{"id":"https://openalex.org/W4416748812","doi":"https://doi.org/10.1109/iros60139.2025.11246100","title":"Transferable Latent-To-Latent Locomotion Policy for Efficient and Versatile Motion Control of Diverse Legged Robots","display_name":"Transferable Latent-To-Latent Locomotion Policy for Efficient and Versatile Motion Control of Diverse Legged Robots","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748812","doi":"https://doi.org/10.1109/iros60139.2025.11246100"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246100","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":"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/A5101347663","display_name":"Ziang Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145005","display_name":"State Key Laboratory of Vehicle NVH and Safety Technology","ror":"https://ror.org/04e6h1p91","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210145005"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ziang Zheng","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility,Beijing,China","institution_ids":["https://openalex.org/I4210145005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029301375","display_name":"Guojian Zhan","orcid":"https://orcid.org/0000-0002-1246-4860"},"institutions":[{"id":"https://openalex.org/I4210145005","display_name":"State Key Laboratory of Vehicle NVH and Safety Technology","ror":"https://ror.org/04e6h1p91","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210145005"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guojian Zhan","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility,Beijing,China","institution_ids":["https://openalex.org/I4210145005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101719116","display_name":"Bin Shuai","orcid":"https://orcid.org/0000-0002-9860-9396"},"institutions":[{"id":"https://openalex.org/I4210145005","display_name":"State Key Laboratory of Vehicle NVH and Safety Technology","ror":"https://ror.org/04e6h1p91","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210145005"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Shuai","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility,Beijing,China","institution_ids":["https://openalex.org/I4210145005"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shentao Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210145005","display_name":"State Key Laboratory of Vehicle NVH and Safety Technology","ror":"https://ror.org/04e6h1p91","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210145005"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shentao Qin","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility,Beijing,China","institution_ids":["https://openalex.org/I4210145005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100426834","display_name":"Jiangtao Li","orcid":"https://orcid.org/0000-0002-9754-0008"},"institutions":[{"id":"https://openalex.org/I4210114338","display_name":"Suning (China)","ror":"https://ror.org/02hcww794","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210114338"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangtao Li","raw_affiliation_strings":["SunRisingAI Ltd,Beijing,China"],"affiliations":[{"raw_affiliation_string":"SunRisingAI Ltd,Beijing,China","institution_ids":["https://openalex.org/I4210114338"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100375792","display_name":"Tao Zhang","orcid":"https://orcid.org/0000-0002-2980-6281"},"institutions":[{"id":"https://openalex.org/I4210114338","display_name":"Suning (China)","ror":"https://ror.org/02hcww794","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210114338"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Zhang","raw_affiliation_strings":["SunRisingAI Ltd,Beijing,China"],"affiliations":[{"raw_affiliation_string":"SunRisingAI Ltd,Beijing,China","institution_ids":["https://openalex.org/I4210114338"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100747108","display_name":"Shengbo Eben Li","orcid":"https://orcid.org/0000-0003-4923-3633"},"institutions":[{"id":"https://openalex.org/I4210145005","display_name":"State Key Laboratory of Vehicle NVH and Safety Technology","ror":"https://ror.org/04e6h1p91","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210145005"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengbo Eben Li","raw_affiliation_strings":["Tsinghua University,State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility,Beijing,China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,State Key Laboratory of Intelligent Green Vehicle and Mobility, School of Vehicle and Mobility,Beijing,China","institution_ids":["https://openalex.org/I4210145005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101347663"],"corresponding_institution_ids":["https://openalex.org/I4210145005"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18950081,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"18911","last_page":"18918"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.453900009393692,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.453900009393692,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.3140999972820282,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.06459999829530716,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7584999799728394},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.67330002784729},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6516000032424