{"id":"https://openalex.org/W4416750405","doi":"https://doi.org/10.1109/iros60139.2025.11247288","title":"HeStIa: Asynchronous Embodied Dynamic Locomotion Learning for Walking Robots through Multimodal Large Language Models","display_name":"HeStIa: Asynchronous Embodied Dynamic Locomotion Learning for Walking Robots through Multimodal Large Language Models","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750405","doi":"https://doi.org/10.1109/iros60139.2025.11247288"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247288","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/A5102869238","display_name":"Xiaoyu Tan","orcid":"https://orcid.org/0000-0003-3555-7143"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoyu Tan","raw_affiliation_strings":["Shanghai University of Engineering Science,School of Electronic and Electrical Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science,School of Electronic and Electrical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100427174","display_name":"Haoyu Wang","orcid":"https://orcid.org/0000-0001-9575-7345"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyu Wang","raw_affiliation_strings":["Shanghai University of Engineering Science,School of Electronic and Electrical Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science,School of Electronic and Electrical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079400467","display_name":"Sijia Li","orcid":"https://orcid.org/0000-0002-1220-7629"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sijia Li","raw_affiliation_strings":["Shanghai University of Engineering Science,School of Electronic and Electrical Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science,School of Electronic and Electrical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I141962983"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100579456","display_name":"Yinghui Xu","orcid":"https://orcid.org/0009-0002-7346-2794"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinghui Xu","raw_affiliation_strings":["Fudan University,AI3 Institute,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,AI3 Institute,Shanghai,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007950680","display_name":"Xihe Qiu","orcid":"https://orcid.org/0000-0003-4024-925X"},"institutions":[{"id":"https://openalex.org/I141962983","display_name":"Shanghai University of Engineering Science","ror":"https://ror.org/0557b9y08","country_code":"CN","type":"education","lineage":["https://openalex.org/I141962983"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xihe Qiu","raw_affiliation_strings":["Shanghai University of Engineering Science,School of Electronic and Electrical Engineering,Shanghai,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shanghai University of Engineering Science,School of Electronic and Electrical Engineering,Shanghai,China","institution_ids":["https://openalex.org/I141962983"]}]}],"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":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"19629","last_page":"19636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.3440000116825104,"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"}},"topics":[{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.3440000116825104,"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":0.2797999978065491,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.07360000163316727,"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/robot","display_name":"Robot","score":0.6474999785423279},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.555400013923645},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.5202000141143799},{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.5001000165939331},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.4763999879360199},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.4332999885082245},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.4242999851703644},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.42309999465942383},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.36730000376701355}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7487999796867371},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6474999785423279},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5591999888420105},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.555400013923645},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5432999730110168},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.5202000141143799},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.5001000165939331},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.4763999879360199},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.4332999885082245},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.4242999851703644},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.42309999465942383},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.36730000376701355},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.3255000114440918},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.30630001425743103},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.30550000071525574},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.305400013923645},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.29750001430511475},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.2971000075340271},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.2962999939918518},{"id":"https://openalex.org/C2983448237","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Language