{"id":"https://openalex.org/W7126050754","doi":"https://doi.org/10.1109/tie.2026.3654778","title":"Pretraining-Finetuning Framework for Efficient Codesign of Legged Robots","display_name":"Pretraining-Finetuning Framework for Efficient Codesign of Legged Robots","publication_year":2026,"publication_date":"2026-01-29","ids":{"openalex":"https://openalex.org/W7126050754","doi":"https://doi.org/10.1109/tie.2026.3654778"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2026.3654778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3654778","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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":null,"display_name":"Ci Chen","orcid":"https://orcid.org/0000-0003-4632-7001"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ci Chen","raw_affiliation_strings":["School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, the State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis, and Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-4632-7001","affiliations":[{"raw_affiliation_string":"School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, the State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis, and Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124209040","display_name":"Yifei Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I23632641","display_name":"Shanghai University of Electric Power","ror":"https://ror.org/02w4tny03","country_code":"CN","type":"education","lineage":["https://openalex.org/I23632641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifei Yu","raw_affiliation_strings":["College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0008-6732-0734","affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Shanghai University of Electric Power, Shanghai, China","institution_ids":["https://openalex.org/I23632641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123993138","display_name":"Haoqi Han","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoqi Han","raw_affiliation_strings":["School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, the State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis, and Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0009-0895-1779","affiliations":[{"raw_affiliation_string":"School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, the State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis, and Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124240172","display_name":"Yue Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Wang","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-0981-935X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124255930","display_name":"Rong Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I4391767838","display_name":"State Key Laboratory of Industrial Control Technology","ror":"https://ror.org/03a33a786","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4391767838","https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Xiong","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-9318-9014","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I4391767838"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hesheng Wang","orcid":"https://orcid.org/0000-0002-9959-1634"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hesheng Wang","raw_affiliation_strings":["School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, the State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis, and Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-9959-1634","affiliations":[{"raw_affiliation_string":"School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, the State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis, and Shanghai Key Laboratory of Navigation and Location Based Services, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"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":0.07965096,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"6","first_page":"8970","last_page":"8982"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9937999844551086,"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":0.9937999844551086,"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":0.0013000000035390258,"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":0.0013000000035390258,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.682699978351593},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.6823999881744385},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.6579999923706055},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4560999870300293},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.43709999322891235},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4223000109195709},{"id":"https://openalex.org/keywords/regularization","display_name":"Regularization (linguistics)","score":0.4090999960899353},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.3179999887943268},{"id":"https://openalex.org/keywords/biomimetics","display_name":"Biomimetics","score":0.3140000104904175}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.682699978351593},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.6823999881744385},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.6579999923706055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6202999949455261},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4560999870300293},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.43709999322891235},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4223000109195709},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40959998965263367},{"id":"https://openalex.org/C2776135515","wikidata":"https://www.wikidata.org/wiki/Q17143721","display_name":"Regularization (linguistics)","level":2,"score":0.4090999960899353},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.3179999887943268},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.3140000104904175},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.3084999918937683},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.30809998512268066},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.30720001459121704},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2969000041484833},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.29670000076293945},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.295199990272522},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.28679999709129333},{"id":"https://openalex.org/C2988147884","wikidata":"https://www.wikidata.org/wiki/Q5377024","display_name":"Energy expenditure","level":2,"score":0.2759000062942505},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.26010000705718994},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.25839999318122864},{"id":"https://openalex.org/C14961307","wikidata":"https://www.wikidata.org/wiki/Q5377176","display_name":"Energy minimization","level":2,"score":0.2574999928474426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2565000057220459},{"id":"https://openalex.org/C92991967","wikidata":"https://www.wikidata.org/wiki/Q7644329","display_name":"Supervisory control","level":3,"score":0.25119999051094055}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2026.3654778","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3654778","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.513037383556366,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G1545384812","display_name":null,"funder_award_id":"62225309","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5381884387","display_name":null,"funder_award_id":"U24A20278","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6990729683","display_name":null,"funder_award_id":"62361166632","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8485845171","display_name":null,"funder_award_id":"2025M771686","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G8759708098","display_name":null,"funder_award_id":"62503316","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"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2736021157","https://openalex.org/W2962696179","https://openalex.org/W2963184939","https://openalex.org/W3095490979","https://openalex.org/W3202717607","https://openalex.org/W4200058106","https://openalex.org/W4303647912","https://openalex.org/W4313598842","https://openalex.org/W4383097427","https://openalex.org/W4388878516","https://openalex.org/W4389665983","https://openalex.org/W4390938336","https://openalex.org/W4392188060","https://openalex.org/W4392693698","https://openalex.org/W4392763392","https://openalex.org/W4401070717","https://openalex.org/W4401415792","https://openalex.org/W4416748392"],"related_works":[],"abstract_inverted_index":{"In":[0,36],"nature,":[1],"animals":[2],"with":[3,96,134],"exceptional":[4],"locomotion":[5,34,53,116],"abilities,":[6],"such":[7],"as":[8],"cougars,":[9],"often":[10],"exhibit":[11],"asymmetry":[12],"between":[13],"their":[14],"forelimbs":[15],"and":[16,47,118,148],"hindlimbs.":[17],"This":[18],"observation":[19],"inspires":[20],"our":[21,88],"investigation":[22],"into":[23],"whether":[24],"optimizing":[25],"leg":[26],"length":[27],"in":[28],"legged":[29,56],"robots":[30],"can":[31],"impart":[32],"similar":[33],"capabilities.":[35],"this":[37],"article,":[38],"we":[39,59,81],"propose":[40],"a":[41,61],"method":[42,110],"that":[43,64,91,125,144],"cooptimizes":[44],"mechanical":[45,73],"structure":[46],"control":[48,69,149],"policies":[49],"to":[50],"enhance":[51],"the":[52,102,108,126,145,153],"performance":[54,133],"of":[55,107],"robots.":[57],"Specifically,":[58],"introduce":[60],"pretraining-finetuning":[62,127],"framework":[63,128],"not":[65],"only":[66],"ensures":[67],"optimal":[68],"strategies":[70],"for":[71,87],"each":[72],"configuration":[74],"but":[75],"also":[76],"enhances":[77,130],"time":[78,136],"efficiency.":[79],"Furthermore,":[80],"develop":[82],"an":[83],"innovative":[84],"training":[85],"approach":[86],"pretraining":[89],"network":[90],"integrates":[92],"spatial":[93],"domain":[94],"randomization":[95],"discount":[97],"regularization":[98],"techniques,":[99],"significantly":[100],"improving":[101],"network\u2019s":[103],"generalizability.":[104],"The":[105],"effectiveness":[106],"proposed":[109],"is":[111,141],"validated":[112],"through":[113],"two":[114,119],"quadrupedal":[115],"tasks":[117],"parkour-style":[120],"tasks.":[121,159],"Experimental":[122],"results":[123],"demonstrate":[124],"markedly":[129],"overall":[131],"codesign":[132],"reduced":[135],"expenditure.":[137],"Additionally,":[138],"experimental":[139],"validation":[140],"performed,":[142],"confirming":[143],"cooptimized":[146],"morphology":[147],"strategy":[150],"effectively":[151],"mitigate":[152],"robot\u2019s":[154],"energy":[155],"expenditure":[156],"during":[157],"designated":[158]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2026-01-30T00:00:00"}