{"id":"https://openalex.org/W3204373930","doi":"https://doi.org/10.1109/lra.2022.3147006","title":"Interactive Dynamic Walking: Learning Gait Switching Policies With Generalization Guarantees","display_name":"Interactive Dynamic Walking: Learning Gait Switching Policies With Generalization Guarantees","publication_year":2022,"publication_date":"2022-01-31","ids":{"openalex":"https://openalex.org/W3204373930","doi":"https://doi.org/10.1109/lra.2022.3147006","mag":"3204373930"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3147006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3147006","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085370921","display_name":"Prem Chand","orcid":"https://orcid.org/0000-0002-9598-8669"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Prem Chand","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, Newark, DE, USA"],"raw_orcid":"https://orcid.org/0000-0002-9598-8669","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088704174","display_name":"Sushant Veer","orcid":"https://orcid.org/0000-0003-3498-6448"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]},{"id":"https://openalex.org/I4210127875","display_name":"Nvidia (United States)","ror":"https://ror.org/03jdj4y14","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127875"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sushant Veer","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ, USA","NVIDIA Research, Santa Clara, CA, USA"],"raw_orcid":"https://orcid.org/0000-0003-3498-6448","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ, USA","institution_ids":["https://openalex.org/I20089843"]},{"raw_affiliation_string":"NVIDIA Research, Santa Clara, CA, USA","institution_ids":["https://openalex.org/I4210127875"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057980698","display_name":"Ioannis Poulakakis","orcid":"https://orcid.org/0000-0001-7045-1075"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ioannis Poulakakis","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, Newark, DE, USA"],"raw_orcid":"https://orcid.org/0000-0001-7045-1075","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5085370921"],"corresponding_institution_ids":["https://openalex.org/I86501945"],"apc_list":null,"apc_paid":null,"fwci":0.327,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.48831724,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":"2","first_page":"4149","last_page":"4156"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9988999962806702,"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":0.9970999956130981,"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/supervisor","display_name":"Supervisor","score":0.8773047924041748},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.8693881034851074},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7101821303367615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6376876831054688},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.558584988117218},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.48816782236099243},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45144033432006836},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.44482383131980896},{"id":"https://openalex.org/keywords/bayes-theorem","display_name":"Bayes' theorem","score":0.4316581189632416},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3895009756088257},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3298576772212982},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.20417168736457825},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16209575533866882},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.12350234389305115}],"concepts":[{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.8773047924041748},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.8693881034851074},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7101821303367615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6376876831054688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.558584988117218},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.48816782236099243},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45144033432006836},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.44482383131980896},{"id":"https://openalex.org/C207201462","wikidata":"https://www.wikidata.org/wiki/Q182505","display_name":"Bayes' theorem","level":3,"score":0.4316581189632416},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3895009756088257},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3298576772212982},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.20417168736457825},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16209575533866882},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.12350234389305115},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3147006","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3147006","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W110511727","https://openalex.org/W593788201","https://openalex.org/W1424654272","https://openalex.org/W1482427705","https://openalex.org/W1500588313","https://openalex.org/W1504362584","https://openalex.org/W1979103965","https://openalex.org/W2014384147","https://openalex.org/W2043536379","https://openalex.org/W2051856437","https://openalex.org/W2086979750","https://openalex.org/W2101392974","https://openalex.org/W2126585005","https://openalex.org/W2136719407","https://openalex.org/W2151965738","https://openalex.org/W2163668399","https://openalex.org/W2169187067","https://openalex.org/W2211810156","https://openalex.org/W2570437550","https://openalex.org/W2604117713","https://openalex.org/W2610901891","https://openalex.org/W2771121927","https://openalex.org/W2771189762","https://openalex.org/W2771354076","https://openalex.org/W2772604407","https://openalex.org/W2965995223","https://openalex.org/W2967085760","https://openalex.org/W2969362143","https://openalex.org/W2975322346","https://openalex.org/W3007384386","https://openalex.org/W3037801069","https://openalex.org/W3046018808","https://openalex.org/W3091579635","https://openalex.org/W3099744493","https://openalex.org/W3147461353","https://openalex.org/W3150249871","https://openalex.org/W3176539729","https://openalex.org/W3205843978","https://openalex.org/W4287863075","https://openalex.org/W4297738147","https://openalex.org/W6682262322","https://openalex.org/W6735544424","https://openalex.org/W6766756864","https://openalex.org/W6773816769","https://openalex.org/W6793728789"],"related_works":["https://openalex.org/W4387731985","https://openalex.org/W2755149878","https://openalex.org/W2941808082","https://openalex.org/W2468425257","https://openalex.org/W4377009725","https://openalex.org/W4379086698","https://openalex.org/W2528721242","https://openalex.org/W4320164562","https://openalex.org/W2356364326","https://openalex.org/W2372069567"],"abstract_inverted_index":{"In":[0],"this":[1],"letter,":[2],"we":[3],"consider":[4],"the":[5,43,47,50,57,66,89,97,108,120],"problem":[6],"of":[7,31,68,74,82,110,122],"adapting":[8],"a":[9,16,29,39,115,123,128],"dynamically":[10,124],"walking":[11,125],"bipedal":[12],"robot":[13],"to":[14,45,54,56,84,118,127],"follow":[15],"leading":[17,129],"co-worker":[18],"based":[19],"on":[20,26],"physical":[21],"interaction.":[22],"Our":[23],"approach":[24,76,112],"relies":[25],"switching":[27,48],"among":[28,49],"family":[30],"Dynamic":[32],"Movement":[33],"Primitives":[34],"(DMPs)":[35],"as":[36],"governed":[37],"by":[38,95,113],"supervisor.":[40,91],"We":[41,106],"train":[42],"supervisor":[44,117],"orchestrate":[46],"DMPs":[51],"in":[52,65],"order":[53],"adapt":[55,119],"leader&#x2019;s":[58],"intentions,":[59],"which":[60],"are":[61],"only":[62],"<i>implicitly</i>":[63],"available":[64],"form":[67],"interaction":[69],"forces.":[70],"The":[71],"primary":[72],"contribution":[73],"our":[75,111],"is":[77,93,134],"that":[78],"it":[79],"furnishes":[80],"<i>certificates":[81],"generalization</i>":[83],"novel":[85],"leader":[86],"intentions":[87],"for":[88],"trained":[90],"This":[92],"achieved":[94],"leveraging":[96],"Probably":[98],"Approximately":[99],"Correct":[100],"(PAC)-Bayes":[101],"bounds":[102],"from":[103],"generalization":[104],"theory.":[105],"demonstrate":[107],"efficacy":[109],"training":[114],"neural-network":[116],"gait":[121],"biped":[126],"collaborator":[130],"whose":[131],"intended":[132],"trajectory":[133],"not":[135],"known":[136],"explicitly.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}