{"id":"https://openalex.org/W7128792108","doi":"https://doi.org/10.1109/tase.2026.3662755","title":"ECO: Energy-Constrained Optimization With Reinforcement Learning for Humanoid Walking","display_name":"ECO: Energy-Constrained Optimization With Reinforcement Learning for Humanoid Walking","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7128792108","doi":"https://doi.org/10.1109/tase.2026.3662755"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3662755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3662755","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/A5124339074","display_name":"Weidong Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Weidong Huang","raw_affiliation_strings":["State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China"],"raw_orcid":"https://orcid.org/0009-0003-9286-6492","affiliations":[{"raw_affiliation_string":"State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jingwen Zhang","orcid":"https://orcid.org/0009-0000-1508-1358"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingwen Zhang","raw_affiliation_strings":["State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China"],"raw_orcid":"https://orcid.org/0009-0000-1508-1358","affiliations":[{"raw_affiliation_string":"State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125395562","display_name":"Jiongye Li","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiongye Li","raw_affiliation_strings":["State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106820853","display_name":"Shibowen Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shibowen Zhang","raw_affiliation_strings":["State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China"],"raw_orcid":"https://orcid.org/0009-0006-2934-4589","affiliations":[{"raw_affiliation_string":"State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126013146","display_name":"Jiayang Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayang Wu","raw_affiliation_strings":["State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126013496","display_name":"Jiayi Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiayi Wang","raw_affiliation_strings":["State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-1313-138X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043423420","display_name":"Hangxin Liu","orcid":"https://orcid.org/0000-0002-3003-8611"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hangxin Liu","raw_affiliation_strings":["State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-3003-8611","affiliations":[{"raw_affiliation_string":"State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yaodong Yang","orcid":"https://orcid.org/0000-0001-8132-5613"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaodong Yang","raw_affiliation_strings":["Institute for Artificial Intelligence and the School of Artificial Intelligence, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8132-5613","affiliations":[{"raw_affiliation_string":"Institute for Artificial Intelligence and the School of Artificial Intelligence, Peking University, Beijing, China","institution_ids":["https://openalex.org/I4210100255"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102740429","display_name":"Yao Su","orcid":"https://orcid.org/0000-0001-8375-5692"},"institutions":[{"id":"https://openalex.org/I4210100255","display_name":"Beijing Academy of Artificial Intelligence","ror":"https://ror.org/016a74861","country_code":"CN","type":"other","lineage":["https://openalex.org/I4210100255"]},{"id":"https://openalex.org/I4392738278","display_name":"Beijing Institute for General Artificial Intelligence","ror":"https://ror.org/02kw1ws04","country_code":"CN","type":"government","lineage":["https://openalex.org/I4392738278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Su","raw_affiliation_strings":["State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8375-5692","affiliations":[{"raw_affiliation_string":"State Key Laboratory of General Artificial Intelligence, Beijing Institute for General Artificial Intelligence (BIGAI), Beijing, China","institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5124339074"],"corresponding_institution_ids":["https://openalex.org/I4210100255","https://openalex.org/I4392738278"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.30530277,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"4861","last_page":"4876"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.953499972820282,"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":0.953499972820282,"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":0.016499999910593033,"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/T12290","display_name":"Human Motion and Animation","score":0.007699999958276749,"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":0.8995000123977661},{"id":"https://openalex.org/keywords/hyperparameter","display_name":"Hyperparameter","score":0.7572000026702881},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7523000240325928},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5821999907493591},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5013999938964844},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4526999890804291},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.43369999527931213},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.35019999742507935}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8995000123977661},{"id":"https://openalex.org/C8642999","wikidata":"https://www.wikidata.org/wiki/Q4171168","display_name":"Hyperparameter","level":2,"score":0.7572000026702881},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7523000240325928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.680899977684021},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5821999907493591},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5013999938964844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4799000024795532},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4526999890804291},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.43369999527931213},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4113999903202057},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.35019999742507935},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3433000147342682},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.3327000141143799},{"id":"https://openalex.org/C14961307","wikidata":"https://www.wikidata.org/wiki/Q5377176","display_name":"Energy