{"id":"https://openalex.org/W4395116617","doi":"https://doi.org/10.1126/scirobotics.adi9641","title":"Learning robust autonomous navigation and locomotion for wheeled-legged robots","display_name":"Learning robust autonomous navigation and locomotion for wheeled-legged robots","publication_year":2024,"publication_date":"2024-04-24","ids":{"openalex":"https://openalex.org/W4395116617","doi":"https://doi.org/10.1126/scirobotics.adi9641","pmid":"https://pubmed.ncbi.nlm.nih.gov/38657088"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adi9641","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adi9641","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2405.01792","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015754958","display_name":"Joonho Lee","orcid":"https://orcid.org/0000-0002-5072-7385"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Joonho Lee","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020694820","display_name":"Marko Bjelonic","orcid":"https://orcid.org/0000-0002-9123-3920"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marko Bjelonic","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024424322","display_name":"Alexander Reske","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexander Reske","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015540714","display_name":"Lorenz Wellhausen","orcid":"https://orcid.org/0000-0001-5148-754X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lorenz Wellhausen","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016407319","display_name":"Takahiro Miki","orcid":"https://orcid.org/0000-0001-8556-2819"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Takahiro Miki","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5015754958"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":16.0889,"has_fulltext":false,"cited_by_count":88,"citation_normalized_percentile":{"value":0.99682703,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"9","issue":"89","first_page":"eadi9641","last_page":"eadi9641"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.946399986743927,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T12644","display_name":"Wildlife-Road Interactions and Conservation","score":0.9319999814033508,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.7265271544456482},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7218190431594849},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6599406003952026},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6340415477752686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6100413203239441},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.6006438732147217},{"id":"https://openalex.org/keywords/navigation-system","display_name":"Navigation system","score":0.5499654412269592},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5051491856575012},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5013823509216309},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4693984091281891},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38606545329093933},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3492918610572815},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3376724123954773},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2638959288597107}],"concepts":[{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.7265271544456482},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7218190431594849},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6599406003952026},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6340415477752686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6100413203239441},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.6006438732147217},{"id":"https://openalex.org/C2777891301","wikidata":"https://www.wikidata.org/wiki/Q3475123","display_name":"Navigation system","level":2,"score":0.5499654412269592},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5051491856575012},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5013823509216309},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4693984091281891},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38606545329093933},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3492918610572815},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3376724123954773},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2638959288597107},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1126/scirobotics.adi9641","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adi9641","pdf_url":null,"source":{"id":"https://openalex.org/S4210213233","display_name":"Science Robotics","issn_l":"2470-9476","issn":["2470-9476"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315823","host_organization_name":"American Association for the Advancement of Science","host_organization_lineage":["https://openalex.org/P4310315823"],"host_organization_lineage_names":["American Association for the Advancement of Science"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science