{"id":"https://openalex.org/W2133761776","doi":"https://doi.org/10.1109/robot.2005.1570759","title":"Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion","display_name":"Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2133761776","doi":"https://doi.org/10.1109/robot.2005.1570759","mag":"2133761776"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5042074952","display_name":"Takamitsu Matsubara","orcid":"https://orcid.org/0000-0003-3545-4814"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Matsubara","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan","Nara Institute of Science and Technology, Ikoma, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Nara Institute of Science and Technology, Ikoma, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025458882","display_name":"Jun Morimoto","orcid":"https://orcid.org/0000-0002-4115-1919"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Morimoto","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103273860","display_name":"Jun Nakanishi","orcid":"https://orcid.org/0000-0001-9026-6440"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Nakanishi","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103159995","display_name":"Masa-aki Sato","orcid":"https://orcid.org/0000-0003-4366-7289"},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]},{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Sato","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan","Japan Science and Technology Agency, Japan Science and Technology Agency-CREST, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Japan Science and Technology Agency, Japan Science and Technology Agency-CREST, Kyoto, Japan","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004840638","display_name":"Kenji Doya","orcid":"https://orcid.org/0000-0002-2446-6820"},"institutions":[{"id":"https://openalex.org/I142637625","display_name":"Okinawa Institute of Science and Technology Graduate University","ror":"https://ror.org/02qg15b79","country_code":"JP","type":"education","lineage":["https://openalex.org/I142637625"]},{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]},{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Doya","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan","Japan Science and Technology Agency, Japan Science and Technology Agency-CREST, Kyoto, Japan","Okinawa Institute of Science and Technology, Okinawa, Japan"],"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Japan Science and Technology Agency, Japan Science and Technology Agency-CREST, Kyoto, Japan","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"Okinawa Institute of Science and Technology, Okinawa, Japan","institution_ids":["https://openalex.org/I142637625"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5042074952"],"corresponding_institution_ids":["https://openalex.org/I4210104143","https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":3.0689,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.91182163,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4164","last_page":"4169"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.989300012588501,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9797000288963318,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7322385907173157},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7058953046798706},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6428746581077576},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.560789942741394},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.4845394194126129},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4197160303592682},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3987036347389221},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34443652629852295},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16136705875396729},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09519940614700317}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7322385907173157},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7058953046798706},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6428746581077576},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.560789942741394},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.4845394194126129},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4197160303592682},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3987036347389221},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34443652629852295},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16136705875396729},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09519940614700317},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570759","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570759","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W44204917","https://openalex.org/W1509504119","https://openalex.org/W1521427077","https://openalex.org/W1594783240","https://openalex.org/W1778214895","https://openalex.org/W1988274707","https://openalex.org/W1996574059","https://openalex.org/W2009303086","https://openalex.org/W2033226680","https://openalex.org/W2057952125","https://openalex.org/W2082261506","https://openalex.org/W2113501460","https://openalex.org/W2113687557","https://openalex.org/W2142992961","https://openalex.org/W2153917213","https://openalex.org/W2155027007","https://openalex.org/W4231145937","https://openalex.org/W6601750520","https://openalex.org/W6630552132","https://openalex.org/W6630994837","https://openalex.org/W6635508374","https://openalex.org/W6683204974"],"related_works":["https://openalex.org/W4296209631","https://openalex.org/W4306904969","https://openalex.org/W3097449145","https://openalex.org/W2561617217","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W2031695474","https://openalex.org/W3084456289","https://openalex.org/W2000675896"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,7,13,59],"learning":[4,27],"framework":[5],"for":[6,38],"CPG-based":[8,49],"biped":[9,75],"locomotion":[10],"controller":[11,46,50,71,83],"using":[12,54],"policy":[14],"gradient":[15],"method.":[16],"Our":[17],"goal":[18],"in":[19,47,86],"this":[20],"study":[21],"is":[22],"to":[23,77],"develop":[24],"an":[25,43],"efficient":[26],"algorithm":[28],"by":[29,63],"reducing":[30],"the":[31,34,48,55,69,73,81,87],"dimensionality":[32],"of":[33],"state":[35],"space":[36],"used":[37],"learning.":[39],"We":[40],"demonstrate":[41],"that":[42,80],"appropriate":[44],"feedback":[45],"can":[51],"be":[52],"acquired":[53],"proposed":[56],"method":[57],"within":[58],"few":[60],"thousand":[61],"trials":[62],"numerical":[64],"simulations.":[65],"Furthermore,":[66],"we":[67],"implement":[68],"learned":[70,82],"on":[72],"physical":[74],"robot":[76],"experimentally":[78],"show":[79],"successfully":[84],"works":[85],"real":[88],"environment.":[89]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
