{"id":"https://openalex.org/W4416965637","doi":"https://doi.org/10.1109/tase.2025.3636224","title":"eGAIT: Multi-Skilled Policy for Energy-Efficient Gait Transitions","display_name":"eGAIT: Multi-Skilled Policy for Energy-Efficient Gait Transitions","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W4416965637","doi":"https://doi.org/10.1109/tase.2025.3636224"},"language":"en","primary_location":{"id":"doi:10.1109/tase.2025.3636224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3636224","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","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/A5120582698","display_name":"Maria Stamatopoulou","orcid":"https://orcid.org/0009-0000-6647-8283"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Maria Stamatopoulou","raw_affiliation_strings":["Department of Computer Science, University College London, London, U.K","Department of Computer Science, University College London, Gower Street, London, UK"],"raw_orcid":"https://orcid.org/0009-0000-6647-8283","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"Department of Computer Science, University College London, Gower Street, London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032364969","display_name":"Daniel Yong Wen Tan","orcid":"https://orcid.org/0000-0002-6445-4648"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Daniel Tan","raw_affiliation_strings":["Department of Computer Science, University College London, London, U.K","Department of Computer Science, University College London, Gower Street, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"Department of Computer Science, University College London, Gower Street, London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079414600","display_name":"Rokas Bendikas","orcid":"https://orcid.org/0000-0002-2801-1743"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Rokas Bendikas","raw_affiliation_strings":["Department of Computer Science, University College London, London, U.K","Department of Computer Science, University College London, Gower Street, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"Department of Computer Science, University College London, Gower Street, London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091705160","display_name":"Valerio Modugno","orcid":"https://orcid.org/0000-0002-5177-428X"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Valerio Modugno","raw_affiliation_strings":["Department of Computer Science, University College London, London, U.K","Department of Computer Science, University College London, Gower Street, London, UK"],"raw_orcid":"https://orcid.org/0000-0002-5177-428X","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"Department of Computer Science, University College London, Gower Street, London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["Department of Computer Science, University College London, London, U.K","Department of Computer Science, University College London, Gower Street, London, UK"],"raw_orcid":"https://orcid.org/0000-0002-6357-7419","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"Department of Computer Science, University College London, Gower Street, London, UK","institution_ids":["https://openalex.org/I45129253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048122691","display_name":"Dimitrios Kanoulas","orcid":"https://orcid.org/0000-0002-3684-1472"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dimitrios Kanoulas","raw_affiliation_strings":["Department of Computer Science, University College London, London, U.K","Department of Computer Science, University College London, Gower Street, London, UK"],"raw_orcid":"https://orcid.org/0000-0002-3684-1472","affiliations":[{"raw_affiliation_string":"Department of Computer Science, University College London, London, U.K","institution_ids":["https://openalex.org/I45129253"]},{"raw_affiliation_string":"Department of Computer Science, University College London, Gower Street, London, UK","institution_ids":["https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.31610691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"1575","last_page":"1586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9075999855995178,"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":0.9075999855995178,"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":0.0364999994635582,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.01119999960064888,"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/gait","display_name":"Gait","score":0.5928000211715698},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.4982999861240387},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4959000051021576},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4912000000476837},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4828999936580658},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42340001463890076},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41780000925064087},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.39410001039505005},{"id":"https://openalex.org/keywords/bionics","display_name":"Bionics","score":0.39100000262260437}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5928000211715698},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5339000225067139},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.4982999861240387},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4959000051021576},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4912000000476837},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4828999936580658},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42340001463890076},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41780000925064087},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.39410001039505005},{"id":"https://openalex.org/C91316289","wikidata":"https://www.wikidata.org/wiki/Q189131","display_name":"Bionics","level":2,"score":0.39100000262260437},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.37709999084472656},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3580000102519989},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35600000619888306},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3515999913215637},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3483999967575073},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3474000096321106},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.296999990940094},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.2939000129699707},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.28999999165534973},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.289000004529953},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.28760001063346863},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.2809000015258789},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28049999475479126},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.2784999907016754},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27059999108314514}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tase.2025.3636224","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2025.3636224","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"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 Transactions on Automation Science and Engineering","raw_type":"journal-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10217600","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10217600/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automation Science and Engineering       (2025)     (In press).","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1508965793","https://openalex.org/W2112036188","https://openalex.org/W2137745423","https://openalex.org/W2161427949","https://openalex.org/W2897661175","https://openalex.org/W2909331752","https://openalex.org/W3039737909","https://openalex.org/W3093326211","https://openalex.org/W3110902746","https://openalex.org/W3111294788","https://openalex.org/W3147968035","https://openalex.org/W3158675508","https://openalex.org/W3189223768","https://openalex.org/W4200054726","https://openalex.org/W4205300464","https://openalex.org/W4206589784","https://openalex.org/W4311443585","https://openalex.org/W4361029864","https://openalex.org/W4378070988","https://openalex.org/W4381662572","https://openalex.org/W4385413770","https://openalex.org/W4386038305","https://openalex.org/W4387140219","https://openalex.org/W4387197141","https://openalex.org/W4389781160","https://openalex.org/W4390830556","https://openalex.org/W4401415477","https://openalex.org/W4401416739","https://openalex.org/W4403678794","https://openalex.org/W4405786461","https://openalex.org/W4413917128","https://openalex.org/W4413925833","https://openalex.org/W4414525330"],"related_works":[],"abstract_inverted_index":{"Achieving":[0],"adaptive,":[1],"multi-skilled,":[2],"and":[3,26,51,141,148,176,195,203],"energy-efficient":[4,25],"locomotion":[5,58],"is":[6,116],"vital":[7],"for":[8,88,110],"advancing":[9],"the":[10,56,180,207],"operation":[11],"of":[12],"autonomous":[13,188],"quadrupedal":[14,189],"systems.":[15],"This":[16,185],"study":[17],"presents":[18],"eGAIT,":[19],"a":[20,44,77,97,104,128,150,156,163,169],"unified":[21,95],"multi-skilled":[22],"policy":[23],"enabling":[24,191],"stable":[27,196],"gait":[28,62,136],"transitions":[29,137],"across":[30],"nine":[31],"non-monotonic,":[32],"velocity-optimized":[33,65],"gaits,":[34],"in":[35,146,160,166,172,198],"response":[36],"to":[37,54,84,179,206],"dynamic":[38,199],"velocity":[39,90,174],"commands.":[40],"The":[41],"framework":[42,102],"leverages":[43],"hybrid":[45],"control":[46],"architecture":[47],"that":[48,123],"integrates":[49],"model-based":[50],"learning-based":[52],"methods":[53],"address":[55],"entire":[57],"pipeline.":[59],"An":[60],"MPC-based":[61],"generator":[63],"produces":[64],"trajectories,":[66],"which":[67],"are":[68,94],"imitated":[69],"through":[70,96],"Proximal":[71],"Policy":[72],"Optimization":[73],"(PPO),":[74],"driven":[75],"by":[76,118,138],"Adversarial":[78],"Motion":[79],"Prior":[80],"(AMP)":[81],"style":[82],"reward":[83,132],"train":[85],"distinct":[86],"policies":[87,93],"specific":[89],"ranges.":[91],"These":[92],"Hierarchical":[98],"Reinforcement":[99],"Learning":[100],"(HRL)":[101],"featuring":[103],"novel":[105],"modified":[106],"Deep":[107],"Q-Network":[108],"(eDQN)":[109],"real-time":[111],"velocity-to-policy":[112,161],"mapping.":[113],"Training":[114],"efficiency":[115],"enhanced":[117],"an":[119],"auxiliary":[120],"selector":[121],"layer":[122],"guides":[124],"velocity-policy":[125],"mapping,":[126,162],"while":[127],"sparsely":[129],"activated":[130],"stability":[131,177],"mechanism":[133],"ensures":[134],"smooth":[135],"incorporating":[139],"geometric":[140],"rotational":[142],"stability.":[143],"Extensively":[144],"validated":[145],"simulation":[147],"on":[149],"Unitree":[151],"Go1":[152],"robot,":[153],"eGAIT":[154],"achieves":[155],"100%":[157],"success":[158],"rate":[159],"35%":[164],"improvement":[165,171],"energy":[167],"efficiency,":[168],"31%":[170],"both":[173],"tracking":[175],"compared":[178],"next":[181],"best":[182],"state-of-the-art":[183],"method.":[184],"work":[186],"advances":[187],"locomotion,":[190],"longer,":[192],"more":[193],"efficient,":[194],"operations":[197],"environments.":[200],"Supplementary":[201],"materials":[202],"visualizations":[204],"related":[205],"paper":[208],"can":[209],"be":[210],"found":[211],"at:":[212],"https://github.com/RPL-CS-UCL/egait/.":[213]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-12-03T00:00:00"}
