{"id":"https://openalex.org/W4416749777","doi":"https://doi.org/10.1109/iros60139.2025.11245983","title":"iWalker: Imperative Visual Planning for Walking Humanoid Robot","display_name":"iWalker: Imperative Visual Planning for Walking Humanoid Robot","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749777","doi":"https://doi.org/10.1109/iros60139.2025.11245983"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245983","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245983","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/A5002114548","display_name":"Lin Xiao","orcid":"https://orcid.org/0000-0001-7790-8074"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiao Lin","raw_affiliation_strings":["University at Buffalo,The Spatial AI &#x0026; Robotics (SAIR) Lab, Computer Science and Engineering,NY,USA,14260"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University at Buffalo,The Spatial AI &#x0026; Robotics (SAIR) Lab, Computer Science and Engineering,NY,USA,14260","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048929464","display_name":"Yuhao Huang","orcid":"https://orcid.org/0000-0002-9334-2055"},"institutions":[{"id":"https://openalex.org/I138126365","display_name":"University of Wisconsin\u2013Extension","ror":"https://ror.org/05mdm7050","country_code":"US","type":"education","lineage":["https://openalex.org/I138126365"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuhao Huang","raw_affiliation_strings":["University of Wisconsin-Madison,The Wisconsin Expeditious Legged Locomotion (WELL) Lab, Mechanical Engineering,WI,USA,53706"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,The Wisconsin Expeditious Legged Locomotion (WELL) Lab, Mechanical Engineering,WI,USA,53706","institution_ids":["https://openalex.org/I138126365"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042118277","display_name":"Taimeng Fu","orcid":null},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taimeng Fu","raw_affiliation_strings":["University at Buffalo,The Spatial AI &#x0026; Robotics (SAIR) Lab, Computer Science and Engineering,NY,USA,14260"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University at Buffalo,The Spatial AI &#x0026; Robotics (SAIR) Lab, Computer Science and Engineering,NY,USA,14260","institution_ids":["https://openalex.org/I63190737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088490455","display_name":"Xiaobin Xiong","orcid":"https://orcid.org/0000-0002-6275-3900"},"institutions":[{"id":"https://openalex.org/I138126365","display_name":"University of Wisconsin\u2013Extension","ror":"https://ror.org/05mdm7050","country_code":"US","type":"education","lineage":["https://openalex.org/I138126365"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaobin Xiong","raw_affiliation_strings":["University of Wisconsin-Madison,The Wisconsin Expeditious Legged Locomotion (WELL) Lab, Mechanical Engineering,WI,USA,53706"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Wisconsin-Madison,The Wisconsin Expeditious Legged Locomotion (WELL) Lab, Mechanical Engineering,WI,USA,53706","institution_ids":["https://openalex.org/I138126365"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100337582","display_name":"Chen Wang","orcid":"https://orcid.org/0000-0002-4630-0805"},"institutions":[{"id":"https://openalex.org/I63190737","display_name":"University at Buffalo, State University of New York","ror":"https://ror.org/01y64my43","country_code":"US","type":"education","lineage":["https://openalex.org/I63190737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chen Wang","raw_affiliation_strings":["University at Buffalo,The Spatial AI &#x0026; Robotics (SAIR) Lab, Computer Science and Engineering,NY,USA,14260"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University at Buffalo,The Spatial AI &#x0026; Robotics (SAIR) Lab, Computer Science and Engineering,NY,USA,14260","institution_ids":["https://openalex.org/I63190737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.48571938,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2865","last_page":"2872"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9678000211715698,"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":0.9678000211715698,"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/T12290","display_name":"Human Motion and