minimization","level":2,"score":0.31520000100135803},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.3116999864578247},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2996000051498413},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.2863999903202057},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2833999991416931},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2791000008583069},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26510000228881836},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2572000026702881}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3662755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3662755","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9181370735168457}],"awards":[{"id":"https://openalex.org/G6768818994","display_name":null,"funder_award_id":"62403064","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7396131926","display_name":null,"funder_award_id":"62403063","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7421022661","display_name":null,"funder_award_id":"ZDCY20250901094531003","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1945123189","https://openalex.org/W1976030291","https://openalex.org/W2029058516","https://openalex.org/W2119105564","https://openalex.org/W2119717200","https://openalex.org/W2128532136","https://openalex.org/W2158782408","https://openalex.org/W2167340365","https://openalex.org/W2336281863","https://openalex.org/W2491934829","https://openalex.org/W2784449021","https://openalex.org/W2796290181","https://openalex.org/W2964198579","https://openalex.org/W2998619042","https://openalex.org/W3091756548","https://openalex.org/W3206762371","https://openalex.org/W4206497039","https://openalex.org/W4213269798","https://openalex.org/W4214634122","https://openalex.org/W4229044820","https://openalex.org/W4285102304","https://openalex.org/W4285600796","https://openalex.org/W4312423130","https://openalex.org/W4313563143","https://openalex.org/W4315606174","https://openalex.org/W4382464024","https://openalex.org/W4383109295","https://openalex.org/W4385486316","https://openalex.org/W4385858056","https://openalex.org/W4387886039","https://openalex.org/W4389667250","https://openalex.org/W4393148273","https://openalex.org/W4394994326","https://openalex.org/W4396910086","https://openalex.org/W4399282718","https://openalex.org/W4400448295","https://openalex.org/W4401415280","https://openalex.org/W4401607543","https://openalex.org/W4402354114","https://openalex.org/W4404953431","https://openalex.org/W4405785337","https://openalex.org/W4405785534","https://openalex.org/W4405785545","https://openalex.org/W4405786841","https://openalex.org/W4410479223","https://openalex.org/W4415797021"],"related_works":[],"abstract_inverted_index":{"Achieving":[0],"stable":[1],"and":[2,21,42,78,88,103,115,131,140],"energy-efficient":[3,116,171],"locomotion":[4],"is":[5],"essential":[6],"for":[7,92,100,118],"humanoid":[8,119,146,172],"robots":[9],"to":[10,111,157],"operate":[11],"continuously":[12],"in":[13,45,170],"real-world":[14],"applications.":[15],"Existing":[16],"model":[17],"predictive":[18],"control":[19],"(MPC)":[20],"reinforcement":[22],"learning":[23],"(RL)":[24],"approaches":[25],"often":[26,43],"rely":[27],"on":[28,143,180],"energy-related":[29,63],"metrics":[30,64],"embedded":[31],"within":[32],"a":[33,57,76,167],"multi-objective":[34],"optimization":[35],"framework,":[36],"which":[37],"require":[38],"extensive":[39],"hyperparameter":[40,90],"tuning":[41,91],"result":[44],"suboptimal":[46],"policies.":[47],"To":[48],"address":[49],"these":[50],"challenges,":[51],"we":[52],"propose":[53],"ECO":[54,96,123,151],"(Energy-Constrained":[55],"Optimization),":[56],"constrained":[58,134],"RL":[59,127,135],"framework":[60],"that":[61,150],"separates":[62],"from":[65],"rewards,":[66],"reformulating":[67],"them":[68],"as":[69],"explicit":[70],"inequality":[71],"constraints.":[72],"This":[73],"method":[74],"provides":[75],"clear":[77],"interpretable":[79],"physical":[80],"representation":[81],"of":[82],"energy":[83,94,101,154],"costs,":[84],"enabling":[85],"more":[86],"efficient":[87],"intuitive":[89],"improved":[93],"efficiency.":[95],"introduces":[97],"dedicated":[98],"constraints":[99],"consumption":[102,155],"reference":[104],"motion,":[105],"enforced":[106],"by":[107],"the":[108,144,181],"Lagrangian":[109],"method,":[110],"achieve":[112],"stable,":[113],"symmetric,":[114],"walking":[117,162],"robots.":[120],"We":[121],"evaluated":[122],"against":[124],"MPC,":[125],"standard":[126],"with":[128],"reward":[129],"shaping,":[130],"four":[132],"state-of-the-art":[133],"methods.":[136],"Experiments,":[137],"including":[138],"sim-to-sim":[139],"sim-to-real":[141],"transfers":[142],"kid-sized":[145],"robot":[147],"BRUCE,":[148],"demonstrate":[149],"significantly":[152],"reduces":[153],"compared":[156],"baselines":[158],"while":[159],"maintaining":[160],"robust":[161],"performance.":[163],"These":[164],"results":[165],"highlight":[166],"substantial":[168],"advancement":[169],"locomotion.":[173],"All":[174],"experimental":[175],"demonstrations":[176],"can":[177],"be":[178],"found":[179],"project":[182],"website:":[183],"https://sites.google.com/view/eco-humanoid.":[184]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-02-11T00:00:00"}