{"id":"https://openalex.org/W7116923334","doi":"https://doi.org/10.1145/3772429.3772430","title":"Learning Embodied Quadruped Agents for Posture-Aware Locomotion","display_name":"Learning Embodied Quadruped Agents for Posture-Aware Locomotion","publication_year":2025,"publication_date":"2025-11-21","ids":{"openalex":"https://openalex.org/W7116923334","doi":"https://doi.org/10.1145/3772429.3772430"},"language":null,"primary_location":{"id":"doi:10.1145/3772429.3772430","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3772429.3772430","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 The Seventh International Conference on Distributed Artificial Intelligence","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1145/3772429.3772430","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5121074647","display_name":"Xiangyu Miao","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyu Miao","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0006-7633-0411","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jun Sun","orcid":"https://orcid.org/0000-0002-5535-9104"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jun Sun","raw_affiliation_strings":["Shanghai Aerospace Control Technology Institute, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-5535-9104","affiliations":[{"raw_affiliation_string":"Shanghai Aerospace Control Technology Institute, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101789061","display_name":"Hang Lai","orcid":"https://orcid.org/0000-0003-1000-3232"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hang Lai","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-1000-3232","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051059256","display_name":"Xinpeng Di","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xinpeng Di","raw_affiliation_strings":["Shanghai Aerospace Control Technology Institute, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-7942-1312","affiliations":[{"raw_affiliation_string":"Shanghai Aerospace Control Technology Institute, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jiahang Cao","orcid":"https://orcid.org/0000-0002-7437-1977"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahang Cao","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-7437-1977","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121047859","display_name":"Yong Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yong Yu","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0281-8271","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":null,"display_name":"Weinan Zhang","orcid":"https://orcid.org/0000-0002-0127-2425"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weinan Zhang","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-0127-2425","affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.5571439,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"11"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.21789999306201935,"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":0.21789999306201935,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.19089999794960022,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.13120000064373016,"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/embodied-cognition","display_name":"Embodied cognition","score":0.6269999742507935},{"id":"https://openalex.org/keywords/embodied-agent","display_name":"Embodied agent","score":0.6230999827384949},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5386000275611877},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.45010000467300415},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.44510000944137573},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.40049999952316284},{"id":"https://openalex.org/keywords/autonomous-agent","display_name":"Autonomous agent","score":0.38339999318122864},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.3831000030040741},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.37950000166893005},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.365200012922287}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7084000110626221},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.6269999742507935},{"id":"https://openalex.org/C103683099","wikidata":"https://www.wikidata.org/wiki/Q5370102","display_name":"Embodied agent","level":3,"score":0.6230999827384949},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5716999769210815},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5386000275611877},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.45570001006126404},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.45010000467300415},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.44510000944137573},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.40049999952316284},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.38339999318122864},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.3831000030040741},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.37950000166893005},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.365200012922287},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3650999963283539},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.35359999537467957},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.35100001096725464},{"id":"https://openalex.org/C74072328","wikidata":"https://www.wikidata.org/wiki/Q1142726","display_name":"Intelligent