{"id":"https://openalex.org/W4388685040","doi":"https://doi.org/10.2312/imet.20231258","title":"Towards Continual Reinforcement Learning for Quadruped Robots","display_name":"Towards Continual Reinforcement Learning for Quadruped Robots","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4388685040","doi":"https://doi.org/10.2312/imet.20231258"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2311.06828","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2311.06828","pdf_url":"https://arxiv.org/pdf/2311.06828","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2311.06828","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019988678","display_name":"Giovanni Minelli","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Minelli, Giovanni","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5021954539","display_name":"Vassilis Vassiliades","orcid":"https://orcid.org/0000-0002-1336-5629"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Vassiliades, Vassilis","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10731","display_name":"Educational Games and Gamification","score":0.9271000027656555,"subfield":{"id":"https://openalex.org/subfields/3204","display_name":"Developmental and Educational Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10731","display_name":"Educational Games and Gamification","score":0.9271000027656555,"subfield":{"id":"https://openalex.org/subfields/3204","display_name":"Developmental and Educational Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.7937257289886475},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.7876280546188354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7808133363723755},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7161633372306824},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5645894408226013},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4491090178489685},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.443376362323761},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4432869255542755},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3324693441390991},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.06477028131484985}],"concepts":[{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7937257289886475},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.7876280546188354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7808133363723755},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7161633372306824},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5645894408226013},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4491090178489685},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.443376362323761},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4432869255542755},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3324693441390991},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.06477028131484985},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2311.06828","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2311.06828","pdf_url":"https://arxiv.org/pdf/2311.06828","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2311.06828","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2311.06828","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":"article-journal"},{"id":"doi:10.2312/imet.20231258","is_oa":true,"landing_page_url":"https://doi.org/10.2312/imet.20231258","pdf_url":null,"source":{"id":"https://openalex.org/S7407052899","display_name":"Eurographics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"ConferencePaper"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2311.06828","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2311.06828","pdf_url":"https://arxiv.org/pdf/2311.06828","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Quality Education","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G434337789","display_name":null,"funder_award_id":"HORIZON2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G992966723","display_name":"Research Center on Interactive Media, Smart System and Emerging Technologies","funder_award_id":"739578","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320332084","display_name":"Deputy Ministry of Research, Innovation and Digital Policy","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4388685040.pdf","grobid_xml":"https://content.openalex.org/works/W4388685040.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W3121791438"],"abstract_inverted_index":{"Quadruped":[0],"robots":[1,122],"have":[2],"emerged":[3],"as":[4,94,96],"an":[5],"evolving":[6],"technology":[7],"that":[8],"currently":[9],"leverages":[10],"simulators":[11],"to":[12,34,48,99,114],"develop":[13],"a":[14],"robust":[15],"controller":[16],"capable":[17],"of":[18,45,78,87,120],"functioning":[19],"in":[20,123],"the":[21,24,43,66,85,97,101,116],"real-world":[22,38,124],"without":[23],"need":[25],"for":[26],"further":[27],"training.":[28],"However,":[29],"since":[30],"it":[31],"is":[32],"impossible":[33],"predict":[35],"all":[36,77],"possible":[37],"situations,":[39],"our":[40],"research":[41],"explores":[42],"possibility":[44],"enabling":[46],"them":[47],"continue":[49],"learning":[50,62],"even":[51],"after":[52],"their":[53],"deployment.":[54],"To":[55],"this":[56],"end,":[57],"we":[58,112],"designed":[59],"two":[60],"continual":[61],"scenarios,":[63],"sequentially":[64],"training":[65],"robot":[67,102],"on":[68,84],"different":[69],"environments":[70],"while":[71],"simultaneously":[72],"evaluating":[73],"its":[74],"performance":[75,119],"across":[76],"them.":[79],"Our":[80],"approach":[81],"sheds":[82],"light":[83],"extent":[86],"both":[88],"forward":[89],"and":[90,118],"backward":[91],"skill":[92],"transfer,":[93],"well":[95],"degree":[98],"which":[100],"might":[103],"forget":[104],"previously":[105],"acquired":[106],"skills.":[107],"By":[108],"addressing":[109],"these":[110],"factors,":[111],"hope":[113],"enhance":[115],"adaptability":[117],"quadruped":[121],"scenarios.":[125]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2023-11-15T00:00:00"}