{"id":"https://openalex.org/W4394994326","doi":"https://doi.org/10.1109/tro.2024.3392154","title":"Online Multicontact Receding Horizon Planning via Value Function Approximation","display_name":"Online Multicontact Receding Horizon Planning via Value Function Approximation","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4394994326","doi":"https://doi.org/10.1109/tro.2024.3392154"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3392154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3392154","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/208307","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Jiayi Wang","orcid":"https://orcid.org/0000-0002-1313-138X"},"institutions":[{"id":"https://openalex.org/I125680101","display_name":"Turing Institute","ror":"https://ror.org/02x2mw849","country_code":"GB","type":"facility","lineage":["https://openalex.org/I125680101"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Jiayi Wang","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K","Artificial Intelligence Programme, The Alan Turing Institute, U.K"],"raw_orcid":"https://orcid.org/0000-0002-1313-138X","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Artificial Intelligence Programme, The Alan Turing Institute, U.K","institution_ids":["https://openalex.org/I125680101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100326314","display_name":"Sang-Hyun Kim","orcid":"https://orcid.org/0000-0002-0222-8688"},"institutions":[{"id":"https://openalex.org/I35928602","display_name":"Kyung Hee University","ror":"https://ror.org/01zqcg218","country_code":"KR","type":"education","lineage":["https://openalex.org/I35928602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sanghyun Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Kyung Hee University, Suwon-si, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0222-8688","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kyung Hee University, Suwon-si, South Korea","institution_ids":["https://openalex.org/I35928602"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091520355","display_name":"Teguh Santoso Lembono","orcid":"https://orcid.org/0000-0003-2210-6220"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Teguh Santoso Lembono","raw_affiliation_strings":["Idiap Research Institute, Martigny, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-2210-6220","affiliations":[{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047944950","display_name":"Wenqian Du","orcid":"https://orcid.org/0000-0002-3352-0809"},"institutions":[{"id":"https://openalex.org/I125680101","display_name":"Turing Institute","ror":"https://ror.org/02x2mw849","country_code":"GB","type":"facility","lineage":["https://openalex.org/I125680101"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Wenqian Du","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K","Artificial Intelligence Programme, The Alan Turing Institute, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3352-0809","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Artificial Intelligence Programme, The Alan Turing Institute, U.K","institution_ids":["https://openalex.org/I125680101"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082029845","display_name":"Jaehyun Shim","orcid":"https://orcid.org/0000-0002-8008-7120"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jaehyun Shim","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0002-8008-7120","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076696014","display_name":"Saeid Samadi","orcid":"https://orcid.org/0000-0001-8518-351X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Saeid Samadi","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0001-8518-351X","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060695656","display_name":"Ke Wang","orcid":"https://orcid.org/0000-0002-3882-0843"},"institutions":[{"id":"https://openalex.org/I4210089887","display_name":"Dyson (United Kingdom)","ror":"https://ror.org/00a4npp83","country_code":"GB","type":"company","lineage":["https://openalex.org/I4210089887"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ke Wang","raw_affiliation_strings":["Dyson Limited, Malmesbury, U.K"],"raw_orcid":"https://orcid.org/0000-0002-3882-0843","affiliations":[{"raw_affiliation_string":"Dyson Limited, Malmesbury, U.K","institution_ids":["https://openalex.org/I4210089887"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049922263","display_name":"Vladimir Ivan","orcid":"https://orcid.org/0000-0002-6610-385X"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Vladimir Ivan","raw_affiliation_strings":["Touchlab Limited, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0002-6610-385X","affiliations":[{"raw_affiliation_string":"Touchlab Limited, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048780399","display_name":"Sylvain Calinon","orcid":"https://orcid.org/0000-0002-9036-6799"},"institutions":[{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sylvain Calinon","raw_affiliation_strings":["Idiap