agent","level":2,"score":0.3384999930858612},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.328900009393692},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3249000012874603},{"id":"https://openalex.org/C132829578","wikidata":"https://www.wikidata.org/wiki/Q581151","display_name":"Situated","level":2,"score":0.3192000091075897},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.3131999969482422},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.2946999967098236},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.29269999265670776},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.27869999408721924},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.2687999904155731},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.26820001006126404},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2597000002861023},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.2574000060558319},{"id":"https://openalex.org/C2780719617","wikidata":"https://www.wikidata.org/wiki/Q1030752","display_name":"Salient","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3772429.3772430","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3772429.3772430","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 The Seventh International Conference on Distributed Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3772429.3772430","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3772429.3772430","pdf_url":null,"source":null,"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2025 The Seventh International Conference on Distributed Artificial Intelligence","raw_type":"proceedings-article"},"sustainable_development_goals":[{"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4","score":0.7014356851577759}],"awards":[{"id":"https://openalex.org/G2388429035","display_name":null,"funder_award_id":"U22B2042","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2605102758","https://openalex.org/W2911087563","https://openalex.org/W2963184939","https://openalex.org/W2964198579","https://openalex.org/W2996514457","https://openalex.org/W3011016396","https://openalex.org/W3088310808","https://openalex.org/W3093922502","https://openalex.org/W3111294788","https://openalex.org/W3112664346","https://openalex.org/W3136025710","https://openalex.org/W3175254947","https://openalex.org/W3204973825","https://openalex.org/W3206363916","https://openalex.org/W4200470117","https://openalex.org/W4205430897","https://openalex.org/W4226143977","https://openalex.org/W4309323738","https://openalex.org/W4312900898","https://openalex.org/W4381662572","https://openalex.org/W4382365373","https://openalex.org/W4383108222","https://openalex.org/W4383108274","https://openalex.org/W4385430550","https://openalex.org/W4390264450","https://openalex.org/W4390446580","https://openalex.org/W4390494915","https://openalex.org/W4396910086","https://openalex.org/W4401414693","https://openalex.org/W4401417431"],"related_works":[],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,14,67,185],"embodied":[3,182],"intelligence":[4],"have":[5],"opened":[6],"new":[7],"directions":[8],"for":[9,181],"autonomous":[10,137],"agents":[11,36],"to":[12,46,116,128,151],"operate":[13],"complex":[15],"physical":[16],"environments.":[17,123],"In":[18],"this":[19],"work,":[20],"we":[21,83,125],"propose":[22],"a":[23,89,113,141,178],"Posture-Aware":[24],"Locomotion":[25],"Agent":[26],"(PALA)":[27],"trained":[28],"via":[29],"deep":[30],"reinforcement":[31],"learning.":[32],"Unlike":[33],"traditional":[34],"quadruped":[35],"that":[37],"focus":[38],"solely":[39],"on":[40],"velocity":[41],"tracking,":[42],"our":[43,170],"agent":[44,138],"learns":[45],"track":[47],"task-oriented":[48],"6D":[49,157],"motion":[50,105],"commands,":[51],"including":[52],"linear":[53],"and":[54,65,74,80,93,107,121,161,167],"angular":[55],"velocities,":[56],"as":[57,59,177],"well":[58],"desired":[60],"body":[61],"posture":[62],"(height,":[63],"pitch,":[64],"roll),":[66],"real":[68],"time":[69],"using":[70],"only":[71],"proprioceptive":[72],"sensing":[73],"external":[75],"commands.":[76,158],"To":[77],"improve":[78],"robustness":[79],"terrain":[81],"adaptability,":[82],"introduce":[84],"two":[85],"key":[86],"heuristic":[87],"designs:":[88],"progressive":[90],"reward":[91],"curriculum":[92],"an":[94,136],"orientation":[95],"command":[96],"resampling":[97],"strategy.":[98],"Combined":[99],"with":[100,135],"asymmetric":[101],"actor-critic":[102],"training,":[103],"adversarial":[104],"priors,":[106],"domain":[108],"randomization,":[109],"these":[110],"components":[111],"enable":[112],"single":[114],"policy":[115],"generalize":[117],"zero-shot":[118],"across":[119],"diverse":[120],"challenging":[122],"Additionally,":[124],"extend":[126],"PALA":[127],"handle":[129],"high-level":[130],"instructions":[131],"by":[132,140],"integrating":[133],"it":[134],"powered":[139],"large":[142],"language":[143,148],"model":[144],"(LLM),":[145],"enabling":[146],"natural":[147],"task":[149],"descriptions":[150],"be":[152],"directly":[153],"translated":[154],"into":[155],"executable":[156],"Extensive":[159],"simulation":[160],"real-world":[162],"experiments":[163],"demonstrate":[164],"the":[165],"responsiveness":[166],"accuracy":[168],"of":[169],"posture-aware":[171],"locomotion":[172],"agent,":[173],"underscoring":[174],"its":[175],"potential":[176],"core":[179],"component":[180],"systems":[183],"operating":[184],"unstructured":[186],"settings.":[187]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-12-23T00:00:00"}
