{"id":"https://openalex.org/W4298082691","doi":"https://doi.org/10.1109/robio54168.2021.9739388","title":"Learning a Push-Recovery Controller for Quadrupedal Robots","display_name":"Learning a Push-Recovery Controller for Quadrupedal Robots","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4298082691","doi":"https://doi.org/10.1109/robio54168.2021.9739388"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739388","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-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/A5101907161","display_name":"Peiyang Li","orcid":"https://orcid.org/0000-0003-0280-9922"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Peiyang Li","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China","Department of Automation, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108049716","display_name":"Wei Chen","orcid":"https://orcid.org/0000-0002-9066-1448"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Chen","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China","Department of Automation, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103019820","display_name":"Xinyu Han","orcid":"https://orcid.org/0000-0002-9725-5979"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Han","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China","Department of Automation, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Automation, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008250704","display_name":"Mingguo Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingguo Zhao","raw_affiliation_strings":["Tsinghua University,Beijing Innovation Center for Future Chips,Beijing,China","Beijing Innovation Center for Future Chips, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Beijing Innovation Center for Future Chips,Beijing,China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Beijing Innovation Center for Future Chips, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101907161"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.3844,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.56330087,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"944","last_page":"949"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"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":0.9983999729156494,"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/T11663","display_name":"Viral Infectious Diseases and Gene Expression in Insects","score":0.9266999959945679,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular 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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9050999879837036,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8649611473083496},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7669094800949097},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7221736907958984},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7043678760528564},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.6105008721351624},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.595589280128479},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5020580291748047},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42472535371780396},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3465002775192261},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16407126188278198}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8649611473083496},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7669094800949097},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7221736907958984},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7043678760528564},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.6105008721351624},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.595589280128479},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5020580291748047},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42472535371780396},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3465002775192261},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16407126188278198},{"id":"https://openalex.org/C34447519","wikidata":"https://www.wikidata.org/wiki/Q179522","display_name":"Market economy","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739388","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2139053308","https://openalex.org/W1965033952","https://openalex.org/W1585707520","https://openalex.org/W1854006259","https://openalex.org/W2134672787","https://openalex.org/W1875084919","https://openalex.org/W3214623065","https://openalex.org/W4246533613","https://openalex.org/W2071984459","https://openalex.org/W4230812153"],"abstract_inverted_index":{"Reinforcement":[0,60],"learning":[1,27],"has":[2],"been":[3],"applied":[4],"in":[5,22,72,103],"the":[6,9,24,34,38,91,97],"field":[7],"of":[8,70],"legged":[10],"robot":[11,92,102],"controlling.":[12],"However,":[13],"tasks":[14],"such":[15],"as":[16],"push-recovery":[17],"often":[18],"involve":[19],"incompatible":[20,85],"objectives,":[21],"which":[23],"general":[25],"reinforcement":[26],"framework":[28,63,76],"does":[29],"not":[30,45],"take":[31],"into":[32],"account":[33],"hierarchical":[35],"structure":[36],"among":[37],"objectives.":[39],"As":[40],"a":[41,49,57,78,100],"result,":[42],"it":[43],"is":[44,93],"easy":[46],"to":[47,110],"get":[48],"feasible":[50],"solution.":[51],"In":[52],"this":[53],"paper,":[54],"we":[55],"propose":[56],"Prioritized":[58],"Hierarchical":[59],"Learning":[61],"(PHRL)":[62],"that":[64,80],"considers":[65],"internal":[66],"priorities":[67],"and":[68,87,105],"hierarchy":[69],"objectives":[71,86],"quadrupedal":[73,101],"push-recovery.":[74],"Our":[75],"learns":[77],"controller":[79,98],"can":[81],"resolve":[82],"problems":[83],"with":[84],"manifest":[88],"robustness":[89],"when":[90],"disturbed.":[94],"We":[95],"deploy":[96],"on":[99],"simulation":[104],"show":[106],"better":[107],"results":[108],"compared":[109],"baseline":[111],"methods.":[112]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}