{"id":"https://openalex.org/W7127432906","doi":"https://doi.org/10.1126/scirobotics.aec7695","title":"ZEST: Zero-shot embodied skill transfer for athletic robot control","display_name":"ZEST: Zero-shot embodied skill transfer for athletic robot control","publication_year":2026,"publication_date":"2026-08-12","ids":{"openalex":"https://openalex.org/W7127432906","doi":"https://doi.org/10.1126/scirobotics.aec7695","pmid":"https://pubmed.ncbi.nlm.nih.gov/42585282"},"language":"en","primary_location":{"id":"doi:10.1126/scirobotics.aec7695","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aec7695","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","datacite","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2602.00401","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5124925567","display_name":"Jean Pierre Sleiman","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Pierre Sleiman","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9935-8787","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124964449","display_name":"He Li","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"He Li","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-9826-2353","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023684042","display_name":"Alphonsus Adu-Bredu","orcid":"https://orcid.org/0000-0002-0332-5519"},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alphonsus Adu-Bredu","raw_affiliation_strings":["Boston Dynamics, Waltham, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-0332-5519","affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036513591","display_name":"Robin Deits","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robin Deits","raw_affiliation_strings":["Boston Dynamics, Waltham, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9755-3856","affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124948337","display_name":"Arun Kumar","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arun Kumar","raw_affiliation_strings":["Boston Dynamics, Waltham, MA, USA"],"raw_orcid":"https://orcid.org/0009-0003-8263-6335","affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081502544","display_name":"Kevin Bergamin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin Bergamin","raw_affiliation_strings":["Boston Dynamics, Waltham, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017774267","display_name":"Mohak Bhardwaj","orcid":"https://orcid.org/0000-0002-4775-8113"},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohak Bhardwaj","raw_affiliation_strings":["Boston Dynamics, Waltham, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031658832","display_name":"Scott Biddlestone","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott Biddlestone","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115921989","display_name":"Nicola Burger","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicola Burger","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064486396","display_name":"Matthew A. Estrada","orcid":"https://orcid.org/0000-0002-5396-8379"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew A. Estrada","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5396-8379","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013951571","display_name":"Francesco Iacobelli","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francesco Iacobelli","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025248131","display_name":"Twan Koolen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Twan Koolen","raw_affiliation_strings":["Boston Dynamics, Waltham, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013135315","display_name":"Alexander Lambert","orcid":"https://orcid.org/0000-0001-7089-2647"},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Lambert","raw_affiliation_strings":["Boston Dynamics, Waltham, MA, USA"],"raw_orcid":"https://orcid.org/0009-0004-7393-5920","affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124908277","display_name":"Erica Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Erica Lin","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0009-0000-3496-8288","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124920164","display_name":"M. Eva Mungai","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Eva Mungai","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7011-6912","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124873537","display_name":"Zach Nobles","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zach Nobles","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041780545","display_name":"Shane Rozen-Levy","orcid":"https://orcid.org/0000-0002-1243-1807"},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shane Rozen-Levy","raw_affiliation_strings":["Boston Dynamics, Waltham, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1243-1807","affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060357085","display_name":"Yuyao Shi","orcid":"https://orcid.org/0000-0002-4339-7816"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuyao Shi","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-4339-7816","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124932317","display_name":"Jiashun Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiashun Wang","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0009-0002-9692-4525","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124896959","display_name":"Jakob Welner","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jakob Welner","raw_affiliation_strings":["Boston Dynamics, Waltham, MA, USA"],"raw_orcid":"https://orcid.org/0009-0005-7812-5123","affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124898442","display_name":"Fangzhou Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fangzhou Yu","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003835600","display_name":"Mike Tao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mike Zhang","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0009-0000-8040-0650","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111915942","display_name":"Alfred A. Rizzi","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alfred Rizzi","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011498939","display_name":"Jessica K. Hodgins","orcid":"https://orcid.org/0000-0002-1778-883X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jessica Hodgins","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1778-883X","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124902628","display_name":"Sylvain Bertrand","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sylvain Bertrand","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4405-2665","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037546828","display_name":"Yeuhi Abe","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yeuhi Abe","raw_affiliation_strings":["Boston Dynamics, Waltham, MA, USA"],"raw_orcid":"https://orcid.org/0009-0002-4566-1040","affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049981830","display_name":"Scott Kuindersma","orcid":"https://orcid.org/0000-0003-0645-6626"},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott Kuindersma","raw_affiliation_strings":["Boston Dynamics, Waltham, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-0645-6626","affiliations":[{"raw_affiliation_string":"Boston Dynamics, Waltham, MA, USA","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040208292","display_name":"Farbod