{"id":"https://openalex.org/W4413756046","doi":"https://doi.org/10.1126/scirobotics.adv3604","title":"Attention-based map encoding for learning generalized legged locomotion","display_name":"Attention-based map encoding for learning generalized legged locomotion","publication_year":2025,"publication_date":"2025-08-27","ids":{"openalex":"https://openalex.org/W4413756046","doi":"https://doi.org/10.1126/scirobotics.adv3604","pmid":"https://pubmed.ncbi.nlm.nih.gov/40864729"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.adv3604","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adv3604","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":["crossref","pubmed"],"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/A5037865523","display_name":"Junzhe He","orcid":"https://orcid.org/0009-0008-5928-1237"},"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"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Junzhe He","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, 8092 Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, 8092 Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101546740","display_name":"Chong Zhang","orcid":"https://orcid.org/0000-0003-4173-154X"},"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"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Chong Zhang","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, 8092 Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, 8092 Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052487495","display_name":"Fabian Jenelten","orcid":"https://orcid.org/0000-0003-1851-2875"},"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"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabian Jenelten","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, 8092 Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, 8092 Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058327332","display_name":"Ruben Grandia","orcid":"https://orcid.org/0000-0002-8971-6843"},"institutions":[{"id":"https://openalex.org/I4210137357","display_name":"Walt Disney (Switzerland)","ror":"https://ror.org/04h1x1p54","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210137357","https://openalex.org/I4210142140"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ruben Grandia","raw_affiliation_strings":["Disney Research Zurich, Stampfenbachstrasse 48, 8006 Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Disney Research Zurich, Stampfenbachstrasse 48, 8006 Zurich, Switzerland","institution_ids":["https://openalex.org/I4210137357"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005916572","display_name":"Moritz B\u00e4cher","orcid":"https://orcid.org/0000-0002-1952-1266"},"institutions":[{"id":"https://openalex.org/I4210137357","display_name":"Walt Disney (Switzerland)","ror":"https://ror.org/04h1x1p54","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210137357","https://openalex.org/I4210142140"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Moritz B\u00e4cher","raw_affiliation_strings":["Disney Research Zurich, Stampfenbachstrasse 48, 8006 Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Disney Research Zurich, Stampfenbachstrasse 48, 8006 Zurich, Switzerland","institution_ids":["https://openalex.org/I4210137357"]}]},{"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"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, 8092 Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, 8092 Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5037865523","https://openalex.org/A5101546740"],"corresponding_institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"],"apc_list":null,"apc_paid":null,"fwci":1.9576,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.8689497,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"10","issue":"105","first_page":"eadv3604","last_page":"eadv3604"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9724000096321106,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9236000180244446,"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/robustness","display_name":"Robustness (evolution)","score":0.7923108339309692},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7147030830383301},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6632357835769653},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6566922068595886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6111091375350952},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5214607119560242},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5148619413375854},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5032820105552673},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.40803903341293335},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3253951668739319},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19458892941474915}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7923108339309692},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7147030830383301},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6632357835769653},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6566922068595886