{"id":"https://openalex.org/W2793732783","doi":"https://doi.org/10.1109/lra.2018.2806083","title":"Learning Flexible and Reusable Locomotion Primitives for a Microrobot","display_name":"Learning Flexible and Reusable Locomotion Primitives for a Microrobot","publication_year":2018,"publication_date":"2018-02-14","ids":{"openalex":"https://openalex.org/W2793732783","doi":"https://doi.org/10.1109/lra.2018.2806083","mag":"2793732783"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2806083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2806083","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1803.00196","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5055299615","display_name":"Brian Yang","orcid":"https://orcid.org/0000-0001-8784-1459"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Brian Yang","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047171676","display_name":"Grant Wang","orcid":"https://orcid.org/0000-0003-4047-7519"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Grant Wang","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002235575","display_name":"Roberto Calandra","orcid":"https://orcid.org/0000-0001-9430-8433"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roberto Calandra","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047595237","display_name":"Daniel S. Contreras","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel Contreras","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026322200","display_name":"Sergey Levine","orcid":"https://orcid.org/0000-0001-6764-2743"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sergey Levine","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085143303","display_name":"Kristofer S. J. Pister","orcid":"https://orcid.org/0000-0002-8108-2102"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kristofer Pister","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5055299615"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":2.6615,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.898061,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"3","issue":"3","first_page":"1904","last_page":"1911"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11486","display_name":"Micro and Nano Robotics","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5685627460479736},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39578011631965637},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3913484811782837}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5685627460479736},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39578011631965637},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3913484811782837}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2018.2806083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2806083","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1803.00196","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1803.00196","pdf_url":"https://arxiv.org/pdf/1803.00196","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1803.00196","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1803.00196","pdf_url":"https://arxiv.org/pdf/1803.00196","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W102650763","https://openalex.org/W770013183","https://openalex.org/W803972901","https://openalex.org/W1483202606","https://openalex.org/W1489731227","https://openalex.org/W1735664310","https://openalex.org/W1746819321","https://openalex.org/W1754260250","https://openalex.org/W1994101655","https://openalex.org/W1999272004","https://openalex.org/W2020622546","https://openalex.org/W2027531431","https://openalex.org/W2046127725","https://openalex.org/W2061144551","https://openalex.org/W2061524636","https://openalex.org/W2090373601","https://openalex.org/W2098055994","https://openalex.org/W2098998403","https://openalex.org/W2109008048","https://openalex.org/W2110029398","https://openalex.org/W2111526171","https://openalex.org/W2129287493","https://openalex.org/W2135305876","https://openalex.org/W2146864690","https://openalex.org/W2151238122","https://openalex.org/W2156174987","https://openalex.org/W2171565529","https://openalex.org/W2192203593","https://openalex.org/W2335667200","https://openalex.org/W2514800642","https://openalex.org/W2594664482","https://openalex.org/W2606395562","https://openalex.org/W2743865536","https://openalex.org/W2744719102","https://openalex.org/W2744752492","https://openalex.org/W2745181815","https://openalex.org/W2963090983","https://openalex.org/W4211049957","https://openalex.org/W4297687493","https://openalex.org/W6629021139","https://openalex.org/W6675411844","https://openalex.org/W6741361698"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W4391913857","https://openalex.org/W2350741829"],"abstract_inverted_index":{"The":[0],"design":[1],"of":[2,66,121,165],"gaits":[3],"for":[4,25,99],"robot":[5,156],"locomotion":[6,67,75,93,142,167],"can":[7,96],"be":[8,97],"a":[9,57,63,77,102,106,111,180],"daunting":[10],"process,":[11],"which":[12],"requires":[13],"significant":[14],"expert":[15],"knowledge":[16,153],"and":[17,85,115,127,135,140,172],"engineering.":[18],"This":[19,72],"process":[20],"is":[21,163],"even":[22],"more":[23],"challenging":[24],"robots":[26],"that":[27,88,95,149],"do":[28],"not":[29],"have":[30],"an":[31,45],"accurate":[32],"physical":[33],"model,":[34],"such":[35],"as":[36,76],"compliant":[37],"or":[38],"micro-scale":[39],"robots.":[40,71],"Data-driven":[41],"gait":[42,50],"optimization":[43],"provides":[44],"automated":[46],"alternative":[47],"to":[48,60,82,90,176],"analytical":[49],"design.":[51],"In":[52],"this":[53,122],"letter,":[54],"we":[55,104,116],"propose":[56],"novel":[58],"approach":[59,73,162],"efficiently":[61],"learn":[62,91],"wide":[64],"range":[65],"tasks":[68,126],"with":[69],"walking":[70],"formalizes":[74],"contextual":[78],"policy":[79],"search":[80],"task":[81],"collect":[83],"data,":[84],"subsequently":[86,173],"uses":[87],"data":[89],"multiobjective":[92,141],"primitives":[94,168],"used":[98,157],"planning.":[100],"As":[101],"proof-of-concept":[103],"consider":[105],"simulated":[107],"hexapod":[108],"modeled":[109],"after":[110],"recently":[112],"developed":[113],"microrobot,":[114],"thoroughly":[117],"evaluate":[118],"the":[119,132,145,155],"performance":[120],"microrobot":[123],"on":[124,138],"different":[125],"gaits.":[128],"Our":[129],"results":[130],"validate":[131],"proposed":[133],"controller":[134],"learning":[136,166],"scheme":[137],"single":[139],"tasks.":[143],"Moreover,":[144],"experimental":[146],"simulations":[147],"show":[148],"without":[150],"any":[151],"prior":[152],"about":[154],"(e.g.,":[158],"dynamics":[159],"model),":[160],"our":[161],"capable":[164],"within":[169],"250":[170],"trials":[171],"using":[174],"them":[175],"successfully":[177],"navigate":[178],"through":[179],"maze.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":3}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