927},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.6118000149726868},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4381999969482422},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.39149999618530273},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.38429999351501465},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.35370001196861267}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7584999799728394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7128999829292297},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.67330002784729},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6516000032424927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6388000249862671},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6118000149726868},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4381999969482422},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.39149999618530273},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.38600000739097595},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.38429999351501465},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.35370001196861267},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3375000059604645},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.3260999917984009},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31470000743865967},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3059000074863434},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28110000491142273},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27869999408721924},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.26179999113082886},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.2596000134944916},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2558000087738037}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246100","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246100","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":23,"referenced_works":["https://openalex.org/W2595845486","https://openalex.org/W2811441028","https://openalex.org/W2894766094","https://openalex.org/W2901522995","https://openalex.org/W2958043083","https://openalex.org/W2963184939","https://openalex.org/W2982316857","https://openalex.org/W2989847975","https://openalex.org/W3015082424","https://openalex.org/W3039737909","https://openalex.org/W3042729974","https://openalex.org/W3176539729","https://openalex.org/W3207033168","https://openalex.org/W4229056264","https://openalex.org/W4233654529","https://openalex.org/W4250058668","https://openalex.org/W4362650413","https://openalex.org/W4367016688","https://openalex.org/W4401414804","https://openalex.org/W4401415792","https://openalex.org/W4401415879","https://openalex.org/W4405778594","https://openalex.org/W4413393692"],"related_works":[],"abstract_inverted_index":{"Reinforcement":[0],"learning":[1,12,48],"(RL)":[2],"has":[3],"demonstrated":[4],"remarkable":[5],"capability":[6],"in":[7,88],"acquiring":[8],"robot":[9,35,54,59,160,204],"skills,":[10],"but":[11],"each":[13],"new":[14,34,49,58,203],"skill":[15],"still":[16],"requires":[17],"substantial":[18],"data":[19],"collection":[20],"for":[21,30,115,153],"training.":[22],"The":[23],"pretrain-and-finetune":[24],"paradigm":[25],"offers":[26],"a":[27,57,61,66,71,121,159],"promising":[28],"approach":[29,186],"efficiently":[31],"adapting":[32],"to":[33,95,99,105,161,180,202],"entities":[36,205],"and":[37,55,83,117,149,190,206],"tasks.":[38],"Inspired":[39],"by":[40],"the":[41,52,103,136,145,173,195],"idea":[42],"that":[43,125,194],"acquired":[44],"knowledge":[45],"can":[46],"accelerate":[47,181],"tasks":[50,169,207],"with":[51,102,208],"same":[53],"help":[56],"master":[60],"trained":[62],"task,":[63],"we":[64,119],"propose":[65],"latent":[67,89,93,97],"training":[68],"framework":[69],"where":[70],"transferable":[72],"latent-to-latent":[73,138,197],"locomotion":[74,139,198],"policy":[75,87,140,199],"is":[76],"pretrained":[77,137,196],"alongside":[78],"diverse":[79,178],"task-specific":[80,147],"observation":[81],"encoders":[82],"action":[84],"decoders.":[85],"This":[86],"space":[90],"processes":[91],"encoded":[92],"observations":[94],"generate":[96],"actions":[98],"be":[100],"decoded,":[101],"potential":[104],"learn":[106],"general":[107],"abstract":[108],"motion":[109],"skills.":[110],"To":[111],"retain":[112],"essential":[113],"information":[114,127],"decision-making":[116],"control,":[118],"introduce":[120],"diffusion":[122],"recovery":[123],"module":[124],"minimizes":[126],"reconstruction":[128],"loss":[129],"during":[130],"pretrain":[131],"stage.":[132],"During":[133],"fine-tune":[134],"stage,":[135],"remains":[141],"fixed,":[142],"while":[143],"only":[144],"lightweight":[146],"encoder":[148],"decoder":[150],"are":[151],"optimized":[152],"efficient":[154],"adaptation.":[155,182],"Our":[156],"method":[157],"allows":[158],"leverage":[162],"its":[163],"own":[164],"prior":[165],"experience":[166,174],"across":[167],"different":[168],"as":[170,172],"well":[171],"of":[175],"other":[176],"morphologically":[177],"robots":[179],"We":[183],"validate":[184],"our":[185],"through":[187],"extensive":[188],"simulations":[189],"real-world":[191],"experiments,":[192],"demonstrating":[193],"effectively":[200],"generalizes":[201],"improved":[209],"efficiency.":[210]},"counts_by_year":[],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-11-28T00:00:00"}