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6111091375350952},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5214607119560242},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5148619413375854},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5032820105552673},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40803903341293335},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3253951668739319},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19458892941474915},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1126/scirobotics.adv3604","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.adv3604","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:40864729","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/40864729","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}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1973546417","https://openalex.org/W2098561496","https://openalex.org/W2418368699","https://openalex.org/W2762555062","https://openalex.org/W2788200022","https://openalex.org/W2909331752","https://openalex.org/W2911087563","https://openalex.org/W2970228732","https://openalex.org/W3090829738","https://openalex.org/W3093481944","https://openalex.org/W3093922502","https://openalex.org/W3103075896","https://openalex.org/W3104876774","https://openalex.org/W3112664346","https://openalex.org/W3176539729","https://openalex.org/W3206363598","https://openalex.org/W3206833690","https://openalex.org/W4205430897","https://openalex.org/W4250058668","https://openalex.org/W4283734789","https://openalex.org/W4289522461","https://openalex.org/W4310746161","https://openalex.org/W4311443585","https://openalex.org/W4312574175","https://openalex.org/W4312606126","https://openalex.org/W4312749288","https://openalex.org/W4378696928","https://openalex.org/W4390938336","https://openalex.org/W4392763392","https://openalex.org/W4394872716","https://openalex.org/W4396910086","https://openalex.org/W4401415792","https://openalex.org/W4401416030","https://openalex.org/W4401416668","https://openalex.org/W4403035129","https://openalex.org/W4404954016","https://openalex.org/W4405778675","https://openalex.org/W4405786841","https://openalex.org/W4405787394"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W3032871857","https://openalex.org/W3005657145","https://openalex.org/W3097667865","https://openalex.org/W3160356182"],"abstract_inverted_index":{"Dynamic":[0],"locomotion":[1,99],"of":[2,16,92,107,126,169,184],"legged":[3,98],"robots":[4],"is":[5,122],"a":[6,177,185,194,199],"critical":[7],"yet":[8],"challenging":[9,153,214],"topic":[10],"in":[11,208],"expanding":[12],"the":[13,89,105,127,135,147,181,205,209],"operational":[14],"range":[15],"mobile":[17],"robots.":[18],"It":[19],"requires":[20],"precise":[21,165],"planning":[22,44],"when":[23,146],"possible":[24],"footholds":[25,145],"are":[26,83],"sparse,":[27],"robustness":[28,56,74,106,160],"against":[29,161],"uncertainties":[30,59,162],"and":[31,33,86,152,166,198,203,216],"disturbances,":[32],"generalizability":[34],"across":[35],"diverse":[36,101,151],"terrains.":[37,154,171],"Although":[38],"traditional":[39],"model-based":[40,93],"controllers":[41,54,192,207],"excel":[42],"at":[43],"on":[45,64,75,100,118,140],"complex":[46],"terrains,":[47],"they":[48],"struggle":[49],"with":[50,66],"real-world":[51],"uncertainties.":[52],"Learning-based":[53],"offer":[55],"to":[57,138,179],"such":[58],"but":[60,82],"often":[61],"lack":[62],"precision":[63],"terrains":[65,77,102],"sparse":[67,76,170],"steppable":[68,141],"areas.":[69],"Hybrid":[70],"methods":[71,81],"achieve":[72,96],"enhanced":[73],"by":[78,88],"combining":[79],"both":[80],"computationally":[84],"demanding":[85],"constrained":[87],"inherent":[90],"limitations":[91],"planners.":[94],"To":[95],"generalized":[97],"while":[103,163],"preserving":[104],"learning-based":[108],"controllers,":[109],"this":[110],"paper":[111],"proposes":[112],"an":[113],"attention-based":[114],"map":[115],"encoding":[116],"conditioned":[117],"robot":[119,148,197,202],"proprioception,":[120],"which":[121],"trained":[123,190],"as":[124],"part":[125],"controller":[128],"using":[129],"reinforcement":[130],"learning.":[131],"We":[132,155,188],"show":[133],"that":[134,158],"network":[136],"learns":[137],"focus":[139],"areas":[142],"for":[143,193],"future":[144],"dynamically":[149],"navigates":[150],"synthesized":[156],"behaviors":[157],"exhibited":[159],"enabling":[164],"agile":[167],"traversal":[168],"In":[172],"addition,":[173],"our":[174],"method":[175],"offers":[176],"way":[178],"interpret":[180],"topographical":[182],"perception":[183],"neural":[186],"network.":[187],"have":[189],"two":[191],"12-degrees-of-freedom":[195],"quadrupedal":[196],"23-degrees-of-freedom":[200],"humanoid":[201],"tested":[204],"resulting":[206],"real":[210],"world":[211],"under":[212],"various":[213],"indoor":[215],"outdoor":[217],"scenarios,":[218],"including":[219],"ones":[220],"unseen":[221],"during":[222],"training.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-04-07T14:57:38.498316","created_date":"2025-10-10T00:00:00"}
