{"id":"https://openalex.org/W7129037093","doi":"https://doi.org/10.1109/lra.2026.3665062","title":"Efficient Exploration for Quadruped Robots Using Graph Neural Networks With Global Attention","display_name":"Efficient Exploration for Quadruped Robots Using Graph Neural Networks With Global Attention","publication_year":2026,"publication_date":"2026-02-16","ids":{"openalex":"https://openalex.org/W7129037093","doi":"https://doi.org/10.1109/lra.2026.3665062"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3665062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3665062","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":null,"display_name":"Kai Wu","orcid":"https://orcid.org/0000-0002-9475-0659"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Wu","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-9475-0659","affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126142902","display_name":"Mingyang Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Shi","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0000-7582-7860","affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126090195","display_name":"Haoyi Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyi Zhang","raw_affiliation_strings":["Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0009-0002-9150-1638","affiliations":[{"raw_affiliation_string":"Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25626213,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"4","first_page":"4323","last_page":"4330"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.3970000147819519,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.3970000147819519,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.3111000061035156,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.10689999908208847,"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/robot","display_name":"Robot","score":0.6474999785423279},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.621999979019165},{"id":"https://openalex.org/keywords/inefficiency","display_name":"Inefficiency","score":0.5867999792098999},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5040000081062317},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46380001306533813},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4422999918460846},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.439300000667572},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.3734000027179718}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7069000005722046},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6474999785423279},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.621999979019165},{"id":"https://openalex.org/C2778869765","wikidata":"https://www.wikidata.org/wiki/Q6028363","display_name":"Inefficiency","level":2,"score":0.5867999792098999},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5715000033378601},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5040000081062317},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46380001306533813},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4422999918460846},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.439300000667572},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3734000027179718},{"id":"https://openalex.org/C2984842247","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep neural networks","level":3,"score":0.35089999437332153},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3472999930381775},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3418999910354614},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3131999969482422},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.31220000982284546},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.30399999022483826},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.29330000281333923},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2833000123500824},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.2822999954223633},{"id":"https://openalex.org/C193415008","wikidata":"https://www.wikidata.org/wiki/Q639681","display_name":"Network architecture","level":2,"score":0.2655999958515167},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.2533999979496002},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2524999976158142}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3665062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3665062","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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7289847135543823}],"awards":[{"id":"https://openalex.org/G5954271560","display_name":null,"funder_award_id":"2024ZYGXZR107","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"exploration":[1,177],"in":[2,162],"an":[3],"unknown":[4,155],"environment":[5,67],"is":[6,68],"a":[7,35,41,47,52,71,147],"critical":[8],"task":[9],"for":[10],"quadruped":[11],"robot":[12,108,132],"applications.":[13],"Traditional":[14],"approaches":[15],"based":[16],"on":[17],"stacked":[18],"decision":[19],"rules":[20],"often":[21],"suffer":[22],"from":[23,126],"inefficiency":[24],"due":[25],"to":[26,57,80,109,136],"the":[27,75,78,82,86,93,107,131,134,139,171,180],"greedy":[28],"behavior.":[29],"In":[30],"this":[31],"work,":[32],"we":[33],"propose":[34],"hybrid":[36],"architecture":[37],"that":[38,170],"jointly":[39],"employs":[40],"graph":[42],"neural":[43],"network":[44],"(GNN)":[45],"and":[46,63,145,153,178],"multi-head":[48,94],"self-attention":[49,95],"mechanism":[50,96],"within":[51],"reinforcement":[53],"learning":[54,125],"(RL)":[55],"framework":[56,117],"address":[58],"myopic":[59],"decision-making":[60],"across":[61],"spatial":[62,83,113,140],"temporal":[64,120],"dimensions.":[65],"The":[66,115,157],"represented":[69],"as":[70],"topological":[72,90],"graph,":[73],"where":[74],"GNN":[76],"enables":[77],"agent":[79],"learn":[81],"structure":[84,141],"of":[85,142],"map":[87],"by":[88,122],"leveraging":[89],"relations.":[91],"Meanwhile,":[92],"(MHSA)":[97],"captures":[98],"global":[99],"dependencies":[100],"among":[101],"subregions":[102],"at":[103],"different":[104],"positions,":[105],"enabling":[106],"reason":[110,137],"over":[111],"long-range":[112],"relationships.":[114],"RL":[116],"further":[118],"mitigates":[119],"greediness":[121],"encouraging":[123],"policy":[124],"accumulated":[127],"experience,":[128],"which":[129],"equips":[130],"with":[133],"ability":[135],"about":[138],"unseen":[143],"areas":[144],"strike":[146],"balance":[148],"between":[149],"exploiting":[150],"known":[151],"regions":[152],"exploring":[154],"ones.":[156],"proposed":[158,172],"approach":[159,173],"was":[160],"validated":[161],"publicly":[163],"available":[164],"simulation":[165],"environments.":[166],"Experimental":[167],"results":[168],"demonstrate":[169],"significantly":[174],"reduces":[175],"redundant":[176],"shortens":[179],"overall":[181],"planned":[182],"trajectory":[183],"length.":[184]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2026-02-17T00:00:00"}
