{"id":"https://openalex.org/W2981479926","doi":"https://doi.org/10.1145/3359566.3360070","title":"On Learning Symmetric Locomotion","display_name":"On Learning Symmetric Locomotion","publication_year":2019,"publication_date":"2019-10-25","ids":{"openalex":"https://openalex.org/W2981479926","doi":"https://doi.org/10.1145/3359566.3360070","mag":"2981479926"},"language":"en","primary_location":{"id":"doi:10.1145/3359566.3360070","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3359566.3360070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Motion, Interaction and Games","raw_type":"proceedings-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/A5052012119","display_name":"Farzad Abdolhosseini","orcid":null},"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":true,"raw_author_name":"Farzad Abdolhosseini","raw_affiliation_strings":["The University of British Columbia"],"affiliations":[{"raw_affiliation_string":"The University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085649371","display_name":"Hung Yu Ling","orcid":"https://orcid.org/0000-0002-5576-8346"},"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":"Hung Yu Ling","raw_affiliation_strings":["The University of British Columbia"],"affiliations":[{"raw_affiliation_string":"The University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102887266","display_name":"Zhaoming Xie","orcid":"https://orcid.org/0000-0003-1948-1767"},"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":"Zhaoming Xie","raw_affiliation_strings":["The University of British Columbia"],"affiliations":[{"raw_affiliation_string":"The University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070606710","display_name":"Xue Bin Peng","orcid":"https://orcid.org/0000-0003-0480-7816"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xue Bin Peng","raw_affiliation_strings":["University of California, Berkeley"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley","institution_ids":["https://openalex.org/I95457486"]}]},{"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":["The University of British Columbia"],"affiliations":[{"raw_affiliation_string":"The University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5052012119"],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":2.146,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.90403705,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"10"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9977999925613403,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9977999925613403,"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/T12290","display_name":"Human Motion and Animation","score":0.9976000189781189,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9754999876022339,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/symmetry","display_name":"Symmetry (geometry)","score":0.7961257696151733},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6926298141479492},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6826735138893127},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5213512182235718},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.435351699590683},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19208431243896484},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12482574582099915}],"concepts":[{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.7961257696151733},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6926298141479492},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6826735138893127},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5213512182235718},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.435351699590683},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19208431243896484},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12482574582099915},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3359566.3360070","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3359566.3360070","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Motion, Interaction and Games","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8146340247","display_name":null,"funder_award_id":"RGPIN-2015-04843","funder_id":"https://openalex.org/F4320321487","funder_display_name":"Canadian Network for Research and Innovation in Machining Technology, Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320321487","display_name":"Canadian Network for Research and Innovation in Machining Technology, 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":28,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W1980231221","https://openalex.org/W2001165022","https://openalex.org/W2002565401","https://openalex.org/W2042105519","https://openalex.org/W2054099645","https://openalex.org/W2072118986","https://openalex.org/W2112966283","https://openalex.org/W2115887468","https://openalex.org/W2120894402","https://openalex.org/W2125057759","https://openalex.org/W2155027007","https://openalex.org/W2158782408","https://openalex.org/W2403968758","https://openalex.org/W2419238567","https://openalex.org/W2611706523","https://openalex.org/W2726187156","https://openalex.org/W2736601468","https://openalex.org/W2739330054","https://openalex.org/W2792352835","https://openalex.org/W2796290181","https://openalex.org/W2940545298","https://openalex.org/W2949608212","https://openalex.org/W3104515094","https://openalex.org/W3105609823","https://openalex.org/W4241226388","https://openalex.org/W4253394173","https://openalex.org/W4256375999"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Human":[0],"and":[1,44,52,90,93,108],"animal":[2],"gaits":[3],"are":[4,62],"often":[5],"symmetric":[6,32],"in":[7,85],"nature,":[8],"which":[9],"points":[10],"to":[11,40,131],"the":[12,34,70,77,83,98,124],"use":[13],"of":[14,22,67,87,100,121],"motion":[15,59],"symmetry":[16,101,137],"as":[17],"a":[18],"potentially":[19],"useful":[20],"source":[21],"structure":[23,68],"that":[24,111],"can":[25],"be":[26,37,45,129],"exploited":[27],"for":[28,57,69,97,118],"learning.":[29],"By":[30],"encouraging":[31,58],"motion,":[33],"learning":[35,88,133],"may":[36,127],"faster,":[38],"converge":[39],"more":[41,46],"efficient":[42],"solutions,":[43],"aesthetically":[47],"pleasing.":[48],"We":[49,80,103],"describe,":[50],"compare,":[51],"evaluate":[53,82],"four":[54],"practical":[55,107],"methods":[56,84],"symmetry.":[60],"These":[61],"implemented":[63],"via":[64,76],"particular":[65],"choices":[66,116],"policy":[71],"network,":[72],"data":[73],"duplication,":[74],"or":[75],"loss":[78],"function.":[79],"experimentally":[81],"terms":[86],"performance":[89],"achieved":[91],"symmetry,":[92],"provide":[94],"summary":[95],"guidelines":[96],"choice":[99],"method.":[102],"further":[104],"describe":[105],"some":[106],"conceptual":[109],"issues":[110],"arise.":[112],"Because":[113],"similar":[114],"implementation":[115],"exist":[117],"other":[119,132],"types":[120],"inductive":[122],"biases,":[123],"insights":[125],"gained":[126],"also":[128],"relevant":[130],"problems":[134],"with":[135],"applicable":[136],"abstractions.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":9}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}
