{"id":"https://openalex.org/W4405786041","doi":"https://doi.org/10.1109/iros58592.2024.10802742","title":"Learning Visual Quadrupedal Loco-Manipulation from Demonstrations","display_name":"Learning Visual Quadrupedal Loco-Manipulation from Demonstrations","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786041","doi":"https://doi.org/10.1109/iros58592.2024.10802742"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802742","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/A5079093630","display_name":"Zhengmao He","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhengmao He","raw_affiliation_strings":["Shanghai Qi Zhi Institute"],"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute","institution_ids":["https://openalex.org/I4210122302"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102393505","display_name":"Kun Lei","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kun Lei","raw_affiliation_strings":["Shanghai Qi Zhi Institute"],"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute","institution_ids":["https://openalex.org/I4210122302"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063722358","display_name":"Yanjie Ze","orcid":"https://orcid.org/0000-0001-8422-8923"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanjie Ze","raw_affiliation_strings":["Shanghai Qi Zhi Institute"],"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute","institution_ids":["https://openalex.org/I4210122302"]}]},{"author_position":"middle","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"],"affiliations":[{"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"],"affiliations":[{"raw_affiliation_string":"University of California,Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049093671","display_name":"Huazhe Xu","orcid":"https://orcid.org/0000-0001-8578-1261"},"institutions":[{"id":"https://openalex.org/I4210122302","display_name":"ShangHai JiAi Genetics & IVF Institute","ror":"https://ror.org/02rgbry52","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210122302"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huazhe Xu","raw_affiliation_strings":["Shanghai Qi Zhi Institute"],"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute","institution_ids":["https://openalex.org/I4210122302"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5079093630"],"corresponding_institution_ids":["https://openalex.org/I4210122302"],"apc_list":null,"apc_paid":null,"fwci":2.7696,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.92006212,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"9102","last_page":"9109"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9983000159263611,"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/T10427","display_name":"Visual perception and processing mechanisms","score":0.9745000004768372,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9646999835968018,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7191658020019531},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.6725835204124451},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5271632075309753},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3933825194835663},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3829578161239624},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.05774375796318054}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7191658020019531},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.6725835204124451},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5271632075309753},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3933825194835663},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3829578161239624},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.05774375796318054},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802742","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802742","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":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322392","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W2125188427","https://openalex.org/W2981479926","https://openalex.org/W3007769740","https://openalex.org/W3113616534","https://openalex.org/W3147968035","https://openalex.org/W3206771627","https://openalex.org/W3207033168","https://openalex.org/W4226143977","https://openalex.org/W4312574175","https://openalex.org/W4312908419","https://openalex.org/W4317987839","https://openalex.org/W4382365373","https://openalex.org/W4383108291","https://openalex.org/W4383108340","https://openalex.org/W4383108493","https://openalex.org/W4383108925","https://openalex.org/W4383109371","https://openalex.org/W4385858056","https://openalex.org/W4388720459","https://openalex.org/W4388936652","https://openalex.org/W4389665855","https://openalex.org/W4390938336","https://openalex.org/W4392763392","https://openalex.org/W4401414804","https://openalex.org/W4401416030","https://openalex.org/W6741002519","https://openalex.org/W6769596995","https://openalex.org/W6782766965","https://openalex.org/W6799458897","https://openalex.org/W6800004206","https://openalex.org/W6800117431","https://openalex.org/W6839344006","https://openalex.org/W6846358943","https://openalex.org/W6846664724","https://openalex.org/W6856824925","https://openalex.org/W6857202355","https://openalex.org/W6857453364","https://openalex.org/W6858811566","https://openalex.org/W6858866458","https://openalex.org/W6860003303","https://openalex.org/W6860700169","https://openalex.org/W6862609194"],"related_works":["https://openalex.org/W2772917594","https://openalex.org/W2036807459","https://openalex.org/W2058170566","https://openalex.org/W2755342338","https://openalex.org/W2166024367","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2951359407","https://openalex.org/W2079911747","https://openalex.org/W1969923398"],"abstract_inverted_index":{"Quadruped":[0],"robots":[1,33],"are":[2,38],"progressively":[3],"being":[4],"integrated":[5],"into":[6,84],"human":[7],"environments.":[8],"Despite":[9],"the":[10,81,100,105,108,115,132,150],"growing":[11],"locomotion":[12],"capabilities":[13],"of":[14,59,107,117],"quadrupedal":[15,32],"robots,":[16],"their":[17],"interaction":[18],"with":[19,52],"objects":[20],"in":[21],"realistic":[22],"scenes":[23],"is":[24,46,124],"still":[25],"limited.":[26],"While":[27],"additional":[28],"robotic":[29],"arms":[30],"on":[31],"enable":[34],"manipulating":[35],"objects,":[36],"they":[37],"sometimes":[39],"redundant":[40],"given":[41],"that":[42,138],"a":[43,48,67,85,92,147,155,158,162],"quadruped":[44,68],"robot":[45,69],"essentially":[47],"mobile":[49],"unit":[50],"equipped":[51],"four":[53],"limbs,":[54],"each":[55],"possessing":[56],"3":[57],"degrees":[58],"freedom":[60],"(DoFs).":[61],"Hence,":[62],"we":[63,103],"aim":[64],"to":[65,70,135],"empower":[66],"execute":[71],"real-world":[72,129],"manipulation":[73,101],"tasks":[74,137],"using":[75],"only":[76],"its":[77],"legs.":[78],"We":[79],"decompose":[80],"loco-manipulation":[82],"process":[83],"low-level":[86],"reinforcement":[87],"learning":[88],"(RL)-based":[89],"controller":[90],"and":[91,110,120,128,141,160],"high-level":[93],"Behavior":[94],"Cloning":[95],"(BC)-based":[96],"planner.":[97],"By":[98],"parameterizing":[99],"trajectory,":[102],"synchronize":[104],"efforts":[106],"upper":[109],"lower":[111],"layers,":[112],"thereby":[113],"leveraging":[114],"advantages":[116],"both":[118],"RL":[119],"BC.":[121],"Our":[122],"approach":[123],"validated":[125],"through":[126],"simulations":[127],"experiments,":[130],"demonstrating":[131],"robot\u2019s":[133],"ability":[134],"perform":[136],"demand":[139],"mobility":[140],"high":[142],"precision,":[143],"such":[144],"as":[145],"lifting":[146],"basket":[148],"from":[149],"ground":[151],"while":[152],"moving,":[153],"closing":[154],"dishwasher,":[156],"pressing":[157],"button,":[159],"pushing":[161],"door.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":8}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}