{"id":"https://openalex.org/W4388895019","doi":"https://doi.org/10.1109/lra.2023.3335777","title":"Learning Whole-Body Manipulation for Quadrupedal Robot","display_name":"Learning Whole-Body Manipulation for Quadrupedal Robot","publication_year":2023,"publication_date":"2023-11-22","ids":{"openalex":"https://openalex.org/W4388895019","doi":"https://doi.org/10.1109/lra.2023.3335777"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3335777","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3335777","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/A5091631363","display_name":"Seung-Hun Jeon","orcid":"https://orcid.org/0000-0002-7254-6753"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seunghun Jeon","raw_affiliation_strings":["Department of Mechanical Engineering, Robotics and Artificial Intelligence Laboratory, KAIST, Daejeon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Robotics and Artificial Intelligence Laboratory, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101411020","display_name":"Moonkyu Jung","orcid":"https://orcid.org/0009-0003-7983-818X"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Moonkyu Jung","raw_affiliation_strings":["Department of Mechanical Engineering, Robotics and Artificial Intelligence Laboratory, KAIST, Daejeon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Robotics and Artificial Intelligence Laboratory, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059295255","display_name":"Suyoung Choi","orcid":"https://orcid.org/0000-0002-3116-1072"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Suyoung Choi","raw_affiliation_strings":["Department of Mechanical Engineering, Robotics and Artificial Intelligence Laboratory, KAIST, Daejeon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Robotics and Artificial Intelligence Laboratory, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100661073","display_name":"Beomjoon Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Beomjoon Kim","raw_affiliation_strings":["Department of Kim Jaechul Graduate School of AI, Intelligent Mobile Manipulation Laboratory, KAIST, Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Kim Jaechul Graduate School of AI, Intelligent Mobile Manipulation Laboratory, KAIST, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080397455","display_name":"Jemin Hwangbo","orcid":"https://orcid.org/0000-0002-3444-8079"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jemin Hwangbo","raw_affiliation_strings":["Department of Mechanical Engineering, Robotics and Artificial Intelligence Laboratory, KAIST, Daejeon, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Robotics and Artificial Intelligence Laboratory, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5091631363"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":4.2638,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.95236361,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"699","last_page":"706"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9958000183105469,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/quadrupedalism","display_name":"Quadrupedalism","score":0.7361279726028442},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5547317266464233},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.47913357615470886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47773855924606323},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38593775033950806},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3353816866874695},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13659769296646118},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.07326173782348633}],"concepts":[{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.7361279726028442},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5547317266464233},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.47913357615470886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47773855924606323},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38593775033950806},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3353816866874695},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13659769296646118},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.07326173782348633}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3335777","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3335777","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":[{"id":"https://openalex.org/F4320329473","display_name":"Institute of Civil-Military Technology Cooperation","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1560450306","https://openalex.org/W2087485438","https://openalex.org/W2736601468","https://openalex.org/W2779458783","https://openalex.org/W2944561196","https://openalex.org/W2963294969","https://openalex.org/W2999253226","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3106838720","https://openalex.org/W3130633756","https://openalex.org/W3132244222","https://openalex.org/W3132383621","https://openalex.org/W3138392552","https://openalex.org/W3142410314","https://openalex.org/W3175254947","https://openalex.org/W3194048684","https://openalex.org/W3205196998","https://openalex.org/W4205430897","https://openalex.org/W4214634122","https://openalex.org/W4226143977","https://openalex.org/W4292686360","https://openalex.org/W4317987839","https://openalex.org/W4380551489","https://openalex.org/W4383108204","https://openalex.org/W4383108274","https://openalex.org/W4383108291","https://openalex.org/W4383108368","https://openalex.org/W4383108493","https://openalex.org/W4383109039","https://openalex.org/W4385430700","https://openalex.org/W4387653674","https://openalex.org/W6693682517","https://openalex.org/W6741002519","https://openalex.org/W6846358943"],"related_works":["https://openalex.org/W2755342338","https://openalex.org/W2058170566","https://openalex.org/W2036807459","https://openalex.org/W2775347418","https://openalex.org/W1969923398","https://openalex.org/W2166024367","https://openalex.org/W2772917594","https://openalex.org/W3116076068","https://openalex.org/W2229312674","https://openalex.org/W2079911747"],"abstract_inverted_index":{"We":[0,52],"propose":[1],"a":[2,23,67,84,109,118],"learning-based":[3],"system":[4,19],"for":[5,162],"enabling":[6],"quadrupedal":[7],"robots":[8],"to":[9,47,190],"manipulate":[10],"large,":[11],"heavy":[12,128,166],"objects":[13,82,106,129,150,167],"using":[14,151,160],"their":[15],"whole":[16],"body.":[17,175],"Our":[18,176],"is":[20],"based":[21],"on":[22,145],"hierarchical":[24],"control":[25],"strategy":[26],"that":[27,143,168],"uses":[28],"the":[29,45,63,102,131,157,172],"deep":[30],"latent":[31],"variable":[32],"embedding":[33],"which":[34],"captures":[35],"manipulation-relevant":[36],"information":[37],"from":[38],"interactions,":[39],"proprioception,":[40],"and":[41,59,79,92,117,148,165,184],"action":[42],"history,":[43],"allowing":[44],"robot":[46,132],"implicitly":[48],"understand":[49],"object":[50,182],"properties.":[51],"evaluate":[53],"our":[54,154],"framework":[55,155],"in":[56,76],"both":[57],"simulation":[58],"real-world":[60],"scenarios.":[61],"In":[62],"simulation,":[64],"it":[65],"achieves":[66],"success":[68],"rate":[69],"of":[70,86,105,159],"93.6":[71],"<inline-formula":[72,88,94,111,120,135],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[73,89,95,112,121,136],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[74,90,96,113,122,137],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>":[75],"accurately":[77],"re-positioning":[78],"re-orienting":[80],"various":[81],"within":[83],"tolerance":[85],"0.03":[87],"notation=\"LaTeX\">$\\text{m}$</tex-math></inline-formula>":[91],"5":[93],"notation=\"LaTeX\">$^\\circ$</tex-math></inline-formula>":[97],".":[98,139],"Real-world":[99],"experiments":[100],"demonstrate":[101],"successful":[103],"manipulation":[104],"such":[107],"as":[108],"19.2":[110],"notation=\"LaTeX\">$\\text{kg}$</tex-math></inline-formula>":[114,123,138],"water-filled":[115],"drum":[116],"15.3":[119],"plastic":[124],"box":[125],"filled":[126],"with":[127,171],"while":[130],"weighs":[133],"27":[134],"Unlike":[140],"previous":[141],"works":[142],"focus":[144],"manipulating":[146,163],"small":[147],"light":[149],"prehensile":[152],"manipulation,":[153],"illustrates":[156],"possibility":[158],"quadrupeds":[161],"large":[164],"are":[169],"ungraspable":[170],"robot's":[173],"entire":[174],"method":[177],"does":[178],"not":[179],"require":[180],"explicit":[181],"modeling":[183],"offers":[185],"significant":[186],"computational":[187],"efficiency":[188],"compared":[189],"optimization-based":[191],"methods.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":27},{"year":2024,"cited_by_count":8}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}