Farshidian","orcid":"https://orcid.org/0000-0001-8269-6272"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Farbod Farshidian","raw_affiliation_strings":["RAI Institute, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-8269-6272","affiliations":[{"raw_affiliation_string":"RAI Institute, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5040208292"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.077737,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"117","first_page":"eaec7695","last_page":"eaec7695"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.33410000801086426,"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":0.33410000801086426,"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":0.3077000081539154,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.19709999859333038,"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/zest","display_name":"Zest","score":0.836899995803833},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.491100013256073},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4796999990940094},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.4691999852657318},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.43950000405311584},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.3571999967098236},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.3474000096321106},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.3377000093460083}],"concepts":[{"id":"https://openalex.org/C2778051730","wikidata":"https://www.wikidata.org/wiki/Q8069690","display_name":"Zest","level":2,"score":0.836899995803833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6416000127792358},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5752000212669373},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.491100013256073},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4796999990940094},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.4691999852657318},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4578000009059906},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.43950000405311584},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3571999967098236},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.3474000096321106},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3377000093460083},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.3285999894142151},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32179999351501465},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.31630000472068787},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3109000027179718},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3027999997138977},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3001999855041504},{"id":"https://openalex.org/C107953548","wikidata":"https://www.wikidata.org/wiki/Q1172433","display_name":"Wired glove","level":3,"score":0.2946999967098236},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.2782999873161316},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.2727000117301941},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2624000012874603}],"mesh":[{"descriptor_ui":"D000092682","descriptor_name":"Motion Capture","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000098402","descriptor_name":"Autonomous Robots","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000098408","descriptor_name":"Reinforcement Machine Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004867","descriptor_name":"Equipment Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009048","descriptor_name":"Motor Skills","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D013177","descriptor_name":"Sports","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1126/scirobotics.aec7695","is_oa":false,"landing_page_url":"https://doi.org/10.1126/scirobotics.aec7695","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:42585282","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/42585282","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":"Journal Article"},{"id":"doi:10.48550/arxiv.2602.00401","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.00401","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2602.00401","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.00401","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.6753338575363159}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Achieving":[0],"robust,":[1],"humanlike":[2],"whole-body":[3],"control":[4],"on":[5,68,90],"humanoid":[6],"robots":[7],"for":[8,113,122],"agile,":[9],"contact-rich":[10],"behaviors":[11,63],"remains":[12],"a":[13,21,34,99,111,127,194,215],"central":[14],"challenge,":[15],"demanding":[16],"heavy":[17],"per-skill":[18],"engineering":[19],"and":[20,52,64,94,156,165,177,210,221],"brittle":[22],"process":[23],"of":[24,130],"tuning":[25],"controllers.":[26],"We":[27,108],"introduce":[28],"ZEST":[29,60,140,149,213],"(zero-shot":[30],"embodied":[31],"skill":[32],"transfer),":[33],"streamlined":[35],"motion-imitation":[36],"framework":[37],"that":[38],"trains":[39],"policies":[40],"via":[41],"reinforcement":[42],"learning":[43],"from":[44,117,158,173],"diverse":[45],"sources-high-fidelity":[46],"motion":[47,92,159],"capture,":[48],"noisy":[49],"monocular":[50],"video,":[51],"non-physics-constrained":[53],"animation-and":[54],"deploys":[55],"them":[56],"to":[57,175,186],"hardware":[58],"zero-shot.":[59],"generalizes":[61],"across":[62,184,206],"platforms":[65],"without":[66],"relying":[67],"contact":[69],"labels,":[70],"reference":[71],"or":[72,77],"observation":[73],"windows,":[74],"state":[75],"estimators,":[76],"extensive":[78],"reward":[79],"shaping.":[80],"Its":[81],"training":[82,89],"pipeline":[83],"combines":[84],"adaptive":[85],"sampling,":[86],"which":[87],"focuses":[88],"difficult":[91],"segments,":[93],"an":[95],"automatic":[96],"curriculum":[97],"using":[98],"model-based":[100],"assistive":[101],"wrench,":[102],"together":[103],"enabling":[104,190],"dynamic,":[105,151],"long-horizon":[106],"maneuvers.":[107],"further":[109],"provide":[110],"procedure":[112],"selecting":[114],"joint-level":[115],"gains":[116],"approximate":[118],"analytical":[119],"armature":[120],"values":[121],"closed-chain":[123],"actuators,":[124],"along":[125],"with":[126,136],"refined":[128],"model":[129],"actuators.":[131],"Trained":[132],"entirely":[133],"in":[134],"simulation":[135],"moderate":[137],"domain":[138],"randomization,":[139],"demonstrated":[141],"broad":[142],"generality.":[143],"On":[144],"Boston":[145],"Dynamics'":[146],"Atlas":[147,176],"humanoid,":[148],"learned":[150],"multicontact":[152],"skills":[153],"(army":[154],"crawl":[155],"breakdancing)":[157],"capture.":[160],"It":[161],"transferred":[162],"expressive":[163],"dance":[164],"scene-interaction":[166],"skills,":[167],"such":[168,192],"as":[169,193,214],"box":[170],"climbing,":[171],"directly":[172],"videos":[174],"the":[178,187],"Unitree":[179],"G1.":[180],"Furthermore,":[181],"it":[182],"extended":[183],"morphologies":[185],"Spot":[188],"quadruped,":[189],"acrobatics,":[191],"continuous":[195],"backflip,":[196],"through":[197],"animation.":[198],"Together,":[199],"these":[200],"results":[201],"demonstrate":[202],"robust":[203],"zero-shot":[204],"deployment":[205],"heterogeneous":[207],"data":[208],"sources":[209],"embodiments,":[211],"establishing":[212],"scalable":[216],"interface":[217],"between":[218],"biological":[219],"movements":[220],"their":[222],"robotic":[223],"counterparts.":[224]},"counts_by_year":[],"updated_date":"2026-08-16T07:02:28.622633","created_date":"2026-02-04T00:00:00"}