{"id":"https://openalex.org/W4416748989","doi":"https://doi.org/10.1109/iros60139.2025.11247486","title":"Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain","display_name":"Teacher Motion Priors: Enhancing Robot Locomotion over Challenging Terrain","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748989","doi":"https://doi.org/10.1109/iros60139.2025.11247486"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247486","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/A5101379226","display_name":"Fangcheng Jin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fangcheng Jin","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing,School of Artificial Intelligence,Beijing,China,100000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing,School of Artificial Intelligence,Beijing,China,100000","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052059326","display_name":"Yuqi Wang","orcid":"https://orcid.org/0000-0002-6360-1431"},"institutions":[{"id":"https://openalex.org/I4210094137","display_name":"Beijing Zhongke Science and Technology (China)","ror":"https://ror.org/00qy2fm62","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210094137"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqi Wang","raw_affiliation_strings":["Beijing Zhongke Huiling Robot Technology Co., LTD,Beijing,China,100192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Zhongke Huiling Robot Technology Co., LTD,Beijing,China,100192","institution_ids":["https://openalex.org/I4210094137"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101904767","display_name":"Pengfei Ma","orcid":"https://orcid.org/0000-0003-1257-8021"},"institutions":[{"id":"https://openalex.org/I4210094137","display_name":"Beijing Zhongke Science and Technology (China)","ror":"https://ror.org/00qy2fm62","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210094137"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peixin Ma","raw_affiliation_strings":["Beijing Zhongke Huiling Robot Technology Co., LTD,Beijing,China,100192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Zhongke Huiling Robot Technology Co., LTD,Beijing,China,100192","institution_ids":["https://openalex.org/I4210094137"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021506562","display_name":"Guodong Yang","orcid":"https://orcid.org/0000-0002-6307-2963"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guodong Yang","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing,School of Artificial Intelligence,Beijing,China,100000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing,School of Artificial Intelligence,Beijing,China,100000","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100384363","display_name":"Pan Zhao","orcid":"https://orcid.org/0000-0003-0719-6010"},"institutions":[{"id":"https://openalex.org/I4210094137","display_name":"Beijing Zhongke Science and Technology (China)","ror":"https://ror.org/00qy2fm62","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210094137"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pan Zhao","raw_affiliation_strings":["Beijing Zhongke Huiling Robot Technology Co., LTD,Beijing,China,100192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Zhongke Huiling Robot Technology Co., LTD,Beijing,China,100192","institution_ids":["https://openalex.org/I4210094137"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115603215","display_name":"En Li","orcid":"https://orcid.org/0000-0002-4412-2953"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"En Li","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing,School of Artificial Intelligence,Beijing,China,100000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing,School of Artificial Intelligence,Beijing,China,100000","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043244668","display_name":"Zhengtao Zhang","orcid":"https://orcid.org/0000-0003-1659-7879"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengtao Zhang","raw_affiliation_strings":["University of Chinese Academy of Sciences, Beijing,School of Artificial Intelligence,Beijing,China,100000"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing,School of Artificial Intelligence,Beijing,China,100000","institution_ids":["https://openalex.org/I4210100255"]}]}],"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":0.48206568,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1100","last_page":"1107"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8075000047683716,"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":0.8075000047683716,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.10980000346899033,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.024800000712275505,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6696000099182129},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5975000262260437},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5952000021934509},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5597000122070312},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5419999957084656},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5012000203132629},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43299999833106995},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.42800000309944153},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4237000048160553},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4047999978065491}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6696000099182129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6543999910354614},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5975000262260437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.59579998254776},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5952000021934509},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5597000122070312},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5419999957084656},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5012000203132629},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43299999833106995},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.42800000309944153},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4237000048160553},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4047999978065491},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4043999910354614},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.39649999141693115},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.39329999685287476},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.3896999955177307},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.37290000915527344},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.36480000615119934},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3544999957084656},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3418000042438507},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33640000224113464},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.31700000166893005},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3084999918937683},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2985000014305115},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.29829999804496765},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.2948000133037567},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28760001063346863},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2822999954223633},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.2815999984741211},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.27090001106262207},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2685999870300293},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.2599000036716461},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.25929999351501465},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.2547000050544739},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247486","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":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1614862348","https://openalex.org/W1968294545","https://openalex.org/W1969074599","https://openalex.org/W2803575051","https://openalex.org/W2889693550","https://openalex.org/W2907537824","https://openalex.org/W2911087563","https://openalex.org/W2963465704","https://openalex.org/W2968774764","https://openalex.org/W2972798201","https://openalex.org/W3093922502","https://openalex.org/W3175254947","https://openalex.org/W3206363598","https://openalex.org/W4312900898","https://openalex.org/W4390481019","https://openalex.org/W4402354114","https://openalex.org/W4402401628"],"related_works":[],"abstract_inverted_index":{"Achieving":[0],"robust":[1,157],"locomotion":[2,138,158],"on":[3,23,45,89,129,140],"complex":[4],"terrains":[5,142],"remains":[6],"a":[7,19,94,130,134,152],"challenge":[8],"due":[9],"to":[10,33,71,82,98,122],"high-dimensional":[11],"control":[12],"and":[13,29,37,59,119,143],"environmental":[14],"uncertainties.":[15],"This":[16,149],"paper":[17],"introduces":[18],"teacher-prior":[20],"framework":[21,50,126],"based":[22],"the":[24,52,56,83,111],"teacher-student":[25],"paradigm,":[26],"integrating":[27],"imitation":[28],"auxiliary":[30,107],"task":[31,108],"learning":[32,35,109],"improve":[34],"efficiency":[36],"generalization.":[38],"Unlike":[39],"traditional":[40],"paradigms":[41],"that":[42],"strongly":[43],"rely":[44],"encoder-based":[46],"state":[47],"embeddings,":[48],"our":[49],"decouples":[51],"network":[53,58],"design,":[54],"simplifying":[55],"policy":[57,64],"deployment.":[60],"A":[61],"high-performance":[62],"teacher":[63],"is":[65,80,127],"first":[66],"trained":[67],"using":[68],"privileged":[69],"information":[70],"acquire":[72],"generalizable":[73],"motion":[74,78],"skills.":[75],"The":[76,125],"teacher\u2019s":[77],"distribution":[79],"transferred":[81],"student":[84,112],"policy,":[85],"which":[86],"relies":[87],"only":[88],"noisy":[90],"proprioceptive":[91],"data,":[92],"via":[93],"generative":[95],"adversarial":[96],"mechanism":[97],"mitigate":[99],"performance":[100],"degradation":[101],"caused":[102],"by":[103],"distributional":[104],"shifts.":[105],"Additionally,":[106],"enhances":[110],"policy\u2019s":[113],"feature":[114],"representation,":[115],"speeding":[116],"up":[117],"convergence":[118],"improving":[120],"adaptability":[121],"varying":[123],"terrains.":[124],"validated":[128],"humanoid":[131,161],"robot,":[132],"showing":[133],"great":[135],"improvement":[136],"in":[137,146,160],"stability":[139],"dynamic":[141],"significant":[144],"reductions":[145],"development":[147],"costs.":[148],"work":[150],"provides":[151],"practical":[153],"solution":[154],"for":[155],"deploying":[156],"strategies":[159],"robots.":[162]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-11-28T00:00:00"}