{"id":"https://openalex.org/W4416749645","doi":"https://doi.org/10.1109/iros60139.2025.11247281","title":"TAR: Teacher-Aligned Representations via Contrastive Learning for Quadrupedal Locomotion","display_name":"TAR: Teacher-Aligned Representations via Contrastive Learning for Quadrupedal Locomotion","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749645","doi":"https://doi.org/10.1109/iros60139.2025.11247281"},"language":"en","primary_location":{"id":"doi:10.1109/iros60139.2025.11247281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247281","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/A5119947499","display_name":"Amr Mousa","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Amr Mousa","raw_affiliation_strings":["University of Manchester,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Manchester,United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119947500","display_name":"Neil Karavis","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143731","display_name":"BAE Systems (United Kingdom)","ror":"https://ror.org/04p8ejq70","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210143731"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Neil Karavis","raw_affiliation_strings":["BAE Systems,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"BAE Systems,United Kingdom","institution_ids":["https://openalex.org/I4210143731"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012774083","display_name":"M. W. Caprio","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michele Caprio","raw_affiliation_strings":["University of Manchester,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Manchester,United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112120357","display_name":"Wei Pan","orcid":"https://orcid.org/0000-0001-8733-0683"},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wei Pan","raw_affiliation_strings":["University of Manchester,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Manchester,United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5119947501","display_name":"Richard Allmendinger","orcid":null},"institutions":[{"id":"https://openalex.org/I28407311","display_name":"University of Manchester","ror":"https://ror.org/027m9bs27","country_code":"GB","type":"education","lineage":["https://openalex.org/I28407311"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Richard Allmendinger","raw_affiliation_strings":["University of Manchester,United Kingdom"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Manchester,United Kingdom","institution_ids":["https://openalex.org/I28407311"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8084,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.877465,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"11669","last_page":"11676"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.18310000002384186,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.18310000002384186,"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":0.07829999923706055,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.07029999792575836,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.7554000020027161},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5900999903678894},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4778999984264374},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4431000053882599},{"id":"https://openalex.org/keywords/feature-learning","display_name":"Feature learning","score":0.3792000114917755},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.3467000126838684},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.3359000086784363}],"concepts":[{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.7554000020027161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6830000281333923},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5900999903678894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5692999958992004},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4778999984264374},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4431000053882599},{"id":"https://openalex.org/C59404180","wikidata":"https://www.wikidata.org/wiki/Q17013334","display_name":"Feature learning","level":2,"score":0.3792000114917755},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3643999993801117},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.3467000126838684},{"id":"https://openalex.org/C204321447","wikidata":"https://www.wikidata.org/wiki/Q30642","display_name":"Natural language processing","level":1,"score":0.3425000011920929},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3359000086784363},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.3357999920845032},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.334199994802475},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.32440000772476196},{"id":"https://openalex.org/C45942800","wikidata":"https://www.wikidata.org/wiki/Q245652","display_name":"Ensemble