understanding","level":2,"score":0.2879999876022339},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2793000042438507},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27410000562667847},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.27250000834465027},{"id":"https://openalex.org/C135641252","wikidata":"https://www.wikidata.org/wiki/Q738567","display_name":"Multimodal interaction","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C2779182362","wikidata":"https://www.wikidata.org/wiki/Q17126187","display_name":"Session (web analytics)","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C178253425","wikidata":"https://www.wikidata.org/wiki/Q162668","display_name":"Visual perception","level":3,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247288","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247288","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":32,"referenced_works":["https://openalex.org/W2127107099","https://openalex.org/W2139053308","https://openalex.org/W3183420623","https://openalex.org/W3207033168","https://openalex.org/W4226143977","https://openalex.org/W4280644890","https://openalex.org/W4313442619","https://openalex.org/W4313453017","https://openalex.org/W4320015870","https://openalex.org/W4321020029","https://openalex.org/W4368232742","https://openalex.org/W4376891105","https://openalex.org/W4385064232","https://openalex.org/W4388440523","https://openalex.org/W4388579659","https://openalex.org/W4389252624","https://openalex.org/W4390036543","https://openalex.org/W4390696307","https://openalex.org/W4391094120","https://openalex.org/W4391591760","https://openalex.org/W4394862623","https://openalex.org/W4396566976","https://openalex.org/W4401017697","https://openalex.org/W4401415075","https://openalex.org/W4402354083","https://openalex.org/W4402354138","https://openalex.org/W4402916798","https://openalex.org/W4403577383","https://openalex.org/W4403742889","https://openalex.org/W4404783010","https://openalex.org/W4411063470","https://openalex.org/W4411449683"],"related_works":[],"abstract_inverted_index":{"The":[0,184],"control":[1,56],"of":[2],"locomotion":[3,86,118,195],"in":[4,181,201,211],"walking":[5],"robots":[6,80,112],"with":[7,143,175],"various":[8],"architectural":[9],"designs":[10],"presents":[11],"significant":[12],"challenges.":[13],"While":[14],"existing":[15],"approaches":[16],"primarily":[17],"rely":[18],"on":[19],"low-level":[20],"state":[21],"information":[22],"and":[23,39,54,76,83,90,108,115,122,134,193,215],"isolated":[24],"visual":[25,49,74,89,106,121,129,199],"features,":[26],"lacking":[27],"the":[28,159,170],"high-level":[29],"semantic":[30,71,103],"understanding":[31],"that":[32,47],"humans":[33],"use":[34],"to":[35,68,81,113,153],"reason":[36],"about":[37],"movement":[38],"posture,":[40],"we":[41],"propose":[42],"HeStIa,":[43],"a":[44,70,102,138],"novel":[45],"framework":[46,61],"bridges":[48],"perception,":[50],"natural":[51,202],"language":[52,65,97,203],"understanding,":[53],"robotic":[55],"through":[57,87,119],"multimodal":[58,63,95],"learning.":[59],"Our":[60,125,205],"leverages":[62],"large":[64,96],"models":[66,98],"(MLLMs)":[67],"establish":[69],"bridge":[72],"between":[73,105],"observations":[75,107,200],"motion":[77,109,212],"control,":[78,110],"enabling":[79,111],"understand":[82],"adjust":[84],"their":[85,117],"both":[88,120],"linguistic":[91,123],"modalities.":[92,124],"By":[93],"leveraging":[94],"(MLLMs),":[99],"HeStIa":[100,146,167,189],"establishes":[101],"connection":[104],"comprehend":[114],"adapt":[116],"approach":[126],"extracts":[127],"spatiotemporal":[128],"features":[130],"from":[131],"robot":[132],"movements":[133],"transforms":[135],"them":[136],"into":[137],"cross-modal":[139,185],"embedding":[140],"space":[141],"shared":[142],"textual":[144],"descriptions.":[145,204],"incorporates":[147],"an":[148,164],"innovative":[149],"vision-language-motion":[150],"fusion":[151],"mechanism":[152],"provide":[154],"informed,":[155],"context-aware":[156],"feedback":[157],"during":[158],"dynamic":[160,182],"learning":[161,196],"process.":[162],"Through":[163],"asynchronous":[165],"design,":[166],"effectively":[168],"mitigates":[169],"inference":[171],"delays":[172],"typically":[173],"associated":[174],"MLLMs":[176],"while":[177],"maintaining":[178],"real-time":[179],"performance":[180],"scenarios.":[183],"representations":[186],"learned":[187],"by":[188,197],"facilitate":[190],"more":[191],"intuitive":[192],"efficient":[194],"grounding":[198],"comprehensive":[206],"evaluation":[207],"shows":[208],"substantial":[209],"improvements":[210],"naturalness,":[213],"stability,":[214],"adaptability":[216],"across":[217],"diverse":[218],"environmental":[219],"conditions.":[220]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
