org/W4382344551","https://openalex.org/W4384922634","https://openalex.org/W4386285856","https://openalex.org/W4386718967","https://openalex.org/W6641171687","https://openalex.org/W6718092244","https://openalex.org/W6745730867","https://openalex.org/W6749927861","https://openalex.org/W6800004206","https://openalex.org/W6801964084","https://openalex.org/W6930911246"],"related_works":["https://openalex.org/W2502115930","https://openalex.org/W2482350142","https://openalex.org/W4246396837","https://openalex.org/W3126451824","https://openalex.org/W1561927205","https://openalex.org/W3191453585","https://openalex.org/W4297672492","https://openalex.org/W4310988119","https://openalex.org/W4285226279","https://openalex.org/W4288019534"],"abstract_inverted_index":{"Robot":[0],"multimodal":[1,109],"locomotion":[2,71,86,110,155],"encompasses":[3],"the":[4,34,43,51,55,82,85,96,105,124,145],"ability":[5],"to":[6,45,143],"transition":[7],"between":[8,28],"walking":[9,64,119],"and":[10,30,49,69,120,134,137],"flying,":[11],"representing":[12],"a":[13],"significant":[14],"challenge":[15],"in":[16,111,128,151,156],"robotics.":[17],"This":[18,140],"work":[19],"presents":[20],"an":[21],"approach":[22],"that":[23],"enables":[24],"automatic":[25,116],"smooth":[26],"transitions":[27],"legged":[29],"aerial":[31,70,112,148],"locomotion.":[32],"Leveraging":[33],"concept":[35],"of":[36,99,118,147,153],"Adversarial":[37],"Motion":[38],"Priors,":[39],"our":[40],"method":[41],"allows":[42],"robot":[44,62,83],"imitate":[46],"motion":[47],"datasets":[48],"accomplish":[50],"desired":[52],"task":[53],"without":[54],"need":[56],"for":[57,107,126],"complex":[58],"reward":[59],"functions.":[60],"The":[61,102],"learns":[63],"patterns":[65,72],"from":[66,73],"human-like":[67],"gaits":[68],"motions":[74],"obtained":[75],"using":[76,92],"trajectory":[77],"optimization.":[78],"Through":[79],"this":[80],"process,":[81],"adapts":[84],"scheme":[87],"based":[88],"on":[89],"environmental":[90],"feedback":[91],"reinforcement":[93],"learning,":[94],"with":[95],"spontaneous":[97],"emergence":[98],"mode-switching":[100],"behavior.":[101],"results":[103],"highlight":[104],"potential":[106],"achieving":[108],"humanoid":[113,149],"robotics":[114],"through":[115],"control":[117],"flying":[121],"modes,":[122],"paving":[123],"way":[125],"applications":[127],"diverse":[129],"domains":[130],"such":[131],"as":[132],"search":[133],"rescue,":[135],"surveillance,":[136],"exploration":[138],"missions.":[139],"research":[141],"contributes":[142],"advancing":[144],"capabilities":[146],"robots":[150],"terms":[152],"versatile":[154],"various":[157],"environments.":[158],"Video:":[159],"https://youtu.be/mi6Do-x67CM":[160]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2024-12-26T00:00:00"}