learning","level":2,"score":0.3215999901294708},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2937000095844269},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.2892000079154968},{"id":"https://openalex.org/C2780876879","wikidata":"https://www.wikidata.org/wiki/Q3054749","display_name":"Meaning (existential)","level":2,"score":0.28619998693466187},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.26919999718666077}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros60139.2025.11247281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247281","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"},{"id":"pmh:oai:pure.atira.dk:publications/cc77309c-ff53-4df6-9df9-916d3073ce9f","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/cc77309c-ff53-4df6-9df9-916d3073ce9f","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Mousa, A, Karavis, N, Caprio, M, Pan, W & Allmendinger, R 2025, TAR : Teacher-Aligned Representations via Contrastive Learning for Quadrupedal Locomotion. in C Laugier, A Renzaglia, N Atanasov, S Birchfield, G Cielniak, L De Mattos, L Fiorini, P Giguere, K Hashimoto, J Ibanez-Guzman, T Kamegawa, J Lee, G Loianno, K Luck, H Maruyama, P Martinet, H Moradi, U Nunes, J Pettre, A Pretto, T Ranzani, A Ronnau, S Rossi, E Rouse, F Ruggiero, O Simonin, D Wang, M Yang, E Yoshida & H Zhao (eds), The IEEE/RSJ International Conference on Intelligent Robots and Systems : Conference Proceedings. IEEE International Conference on Intelligent Robots and Systems, IEEE, Danvers, MA, pp. 11669-11676, 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, 19/10/25. https://doi.org/10.1109/IROS60139.2025.11247281","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2157364932","https://openalex.org/W2987861506","https://openalex.org/W3038194455","https://openalex.org/W3093922502","https://openalex.org/W3175254947","https://openalex.org/W4205430897","https://openalex.org/W4283787029","https://openalex.org/W4376274293","https://openalex.org/W4382365373","https://openalex.org/W4383108274","https://openalex.org/W4396910086","https://openalex.org/W4402401628","https://openalex.org/W4403741606","https://openalex.org/W4405785131","https://openalex.org/W4405873188"],"related_works":[],"abstract_inverted_index":{"Quadrupedal":[0],"locomotion":[1,153],"via":[2,57,84],"Reinforcement":[3],"Learning":[4,59],"(RL)":[5],"is":[6],"commonly":[7],"addressed":[8],"using":[9],"the":[10,103],"teacher-student":[11],"paradigm,":[12],"where":[13],"a":[14,18,61,79,147],"privileged":[15,30,65,80,105,144],"teacher":[16,31,81],"guides":[17],"proprioceptive":[19],"student":[20,88],"policy.":[21],"However,":[22],"key":[23],"challenges":[24],"such":[25],"as":[26],"representation":[27],"misalignment":[28],"between":[29],"and":[32,41,94,154,163],"proprioceptive-only":[33],"student,":[34],"covariate":[35],"shift":[36],"due":[37],"to":[38,47,71,78,98,114,117,131],"behavioral":[39],"cloning,":[40],"lack":[42],"of":[43],"deployable":[44],"adaptation;":[45],"lead":[46],"poor":[48],"generalization":[49,97,125],"in":[50,82,150,158],"real-world":[51,159],"scenarios.":[52,160],"We":[53],"propose":[54],"Teacher-Aligned":[55],"Representations":[56],"Contrastive":[58],"(TAR),":[60],"framework":[62],"that":[63],"leverages":[64],"information":[66],"with":[67],"self-supervised":[68],"contrastive":[69,85],"learning":[70,139],"bridge":[72],"this":[73],"gap.":[74],"By":[75],"aligning":[76],"representations":[77],"simulation":[83],"objectives,":[86],"our":[87],"policy":[89],"learns":[90],"structured":[91],"latent":[92],"spaces":[93],"exhibits":[95],"robust":[96],"Out-of-Distribution":[99],"(OOD)":[100],"scenarios,":[101],"surpassing":[102],"fully":[104],"\u201cTeacher\u201d.":[106],"Results":[107],"showed":[108,123],"accelerated":[109],"training":[110],"by":[111,126],"2\u00d7":[112],"compared":[113,130],"state-of-the-art":[115],"baselines":[116],"achieve":[118],"peak":[119],"performance.":[120],"OOD":[121],"scenarios":[122],"better":[124],"40%":[127],"on":[128],"average":[129],"existing":[132],"methods.":[133],"Moreover,":[134],"TAR":[135],"transitions":[136],"seamlessly":[137],"into":[138],"during":[140],"deployment":[141],"without":[142],"requiring":[143],"states,":[145],"setting":[146],"new":[148],"benchmark":[149],"sample-efficient,":[151],"adaptive":[152],"enabling":[155],"continual":[156],"fine-tuning":[157],"Open-source":[161],"code":[162],"videos":[164],"are":[165],"available":[166],"at":[167],"https://amrmousa.com/TARLoco/.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}