{"id":"https://openalex.org/W2033180067","doi":"https://doi.org/10.1109/robot.2010.5509420","title":"Learning reliable and efficient navigation with a humanoid","display_name":"Learning reliable and efficient navigation with a humanoid","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2033180067","doi":"https://doi.org/10.1109/robot.2010.5509420","mag":"2033180067"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509420","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5038118590","display_name":"Stefan O\u00dfwald","orcid":"https://orcid.org/0000-0001-8010-486X"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Stefan Osswald","raw_affiliation_strings":["Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018550573","display_name":"Armin Hornung","orcid":null},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Armin Hornung","raw_affiliation_strings":["Dept. of Computer Science, University of Freiburg, Germany","Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["Dept. of Computer Science, University of Freiburg, Germany","Department of Computer Science, University of Freiburg, Germany"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]},{"raw_affiliation_string":"Department of Computer Science, University of Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5038118590"],"corresponding_institution_ids":["https://openalex.org/I161046081"],"apc_list":null,"apc_paid":null,"fwci":1.6891,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.83537271,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"2375","last_page":"2380"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9764999747276306,"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":0.973800003528595,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8865004777908325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7104417681694031},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6567440629005432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6417046189308167},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.618864119052887},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6088132858276367},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5084565877914429},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4676957130432129},{"id":"https://openalex.org/keywords/mobile-robot-navigation","display_name":"Mobile robot navigation","score":0.44434529542922974},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4275190234184265},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41071221232414246},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38102903962135315},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1748608648777008}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8865004777908325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7104417681694031},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6567440629005432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6417046189308167},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.618864119052887},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6088132858276367},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5084565877914429},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4676957130432129},{"id":"https://openalex.org/C26990112","wikidata":"https://www.wikidata.org/wiki/Q6887224","display_name":"Mobile robot navigation","level":5,"score":0.44434529542922974},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4275190234184265},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41071221232414246},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38102903962135315},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1748608648777008},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2010.5509420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509420","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Automation","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":28,"referenced_works":["https://openalex.org/W139877375","https://openalex.org/W195812645","https://openalex.org/W1245615701","https://openalex.org/W1589964036","https://openalex.org/W1677409904","https://openalex.org/W1974878543","https://openalex.org/W1985092254","https://openalex.org/W2020934227","https://openalex.org/W2037729465","https://openalex.org/W2038338241","https://openalex.org/W2085261163","https://openalex.org/W2099987996","https://openalex.org/W2103085926","https://openalex.org/W2106237563","https://openalex.org/W2111519604","https://openalex.org/W2113501460","https://openalex.org/W2115356364","https://openalex.org/W2132631312","https://openalex.org/W2140219596","https://openalex.org/W2145101110","https://openalex.org/W2147126173","https://openalex.org/W2149538904","https://openalex.org/W2545279342","https://openalex.org/W6607902129","https://openalex.org/W6637400245","https://openalex.org/W6655473528","https://openalex.org/W6675657953","https://openalex.org/W6681230966"],"related_works":["https://openalex.org/W2122735287","https://openalex.org/W2080635515","https://openalex.org/W2175869054","https://openalex.org/W1540467731","https://openalex.org/W2419867673","https://openalex.org/W167006473","https://openalex.org/W2175714038","https://openalex.org/W2803104311","https://openalex.org/W1588480100","https://openalex.org/W2530647952"],"abstract_inverted_index":{"Reliable":[0],"and":[1,57,69,124,137,155,162],"efficient":[2,70],"navigation":[3,74,104,172],"with":[4,111,158],"a":[5,9,65,73,97,107,112,159,170],"humanoid":[6,108,160],"robot":[7,55,109,117,161],"is":[8,50],"difficult":[10],"task.":[11],"First,":[12],"the":[13,24,30,40,44,47,54,58,67,81,89,121],"motion":[14,135],"commands":[15],"are":[16,32],"executed":[17],"rather":[18],"inaccurately":[19],"due":[20,38],"to":[21,39,88,101,119,132],"backlash":[22],"in":[23,141,149],"joints":[25],"or":[26],"foot":[27],"slippage.":[28],"Second,":[29],"observations":[31],"typically":[33,51],"highly":[34],"affected":[35],"by":[36],"noise":[37],"shaking":[41],"behavior":[42],"of":[43,72,143],"robot.":[45],"Thus,":[46],"localization":[48],"performance":[49],"reduced":[52],"while":[53],"moves":[56],"uncertainty":[59],"about":[60],"its":[61],"pose":[62,83],"increases.":[63],"As":[64],"result,":[66],"reliable":[68],"execution":[71],"task":[75],"cannot":[76],"be":[77],"ensured":[78],"anymore":[79],"since":[80],"robot's":[82],"estimate":[84],"might":[85],"not":[86],"correspond":[87],"true":[90],"location.":[91],"In":[92],"this":[93],"paper,":[94],"we":[95],"present":[96,152],"reinforcement":[98],"learning":[99],"approach":[100],"select":[102],"appropriate":[103],"actions":[105,131],"for":[106,114,134],"equipped":[110],"camera":[113],"localization.":[115,150],"The":[116],"learns":[118],"reach":[120],"destination":[122],"reliably":[123],"as":[125,127],"fast":[126,144],"possible,":[128],"thereby":[129],"choosing":[130],"account":[133],"drift":[136],"trading":[138],"off":[139],"velocity":[140],"terms":[142],"walking":[145],"movements":[146],"against":[147],"accuracy":[148],"We":[151],"extensive":[153],"simulated":[154],"practical":[156],"experiments":[157],"demonstrate":[163],"that":[164],"our":[165],"learned":[166],"policy":[167],"significantly":[168],"outperforms":[169],"hand-optimized":[171],"strategy.":[173]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
