{"id":"https://openalex.org/W3202243720","doi":"https://doi.org/10.1109/lra.2022.3143227","title":"Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains","display_name":"Linear Policies are Sufficient to Realize Robust Bipedal Walking on Challenging Terrains","publication_year":2022,"publication_date":"2022-01-14","ids":{"openalex":"https://openalex.org/W3202243720","doi":"https://doi.org/10.1109/lra.2022.3143227","mag":"3202243720"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3143227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3143227","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":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://mpra.ub.uni-muenchen.de/73722/1/MPRA_paper_73722.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071232916","display_name":"Lokesh Krishna","orcid":null},"institutions":[{"id":"https://openalex.org/I56404289","display_name":"Indian Institute of Technology BHU","ror":"https://ror.org/01kh5gc44","country_code":"IN","type":"education","lineage":["https://openalex.org/I56404289"]},{"id":"https://openalex.org/I91357014","display_name":"Banaras Hindu University","ror":"https://ror.org/04cdn2797","country_code":"IN","type":"education","lineage":["https://openalex.org/I91357014"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Lokesh Krishna","raw_affiliation_strings":["Department of Electronics Engineering, Indian Institute of Technology (BHU) Varanasi, India"],"raw_orcid":"https://orcid.org/0000-0002-7048-4958","affiliations":[{"raw_affiliation_string":"Department of Electronics Engineering, Indian Institute of Technology (BHU) Varanasi, India","institution_ids":["https://openalex.org/I56404289","https://openalex.org/I91357014"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025408291","display_name":"Guillermo A. Castillo","orcid":"https://orcid.org/0000-0003-1326-5836"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guillermo A. Castillo","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH, USA"],"raw_orcid":"https://orcid.org/0000-0003-1326-5836","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083595150","display_name":"Utkarsh A. Mishra","orcid":"https://orcid.org/0000-0002-4977-5187"},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Utkarsh A. Mishra","raw_affiliation_strings":["Department of Computer Science and Automation and the Centre for Cyber-Physical Systems, Indian Institute of Science, Bengaluru, India"],"raw_orcid":"https://orcid.org/0000-0002-4977-5187","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Automation and the Centre for Cyber-Physical Systems, Indian Institute of Science, Bengaluru, India","institution_ids":["https://openalex.org/I59270414"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069228447","display_name":"Ayonga Hereid","orcid":"https://orcid.org/0000-0002-4156-2013"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ayonga Hereid","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH, USA"],"raw_orcid":"https://orcid.org/0000-0002-4156-2013","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084523677","display_name":"Shishir Kolathaya","orcid":"https://orcid.org/0000-0001-8689-2318"},"institutions":[{"id":"https://openalex.org/I59270414","display_name":"Indian Institute of Science Bangalore","ror":"https://ror.org/04dese585","country_code":"IN","type":"education","lineage":["https://openalex.org/I59270414"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Shishir Kolathaya","raw_affiliation_strings":["Department of Computer Science and Automation and the Centre for Cyber-Physical Systems, Indian Institute of Science, Bengaluru, India"],"raw_orcid":"https://orcid.org/0000-0001-8689-2318","affiliations":[{"raw_affiliation_string":"Department of Computer Science and Automation and the Centre for Cyber-Physical Systems, Indian Institute of Science, Bengaluru, India","institution_ids":["https://openalex.org/I59270414"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5071232916"],"corresponding_institution_ids":["https://openalex.org/I56404289","https://openalex.org/I91357014"],"apc_list":null,"apc_paid":null,"fwci":1.9621,"has_fulltext":true,"cited_by_count":27,"citation_normalized_percentile":{"value":0.85017611,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"7","issue":"2","first_page":"2047","last_page":"2054"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9921000003814697,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9587000012397766,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.6382006406784058},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6219865679740906},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5859475135803223},{"id":"https://openalex.org/keywords/interpretability","display_name":"Interpretability","score":0.550478994846344},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5447656512260437},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5198850631713867},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5089490413665771},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4993271827697754},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.46169742941856384},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.43497946858406067},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.357954740524292},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32261955738067627},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28045645356178284},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1944108009338379},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09889882802963257},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