{"id":"https://openalex.org/W2460299708","doi":"https://doi.org/10.1145/2897824.2925881","title":"Terrain-adaptive locomotion skills using deep reinforcement learning","display_name":"Terrain-adaptive locomotion skills using deep reinforcement learning","publication_year":2016,"publication_date":"2016-07-11","ids":{"openalex":"https://openalex.org/W2460299708","doi":"https://doi.org/10.1145/2897824.2925881","mag":"2460299708"},"language":"en","primary_location":{"id":"doi:10.1145/2897824.2925881","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2897824.2925881","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070606710","display_name":"Xue Bin Peng","orcid":"https://orcid.org/0000-0003-0480-7816"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xue Bin Peng","raw_affiliation_strings":["University of British Columbia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045351810","display_name":"Glen Berseth","orcid":"https://orcid.org/0000-0001-7351-8028"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Glen Berseth","raw_affiliation_strings":["University of British Columbia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052748246","display_name":"Michiel van de Panne","orcid":"https://orcid.org/0000-0002-9123-3672"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michiel van de Panne","raw_affiliation_strings":["University of British Columbia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":21.6023,"has_fulltext":false,"cited_by_count":203,"citation_normalized_percentile":{"value":0.99606006,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"35","issue":"4","first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9986000061035156,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9986000061035156,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9944999814033508,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9909999966621399,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.8644753098487854},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8094700574874878},{"id":"https://openalex.org/keywords/leaps","display_name":"LEAPS","score":0.75640869140625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6981417536735535},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5641758441925049},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.4516843259334564},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4411126673221588},{"id":"https://openalex.org/keywords/workbench","display_name":"Workbench","score":0.413385808467865},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.37845754623413086},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.09617224335670471},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08132621645927429}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8644753098487854},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8094700574874878},{"id":"https://openalex.org/C2777705401","wikidata":"https://www.wikidata.org/wiki/Q6457570","display_name":"LEAPS","level":2,"score":0.75640869140625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6981417536735535},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5641758441925049},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.4516843259334564},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4411126673221588},{"id":"https://openalex.org/C2779145975","wikidata":"https://www.wikidata.org/wiki/Q347690","display_name":"Workbench","level":3,"score":0.413385808467865},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.37845754623413086},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.09617224335670471},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08132621645927429},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2897824.2925881","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2897824.2925881","pdf_url":null,"source":{"id":"https://openalex.org/S185367456","display_name":"ACM Transactions on Graphics","issn_l":"0730-0301","issn":["0730-0301","1557-7368"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"ACM Transactions on Graphics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.49000000953674316,"id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G2090024711","display_name":null,"funder_award_id":"RGPIN-2015-04843","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":67,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W618254468","https://openalex.org/W755046805","https://openalex.org/W1658008008","https://openalex.org/W1906772730","https://openalex.org/W1973102501","https://openalex.org/W1974420726","https://openalex.org/W1985059397","https://openalex.org/W1987431312","https://openalex.org/W2001165022","https://openalex.org/W2004167999","https://openalex.org/W2005478758","https://openalex.org/W2010302808","https://openalex.org/W2014505645","https://openalex.org/W2018571963","https://openalex.org/W2033655806","https://openalex.org/W2037277559","https://openalex.org/W2043709302","https://openalex.org/W2043806097","https://openalex.org/W2058793702","https://openalex.org/W2059486229","https://openalex.org/W2063149203","https://openalex.org/W2066957584","https://openalex.org/W2069361969","https://openalex.org/W2072118986","https://openalex.org/W2076806230","https://openalex.org/W2078397531","https://openalex.org/W2078639473","https://openalex.org/W2089528820","https://openalex.org/W2095442747","https://openalex.org/W2097797606","https://openalex.org/W2097815751","https://openalex.org/W2101539915","https://openalex.org/W2110139691","https://openalex.org/W2111237478","https://openalex.org/W2115887468","https://openalex.org/W2120003827","https://openalex.org/W2120894402","https://openalex.org/W2121103318","https://openalex.org/W2137376508","https://openalex.org/W2145339207","https://openalex.org/W2147032798","https://openalex.org/W2150884987","https://openalex.org/W2155007355","https://openalex.org/W2155893237","https://openalex.org/W2163408698","https://openalex.org/W2165150801","https://openalex.org/W2168342951","https://openalex.org/W2173248099","https://openalex.org/W2174786457","https://openalex.org/W2179072710","https://openalex.org/W2186601217","https://openalex.org/W2187089797","https://openalex.org/W2201581102","https://openalex.org/W2295431040","https://openalex.org/W2535652371","https://openalex.org/W2601040338","https://openalex.org/W2739330054","https://openalex.org/W2746553466","https://openalex.org/W2949608212","https://openalex.org/W3017719915","https://openalex.org/W3136127717","https://openalex.org/W3137501626","https://openalex.org/W4205985701","https://openalex.org/W4242577313","https://openalex.org/W4253394173","https://openalex.org/W4385791672"],"related_works":["https://openalex.org/W2492014775","https://openalex.org/W2381023742","https://openalex.org/W2373297822","https://openalex.org/W2371221548","https://openalex.org/W2388543165","https://openalex.org/W2533958670","https://openalex.org/W2741632929","https://openalex.org/W2977999572","https://openalex.org/W2363281567","https://openalex.org/W2347935405"],"abstract_inverted_index":{"Reinforcement":[0],"learning":[1,27,86],"offers":[2],"a":[3,31,65],"promising":[4],"methodology":[5],"for":[6,9,103],"developing":[7],"skills":[8,43],"simulated":[10],"characters,":[11],"but":[12],"typically":[13],"requires":[14],"working":[15],"with":[16],"sparse":[17],"hand-crafted":[18],"features.":[19],"Building":[20],"on":[21],"recent":[22],"progress":[23],"in":[24,71],"deep":[25],"reinforcement":[26],"(DeepRL),":[28],"we":[29],"introduce":[30],"mixture":[32],"of":[33,79,93],"actor-critic":[34,67,72],"experts":[35,73],"(MACE)":[36],"approach":[37,68],"that":[38,74,82],"learns":[39,61],"terrain-adaptive":[40],"dynamic":[41],"locomotion":[42],"using":[44],"high-dimensional":[45],"state":[46],"and":[47,52,69,90,107],"terrain":[48,108],"descriptions":[49],"as":[50,57],"input,":[51],"parameterized":[53],"leaps":[54],"or":[55],"steps":[56],"output":[58],"actions.":[59],"MACE":[60],"more":[62],"quickly":[63],"than":[64],"single":[66],"results":[70],"exhibit":[75],"specialization.":[76,99],"Additional":[77],"elements":[78],"our":[80],"solution":[81],"contribute":[83],"towards":[84],"efficient":[85],"include":[87],"Boltzmann":[88],"exploration":[89],"the":[91],"use":[92],"initial":[94],"actor":[95],"biases":[96],"to":[97],"encourage":[98],"Results":[100],"are":[101],"demonstrated":[102],"multiple":[104],"planar":[105],"characters":[106],"classes.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":21},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":34},{"year":2020,"cited_by_count":26},{"year":2019,"cited_by_count":29},{"year":2018,"cited_by_count":32},{"year":2017,"cited_by_count":16},{"year":2016,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}