Animation","score":0.004900000058114529,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.004699999932199717,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9383999705314636},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5824000239372253},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5372999906539917},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5120999813079834},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4625999927520752},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.45190000534057617},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4487999975681305}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9383999705314636},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5839999914169312},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5824000239372253},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5424000024795532},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5372999906539917},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5120999813079834},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48669999837875366},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4625999927520752},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.45190000534057617},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4487999975681305},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.42910000681877136},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3871999979019165},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.38260000944137573},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.37689998745918274},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3528999984264374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30889999866485596},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.30390000343322754},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.30070000886917114},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.30070000886917114},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2556000053882599}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245983","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245983","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W1971086298","https://openalex.org/W2093013061","https://openalex.org/W2107726111","https://openalex.org/W2158782408","https://openalex.org/W2443711627","https://openalex.org/W2524241275","https://openalex.org/W2624341934","https://openalex.org/W2769646558","https://openalex.org/W2890830265","https://openalex.org/W2922083726","https://openalex.org/W2951360122","https://openalex.org/W3020839343","https://openalex.org/W3034226296","https://openalex.org/W3035232877","https://openalex.org/W3109791956","https://openalex.org/W3124944733","https://openalex.org/W3139779774","https://openalex.org/W3193914824","https://openalex.org/W3201759799","https://openalex.org/W3202883604","https://openalex.org/W3205843978","https://openalex.org/W3206495137","https://openalex.org/W3206620955","https://openalex.org/W3207399992","https://openalex.org/W3209352332","https://openalex.org/W4200198255","https://openalex.org/W4224292538","https://openalex.org/W4233654529","https://openalex.org/W4318614018","https://openalex.org/W4380875012","https://openalex.org/W4384828946","https://openalex.org/W4385430747","https://openalex.org/W4386075826","https://openalex.org/W4389668085","https://openalex.org/W4390480955","https://openalex.org/W4391305509","https://openalex.org/W4393285927","https://openalex.org/W4400023330","https://openalex.org/W4401416917","https://openalex.org/W4403068931","https://openalex.org/W4403741606","https://openalex.org/W4413917301","https://openalex.org/W4415593655"],"related_works":[],"abstract_inverted_index":{"Humanoid":[0],"robots,":[1],"designed":[2,78],"to":[3,42,94,106,120],"operate":[4],"in":[5,129],"human-centric":[6],"environments,":[7,134],"serve":[8],"as":[9,123],"a":[10,14,28,136],"fundamental":[11],"platform":[12],"for":[13,26,72,85,98],"broad":[15],"range":[16],"of":[17,30],"tasks.":[18],"Although":[19],"humanoid":[20,32,61,99,141],"robots":[21,33],"have":[22],"been":[23],"extensively":[24],"studied":[25],"decades,":[27],"majority":[29],"existing":[31],"still":[34],"heavily":[35],"rely":[36],"on":[37],"complex":[38],"modular":[39],"frameworks,":[40],"leading":[41],"inflexibility":[43],"and":[44,52,69,89,115,125,132],"potential":[45],"compounded":[46],"errors":[47],"from":[48,108],"independent":[49],"sensing,":[50],"planning,":[51],"acting":[53],"components.":[54],"In":[55],"response,":[56],"we":[57],"propose":[58],"an":[59],"end-to-end":[60],"sense-plan-act":[62],"walking":[63],"system,":[64],"enabling":[65],"vision-based":[66],"obstacle":[67],"avoidance":[68],"footstep":[70],"planning":[71,88],"whole":[73,90],"body":[74,91],"balancing":[75],"simultaneously.":[76],"We":[77,118],"two":[79],"imperative":[80],"learning":[81,97],"(IL)-based":[82],"bilevel":[83],"optimizations":[84],"model-predictive":[86],"step":[87],"balancing,":[92],"respectively,":[93],"achieve":[95],"self-supervised":[96],"robot":[100,105],"walking.":[101],"This":[102],"enables":[103],"the":[104],"learn":[107],"arbitrary":[109],"unlabeled":[110],"data,":[111],"improving":[112],"its":[113,127],"adaptability":[114],"generalization":[116],"capabilities.":[117],"refer":[119],"our":[121],"method":[122],"iWalker":[124],"demonstrate":[126],"effectiveness":[128],"both":[130],"simulated":[131],"real-world":[133],"representing":[135],"significant":[137],"advancement":[138],"toward":[139],"autonomous":[140],"robots.":[142]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}