Research Institute, Martigny, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-9036-6799","affiliations":[{"raw_affiliation_string":"Idiap Research Institute, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I125680101","display_name":"Turing Institute","ror":"https://ror.org/02x2mw849","country_code":"GB","type":"facility","lineage":["https://openalex.org/I125680101"]},{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K","Artificial Intelligence Programme, The Alan Turing Institute, U.K"],"raw_orcid":"https://orcid.org/0000-0003-0649-7241","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]},{"raw_affiliation_string":"Artificial Intelligence Programme, The Alan Turing Institute, U.K","institution_ids":["https://openalex.org/I125680101"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043622443","display_name":"Steve Tonneau","orcid":"https://orcid.org/0000-0003-3001-8693"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Steve Tonneau","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, U.K"],"raw_orcid":"https://orcid.org/0000-0003-3001-8693","affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, U.K","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":11,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125680101","https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":2.6188,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.90761719,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"40","issue":null,"first_page":"2791","last_page":"2810"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9980999827384949,"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/function","display_name":"Function (biology)","score":0.5493582487106323},{"id":"https://openalex.org/keywords/value","display_name":"Value (mathematics)","score":0.4741986393928528},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4374951422214508},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.427190899848938},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.355762243270874},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3439035713672638},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.12326765060424805}],"concepts":[{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5493582487106323},{"id":"https://openalex.org/C2776291640","wikidata":"https://www.wikidata.org/wiki/Q2912517","display_name":"Value (mathematics)","level":2,"score":0.4741986393928528},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4374951422214508},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.427190899848938},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.355762243270874},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3439035713672638},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.12326765060424805},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tro.2024.3392154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3392154","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:311383","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/208307","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/66470f37-7756-4080-b331-78e5f9f7fae6","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/files/433937944/WangEtalIEEETR2024OnlineMulti-contactReceding.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wang, J, Kim, S, Lembono, T S, Du, W, Shim, J, Samadi, S, Wang, K, Ivan, V, Calinon, S, Vijayakumar, S & Tonneau, S 2024, 'Online multi-contact receding horizon planning via value function approximation', IEEE Transactions on Robotics, pp. 1-20. https://doi.org/10.1109/TRO.2024.3392154","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.ed.ac.uk:publications/66470f37-7756-4080-b331-78e5f9f7fae6","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/66470f37-7756-4080-b331-78e5f9f7fae6","pdf_url":null,"source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wang, J, Kim, S, Lembono, T S, Du, W, Shim, J, Samadi, S, Wang, K, Ivan, V, Calinon, S, Vijayakumar, S & Tonneau, S 2024, 'Online multi-contact receding horizon planning via value function approximation', IEEE Transactions on Robotics, pp. 1-20. https://doi.org/10.1109/TRO.2024.3392154","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:311383","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/208307","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"WoS","raw_type":"research article"},"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.5600000023841858}],"awards":[],"funders":[{"id":"https://openalex.org/F4320313467","display_name":"Alan Turing