Robotics","raw_type":"journal-article"},{"id":"pmid:38657088","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38657088","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science robotics","raw_type":null},{"id":"pmh:oai:arXiv.org:2405.01792","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.01792","pdf_url":"https://arxiv.org/pdf/2405.01792","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2405.01792","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2405.01792","pdf_url":"https://arxiv.org/pdf/2405.01792","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W2005805981","https://openalex.org/W2132022337","https://openalex.org/W2159220301","https://openalex.org/W2169528473","https://openalex.org/W2173379916","https://openalex.org/W2336281863","https://openalex.org/W2725489675","https://openalex.org/W2755158994","https://openalex.org/W2793991136","https://openalex.org/W2811027829","https://openalex.org/W2911087563","https://openalex.org/W2912365230","https://openalex.org/W2951633861","https://openalex.org/W2963129648","https://openalex.org/W2963465704","https://openalex.org/W2967847744","https://openalex.org/W2968031102","https://openalex.org/W3000916453","https://openalex.org/W3003817470","https://openalex.org/W3010768390","https://openalex.org/W3011481717","https://openalex.org/W3039235589","https://openalex.org/W3080433405","https://openalex.org/W3093326211","https://openalex.org/W3093922502","https://openalex.org/W3099726730","https://openalex.org/W3101817006","https://openalex.org/W3104876774","https://openalex.org/W3110378871","https://openalex.org/W3112664346","https://openalex.org/W3127756416","https://openalex.org/W3132408792","https://openalex.org/W3140042148","https://openalex.org/W3158253560","https://openalex.org/W3202883604","https://openalex.org/W3206495137","https://openalex.org/W3214103722","https://openalex.org/W4205430897","https://openalex.org/W4210491718","https://openalex.org/W4224292538","https://openalex.org/W4226143977","https://openalex.org/W4233654529","https://openalex.org/W4250058668","https://openalex.org/W4281479885","https://openalex.org/W4293160779","https://openalex.org/W4312441173","https://openalex.org/W4312574175","https://openalex.org/W4312749288","https://openalex.org/W4312939545","https://openalex.org/W4313598842","https://openalex.org/W4317877696","https://openalex.org/W4360976217","https://openalex.org/W4387476016"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W4285089922"],"abstract_inverted_index":{"Autonomous":[0],"wheeled-legged":[1,190],"robots":[2,191],"have":[3],"the":[4,37,46,75,165,171,187],"potential":[5],"to":[6,48],"transform":[7],"logistics":[8],"systems,":[9],"improving":[10],"operational":[11],"efficiency":[12],"and":[13,32,45,70,83,96,109,132,148,159,168,192,203],"adaptability":[14],"in":[15,156,177,181],"urban":[16,19,145],"environments.":[17,183],"Navigating":[18],"environments,":[20],"however,":[21],"poses":[22],"unique":[23],"challenges":[24,35],"for":[25,30,39,195,200],"robots,":[26],"necessitating":[27],"innovative":[28],"solutions":[29],"locomotion":[31,41,64,90,98],"navigation.":[33],"These":[34,162],"include":[36],"need":[38],"adaptive":[40,63],"across":[42],"varied":[43],"terrains":[44],"ability":[47],"navigate":[49],"efficiently":[50],"around":[51],"complex":[52,182],"dynamic":[53],"obstacles.":[54],"This":[55,92],"work":[56],"introduces":[57],"a":[58,88,117,122,143],"fully":[59],"integrated":[60,115,141,174],"system":[61,147],"comprising":[62],"control,":[65],"mobility-aware":[66],"local":[67],"navigation":[68,119,128,146,153,180],"planning,":[69],"large-scale":[71,144],"path":[72],"planning":[73],"within":[74],"city.":[76],"Using":[77],"model-free":[78],"reinforcement":[79],"learning":[80],"(RL)":[81],"techniques":[82],"privileged":[84],"learning,":[85],"we":[86],"developed":[87],"versatile":[89],"controller.":[91],"controller":[93,120],"achieves":[94],"efficient":[95],"robust":[97],"over":[99],"various":[100,133],"rough":[101],"terrains,":[102],"facilitated":[103],"by":[104,150],"smooth":[105],"transitions":[106],"between":[107],"walking":[108],"driving":[110],"modes.":[111],"It":[112],"is":[113],"tightly":[114],"with":[116,198],"learned":[118],"through":[121,129],"hierarchical":[123,193],"RL":[124,194],"framework,":[125],"enabling":[126],"effective":[127],"challenging":[130],"terrain":[131],"obstacles":[134],"at":[135],"high":[136],"speed.":[137],"Our":[138,184],"controllers":[139],"are":[140],"into":[142],"validated":[149],"autonomous,":[151],"kilometer-scale":[152],"missions":[154,163],"conducted":[155],"Zurich,":[157],"Switzerland,":[158],"Seville,":[160],"Spain.":[161],"demonstrate":[164],"system's":[166],"robustness":[167],"adaptability,":[169],"underscoring":[170],"importance":[172],"of":[173,189],"control":[175],"systems":[176],"achieving":[178],"seamless":[179],"findings":[185],"support":[186],"feasibility":[188],"autonomous":[196],"navigation,":[197],"implications":[199],"last-mile":[201],"delivery":[202],"beyond.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":20},{"year":2025,"cited_by_count":58},{"year":2024,"cited_by_count":10}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}