{"id":"https://openalex.org/W4416748584","doi":"https://doi.org/10.1109/iros60139.2025.11245880","title":"Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion","display_name":"Playful DoggyBot: Learning Agile and Precise Quadrupedal Locomotion","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748584","doi":"https://doi.org/10.1109/iros60139.2025.11245880"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5073095045","display_name":"Duan Xin","orcid":"https://orcid.org/0000-0002-1998-1457"},"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":"Xin Duan","raw_affiliation_strings":["Shanghai Qi Zhi Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute","institution_ids":["https://openalex.org/I4210122302"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010802764","display_name":"Ziwen Zhuang","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":"Ziwen Zhuang","raw_affiliation_strings":["Shanghai Qi Zhi Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute","institution_ids":["https://openalex.org/I4210122302"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085043204","display_name":"Hang Zhao","orcid":"https://orcid.org/0000-0003-2451-3719"},"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":"Hang Zhao","raw_affiliation_strings":["Shanghai Qi Zhi Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai Qi Zhi Institute","institution_ids":["https://openalex.org/I4210122302"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051350739","display_name":"S\u00f6ren Schwertfeger","orcid":"https://orcid.org/0000-0003-2879-1636"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"S\u00f6ren Schwertfeger","raw_affiliation_strings":["ShanghaiTech University,Key Laboratory of Intelligent Perception and Human-Machine Collaboration"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,Key Laboratory of Intelligent Perception and Human-Machine Collaboration","institution_ids":["https://openalex.org/I30809798"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8806","last_page":"8813"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9142000079154968,"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":0.9142000079154968,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.01360000018030405,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.013000000268220901,"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/quadrupedalism","display_name":"Quadrupedalism","score":0.7739999890327454},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7421000003814697},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5849999785423279},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5210000276565552},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.4675999879837036},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.4575999975204468},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.39500001072883606}],"concepts":[{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.7739999890327454},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7421000003814697},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6074000000953674},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5849999785423279},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5676000118255615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5271000266075134},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5210000276565552},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.4675999879837036},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.4575999975204468},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40560001134872437},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.39500001072883606},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.38269999623298645},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3806999921798706},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.373199999332428},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3294999897480011},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3025999963283539},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.29660001397132874},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2955999970436096},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C202474056","wikidata":"https://www.wikidata.org/wiki/Q1931635","display_name":"Video tracking","level":3,"score":0.2614000141620636}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":38,"referenced_works":["https://openalex.org/W1502718064","https://openalex.org/W1979279461","https://openalex.org/W2065238107","https://openalex.org/W2077673559","https://openalex.org/W2091829036","https://openalex.org/W2145705329","https://openalex.org/W2294151168","https://openalex.org/W2911087563","https://openalex.org/W2968764556","https://openalex.org/W3093922502","https://openalex.org/W3112664346","https://openalex.org/W3175254947","https://openalex.org/W4205430897","https://openalex.org/W4223520461","https://openalex.org/W4225529872","https://openalex.org/W4226143977","https://openalex.org/W4283787029","https://openalex.org/W4285102619","https://openalex.org/W4285159888","https://openalex.org/W4312574175","https://openalex.org/W4312908419","https://openalex.org/W4362654444","https://openalex.org/W4383108196","https://openalex.org/W4383108274","https://openalex.org/W4383108291","https://openalex.org/W4383108493","https://openalex.org/W4383108925","https://openalex.org/W4385430486","https://openalex.org/W4386075970","https://openalex.org/W4389665855","https://openalex.org/W4390938336","https://openalex.org/W4401413688","https://openalex.org/W4401414804","https://openalex.org/W4401415792","https://openalex.org/W4404612908","https://openalex.org/W4405785085","https://openalex.org/W4405786041","https://openalex.org/W4405787394"],"related_works":[],"abstract_inverted_index":{"Quadrupedal":[0],"animals":[1],"can":[2,18,96,123,138,152],"perform":[3,124],"agile":[4],"and":[5,20,55,63,127,150,154,170],"playful":[6],"tasks":[7,129],"while":[8,30,98],"interacting":[9,99],"with":[10,100,113],"real-world":[11],"objects.":[12],"For":[13],"instance,":[14],"a":[15,22,31,67,77,93,114,132,140,157,164],"trained":[16,134],"dog":[17],"track":[19],"catch":[21,156],"flying":[23],"frisbee":[24],"before":[25],"it":[26,151,162],"touches":[27],"the":[28,41,89,120,173],"ground,":[29],"cat":[32],"left":[33],"alone":[34],"at":[35,144,163],"home":[36],"may":[37],"leap":[38,153],"to":[39,59,87,131,148],"grasp":[40],"door":[42],"handle.":[43],"Successfully":[44],"grasping":[45],"an":[46],"object":[47,159],"during":[48,102],"high-dynamic":[49,103],"locomotion":[50],"requires":[51],"highly":[52],"precise":[53],"perception":[54],"control.":[56],"However,":[57],"due":[58],"hardware":[60],"limitations,":[61],"agility":[62],"precision":[64,92],"are":[65],"usually":[66],"trade-off":[68],"in":[69,117,168,172],"robotics":[70],"problems.":[71],"In":[72],"this":[73],"work,":[74],"we":[75],"employ":[76],"perception-control":[78],"decoupled":[79],"system":[80],"based":[81],"on":[82],"Reinforcement":[83],"Learning":[84],"(RL),":[85],"aiming":[86],"explore":[88],"level":[90],"of":[91,119,146,166],"quadrupedal":[94,110],"robot":[95,137],"achieve":[97],"objects":[101],"locomotion.":[104],"Our":[105],"experiments":[106],"show":[107],"that":[108],"our":[109],"robot,":[111],"mounted":[112],"passive":[115],"gripper":[116],"front":[118],"robot\u2019s":[121],"chassis,":[122],"both":[125],"tracking":[126],"catching":[128],"similar":[130],"real":[133,174],"dog.":[135],"The":[136],"follow":[139],"mid-air":[141],"ball":[142],"moving":[143],"speeds":[145],"up":[147],"3m/s":[149],"successfully":[155],"small":[158],"hanging":[160],"above":[161],"height":[165],"1.05m":[167],"simulation":[169],"0.8m":[171],"world.":[175]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
