{"id":"https://openalex.org/W4416749553","doi":"https://doi.org/10.1109/iros60139.2025.11246492","title":"AnyBipe: An Automated End-to-End Framework for Training and Deploying Bipedal Robots Powered by Large Language Models","display_name":"AnyBipe: An Automated End-to-End Framework for Training and Deploying Bipedal Robots Powered by Large Language Models","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749553","doi":"https://doi.org/10.1109/iros60139.2025.11246492"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246492","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/A5087144306","display_name":"Yifei Yao","orcid":"https://orcid.org/0000-0001-9809-0996"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yifei Yao","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100914734","display_name":"He Wentao","orcid":"https://orcid.org/0000-0001-8737-1397"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao He","raw_affiliation_strings":["University of Michigan-Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"University of Michigan-Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083624585","display_name":"Chenyu Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyu Gu","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002086409","display_name":"Jiaheng Du","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiaheng Du","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060014983","display_name":"Fangyin Tan","orcid":"https://orcid.org/0009-0009-9615-7312"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fuwei Tan","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032923032","display_name":"Zhen Zhu","orcid":"https://orcid.org/0000-0002-8065-1967"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhen Zhu","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007452056","display_name":"Jun\u2010Guo Lu","orcid":"https://orcid.org/0000-0002-5012-5624"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun-Guo Lu","raw_affiliation_strings":["Shanghai Jiao Tong University,Department of Automation,Shanghai,China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,Department of Automation,Shanghai,China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5087144306"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20557084,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"14790","last_page":"14797"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.3953999876976013,"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":0.3953999876976013,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.09130000323057175,"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"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.08150000125169754,"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/robot","display_name":"Robot","score":0.7096999883651733},{"id":"https://openalex.org/keywords/training","display_name":"Training (meteorology)","score":0.6439999938011169},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6317999958992004},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6155999898910522},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5491999983787537},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43459999561309814}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7096999883651733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.678600013256073},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.6439999938011169},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6317999958992004},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6155999898910522},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5491999983787537},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5299000144004822},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43459999561309814},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.40779998898506165},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3546000123023987},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34869998693466187},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32010000944137573},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.31060001254081726},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.302700012922287},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.2784999907016754},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2606000006198883}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246492","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246492","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":21,"referenced_works":["https://openalex.org/W2154139861","https://openalex.org/W2158208985","https://openalex.org/W2767050701","https://openalex.org/W2911087563","https://openalex.org/W2951360122","https://openalex.org/W2963184939","https://openalex.org/W3093922502","https://openalex.org/W3138429261","https://openalex.org/W3201707474","https://openalex.org/W3212380917","https://openalex.org/W3212580602","https://openalex.org/W4200514762","https://openalex.org/W4229081732","https://openalex.org/W4307572631","https://openalex.org/W4313563129","https://openalex.org/W4383097638","https://openalex.org/W4391423004","https://openalex.org/W4394828156","https://openalex.org/W4396910086","https://openalex.org/W4401416612","https://openalex.org/W4402354036"],"related_works":[],"abstract_inverted_index":{"Training":[0],"and":[1,21,35,53,71,85,95,100,120,135],"deploying":[2,54],"reinforcement":[3],"learning":[4],"(RL)":[5],"policies":[6,104],"for":[7,51,62,131],"robots":[8],"is":[9],"a":[10,45],"complex":[11],"task,":[12],"requiring":[13],"careful":[14],"design":[15],"of":[16,102,118],"reward":[17,63],"functions,":[18],"sim-to-real":[19],"transfer,":[20],"performance":[22],"evaluation":[23],"across":[24],"various":[25],"robot":[26],"configurations.":[27],"These":[28],"tasks":[29],"traditionally":[30],"demand":[31],"significant":[32],"human":[33,112],"expertise":[34],"effort.":[36],"To":[37],"address":[38],"these":[39],"challenges,":[40],"this":[41],"paper":[42],"introduces":[43],"Anybipe,":[44],"novel,":[46],"fully":[47],"automated,":[48],"end-to-end":[49],"framework":[50,74],"training":[52,134],"bipedal":[55,126],"robots,":[56,127],"leveraging":[57],"large":[58],"language":[59],"models":[60],"(LLMs)":[61],"function":[64],"generation,":[65],"while":[66,114],"supervising":[67],"model":[68],"training,":[69],"evaluation,":[70],"deployment.":[72,136],"The":[73],"integrates":[75],"comprehensive":[76],"quantitative":[77],"metrics":[78],"to":[79,91],"assess":[80],"policy":[81],"performance,":[82],"deployment":[83],"effectiveness,":[84],"safety.":[86],"Additionally,":[87],"it":[88],"allows":[89],"users":[90],"incorporate":[92],"prior":[93],"knowledge":[94],"preferences,":[96],"improving":[97],"the":[98],"accuracy":[99,119],"alignment":[101],"generated":[103],"with":[105],"expectations.":[106],"We":[107],"demonstrate":[108],"how":[109],"Anybipe":[110],"reduces":[111],"labor":[113],"maintaining":[115],"high":[116],"levels":[117],"safety,":[121],"examined":[122],"on":[123],"three":[124],"different":[125],"showcasing":[128],"its":[129],"potential":[130],"autonomous":[132],"RL":[133]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}