Institute","ror":"https://ror.org/035dkdb55"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":71,"referenced_works":["https://openalex.org/W180478659","https://openalex.org/W1431688706","https://openalex.org/W1502718064","https://openalex.org/W1579853615","https://openalex.org/W1967821692","https://openalex.org/W1989094338","https://openalex.org/W1990898645","https://openalex.org/W2004116378","https://openalex.org/W2015149365","https://openalex.org/W2042408133","https://openalex.org/W2061983716","https://openalex.org/W2074042377","https://openalex.org/W2081683070","https://openalex.org/W2087617385","https://openalex.org/W2110194613","https://openalex.org/W2133859362","https://openalex.org/W2143729862","https://openalex.org/W2147285788","https://openalex.org/W2154139861","https://openalex.org/W2221321873","https://openalex.org/W2345626358","https://openalex.org/W2399015533","https://openalex.org/W2415458238","https://openalex.org/W2477962321","https://openalex.org/W2514689415","https://openalex.org/W2523487622","https://openalex.org/W2569324215","https://openalex.org/W2614308505","https://openalex.org/W2763052367","https://openalex.org/W2767178383","https://openalex.org/W2771691050","https://openalex.org/W2774366155","https://openalex.org/W2784148011","https://openalex.org/W2788030459","https://openalex.org/W2788200022","https://openalex.org/W2805883505","https://openalex.org/W2842089854","https://openalex.org/W2905259751","https://openalex.org/W2906487027","https://openalex.org/W2909331752","https://openalex.org/W2967084668","https://openalex.org/W2968151796","https://openalex.org/W3049156125","https://openalex.org/W3081791272","https://openalex.org/W3089582219","https://openalex.org/W3091756548","https://openalex.org/W3093175803","https://openalex.org/W3102212813","https://openalex.org/W3102715624","https://openalex.org/W3103568523","https://openalex.org/W3104730803","https://openalex.org/W3109186372","https://openalex.org/W3127527157","https://openalex.org/W3132444912","https://openalex.org/W3133153804","https://openalex.org/W3176010321","https://openalex.org/W3190941931","https://openalex.org/W3206833690","https://openalex.org/W3215482237","https://openalex.org/W4230405224","https://openalex.org/W4237591687","https://openalex.org/W4296966920","https://openalex.org/W4313181105","https://openalex.org/W4313639240","https://openalex.org/W4393139803","https://openalex.org/W6631190155","https://openalex.org/W6634817459","https://openalex.org/W6640174482","https://openalex.org/W6713134421","https://openalex.org/W6747311492","https://openalex.org/W6810566961"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W1979597421","https://openalex.org/W2007980826","https://openalex.org/W2061531152","https://openalex.org/W3002753104","https://openalex.org/W2077600819","https://openalex.org/W2142036596","https://openalex.org/W2072657027","https://openalex.org/W2600246793","https://openalex.org/W4238204885"],"abstract_inverted_index":{"Planning":[0,69],"multi-contact":[1,57,72],"motions":[2],"in":[3,37,154,212],"a":[4,9,38,85,88,113,147,161],"receding":[5,202],"horizon":[6,40,111,203],"fashion":[7],"requires":[8],"value":[10,30,80,105,143],"function":[11,31,106],"to":[12,18,24,127,140,199],"guide":[13],"the":[14,19,29,45,48,53,79,92,104,109,118,173,186],"planning":[15,157,204],"with":[16,96,112],"respect":[17],"future,":[20],"e.g.,":[21],"building":[22],"momentum":[23],"traverse":[25],"large":[26,170],"obstacles.":[27],"Traditionally,":[28],"is":[32,61],"approximated":[33],"by":[34,107,156],"computing":[35,108],"trajectories":[36,159],"prediction":[39,110],"(never":[41],"executed)":[42],"that":[43,182,215],"foresees":[44],"future":[46],"beyond":[47],"execution":[49],"horizon.":[50],"However,":[51],"given":[52],"non-convex":[54],"dynamics":[55],"of":[56,71,78,99,160,205],"motions,":[58,73],"this":[59],"approach":[60],"computationally":[62],"expensive.":[63],"To":[64],"enable":[65],"online":[66,201],"Receding":[67],"Horizon":[68],"(RHP)":[70],"we":[74,83,102,123,135],"find":[75],"efficient":[76],"approximations":[77],"function.":[81],"Specifically,":[82],"propose":[84],"trajectory-based":[86],"and":[87,134,168],"learning-based":[89],"approach.":[90],"In":[91,117],"former,":[93],"namely":[94,120],"RHP":[95,184],"Multiple":[97],"Levels":[98],"Model":[100],"Fidelity,":[101],"approximate":[103],"convex":[114],"relaxed":[115],"model.":[116],"latter,":[119],"Locally-Guided":[121],"RHP,":[122],"learn":[124],"an":[125],"oracle":[126],"predict":[128],"local":[129,138,142],"objectives":[130,139],"for":[131,145],"locomotion":[132],"tasks,":[133],"use":[136],"these":[137],"construct":[141],"functions":[144],"guiding":[146],"short-horizon":[148],"RHP.":[149],"We":[150],"evaluate":[151],"both":[152],"approaches":[153],"simulation":[155],"centroidal":[158],"humanoid":[162,208],"robot":[163,174,209],"walking":[164,211],"on":[165,169],"moderate":[166],"slopes,":[167],"slopes":[171],"where":[172],"cannot":[175],"maintain":[176],"static":[177],"balance.":[178],"Our":[179],"results":[180],"show":[181],"locally-guided":[183],"achieves":[185],"best":[187],"computation":[188,195],"efficiency":[189],"(95%-98.6%":[190],"cycles":[191],"converge":[192],"online).":[193],"This":[194],"advantage":[196],"enables":[197],"us":[198],"demonstrate":[200],"our":[206],"real-world":[207],"Talos":[210],"dynamic":[213],"environments":[214],"change":[216],"on-the-fly.":[217]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