.08936172723770142}],"concepts":[{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.6382006406784058},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6219865679740906},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5859475135803223},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.550478994846344},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5447656512260437},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5198850631713867},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5089490413665771},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4993271827697754},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.46169742941856384},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.43497946858406067},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.357954740524292},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32261955738067627},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28045645356178284},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1944108009338379},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09889882802963257},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.08936172723770142},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2022.3143227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3143227","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::73722","is_oa":true,"landing_page_url":null,"pdf_url":"https://mpra.ub.uni-muenchen.de/73722/1/MPRA_paper_73722.pdf","source":{"id":"https://openalex.org/S4306401429","display_name":"ePrints@IISc (Indian Institute of Science)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59270414","host_organization_name":"Indian Institute of Science Bangalore","host_organization_lineage":["https://openalex.org/I59270414"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai::73722","is_oa":true,"landing_page_url":null,"pdf_url":"https://mpra.ub.uni-muenchen.de/73722/1/MPRA_paper_73722.pdf","source":{"id":"https://openalex.org/S4306401429","display_name":"ePrints@IISc (Indian Institute of Science)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I59270414","host_organization_name":"Indian Institute of Science Bangalore","host_organization_lineage":["https://openalex.org/I59270414"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3202243720.pdf","grobid_xml":"https://content.openalex.org/works/W3202243720.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W2109008048","https://openalex.org/W2128131727","https://openalex.org/W2337991911","https://openalex.org/W2739330054","https://openalex.org/W2774367037","https://openalex.org/W2890326782","https://openalex.org/W2911087563","https://openalex.org/W2963315892","https://openalex.org/W2972798201","https://openalex.org/W2977527020","https://openalex.org/W2978824700","https://openalex.org/W3029641972","https://openalex.org/W3032919895","https://openalex.org/W3038194455","https://openalex.org/W3093481944","https://openalex.org/W3095730634","https://openalex.org/W3148915740","https://openalex.org/W3150249871","https://openalex.org/W3162157701","https://openalex.org/W3176539729","https://openalex.org/W3206620955","https://openalex.org/W3206982864","https://openalex.org/W3207491493","https://openalex.org/W3208467102","https://openalex.org/W4200429861","https://openalex.org/W6754787993","https://openalex.org/W6755667589","https://openalex.org/W6778428183","https://openalex.org/W6785345323"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2579089916","https://openalex.org/W2058088690","https://openalex.org/W2086597735","https://openalex.org/W2905433371","https://openalex.org/W2052143774","https://openalex.org/W4390569940","https://openalex.org/W3134497028"],"abstract_inverted_index":{"In":[0,22],"this":[1],"work,":[2],"we":[3,24],"demonstrate":[4,118],"robust":[5,119],"walking":[6,120],"in":[7,121],"the":[8,31,36,41,46,59,74,97,122,137,142,159],"bipedal":[9],"robot":[10],"Digit":[11],"on":[12,107],"uneven":[13],"terrains":[14,109],"by":[15],"just":[16],"learning":[17,89],"a":[18,26,55,62,145],"single":[19],"linear":[20,56,63,76],"policy.":[21,98],"particular,":[23],"propose":[25],"new":[27],"control":[28,65,138],"pipeline,":[29],"wherein":[30],"high-level":[32],"trajectory":[33],"modulator":[34,53],"shapes":[35],"end-foot":[37],"ellipsoidal":[38],"trajectories,":[39],"and":[40,48,58,94,113,127,149,155],"low-level":[42],"gait":[43],"controller":[44],"regulates":[45],"torso":[47],"ankle":[49],"orientation.":[50],"The":[51],"foot-trajectory":[52],"uses":[54,61],"policy":[57,77],"regulator":[60],"PD":[64],"law.":[66],"As":[67],"opposed":[68],"to":[69,131,144],"neural":[70],"network":[71],"based":[72],"policies,":[73],"proposed":[75],"has":[78],"only":[79,85],"13":[80],"learnable":[81],"parameters,":[82],"thereby":[83,157],"not":[84],"guaranteeing":[86],"sample":[87],"efficient":[88],"but":[90],"also":[91],"enabling":[92],"simplicity":[93],"interpretability":[95],"of":[96,105,136,147],"This":[99],"is":[100],"achieved":[101],"with":[102,133],"no":[103,134],"loss":[104],"performance":[106],"challenging":[108],"like":[110],"slopes,":[111],"stairs":[112],"outdoor":[114],"landscapes.":[115],"We":[116,140],"first":[117],"custom":[123],"simulation":[124],"environment,":[125],"MuJoCo,":[126],"then":[128],"directly":[129],"transfer":[130],"hardware":[132],"modification":[135],"pipeline.":[139],"subject":[141],"biped":[143],"series":[146],"pushes":[148],"terrain":[150],"height":[151],"changes,":[152],"both":[153],"indoors":[154],"outdoors,":[156],"validating":[158],"presented":[160],"work.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
