{"id":"https://openalex.org/W4401214187","doi":"https://doi.org/10.3390/s24154981","title":"Efficient Reinforcement Learning for 3D Jumping Monopods","display_name":"Efficient Reinforcement Learning for 3D Jumping Monopods","publication_year":2024,"publication_date":"2024-08-01","ids":{"openalex":"https://openalex.org/W4401214187","doi":"https://doi.org/10.3390/s24154981","pmid":"https://pubmed.ncbi.nlm.nih.gov/39124028"},"language":"en","primary_location":{"id":"doi:10.3390/s24154981","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24154981","pdf_url":"https://www.mdpi.com/1424-8220/24/15/4981/pdf?version=1722499496","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/15/4981/pdf?version=1722499496","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5106114025","display_name":"Riccardo Bussola","orcid":null},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Riccardo Bussola","raw_affiliation_strings":["Dipartimento di Ingegneria and Scienza Dell\u2019Informazione (DISI), University of Trento, 38123 Trento, Italy","Dipartimento di Ingegneria and Scienza Dell'Informazione (DISI), University of Trento, 38123 Trento, Italy"],"raw_orcid":"https://orcid.org/0009-0007-8181-1815","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria and Scienza Dell\u2019Informazione (DISI), University of Trento, 38123 Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Dipartimento di Ingegneria and Scienza Dell'Informazione (DISI), University of Trento, 38123 Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070148842","display_name":"Michele Focchi","orcid":"https://orcid.org/0000-0002-4888-5595"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Michele Focchi","raw_affiliation_strings":["Dipartimento di Ingegneria and Scienza Dell\u2019Informazione (DISI), University of Trento, 38123 Trento, Italy","Dipartimento di Ingegneria and Scienza Dell'Informazione (DISI), University of Trento, 38123 Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4888-5595","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria and Scienza Dell\u2019Informazione (DISI), University of Trento, 38123 Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Dipartimento di Ingegneria and Scienza Dell'Informazione (DISI), University of Trento, 38123 Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038165484","display_name":"Andrea Del Prete","orcid":"https://orcid.org/0000-0003-1275-2851"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Del Prete","raw_affiliation_strings":["Dipartimento di Ingegneria Industriale (DII), University of Trento, 38123 Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1275-2851","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Industriale (DII), University of Trento, 38123 Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045097296","display_name":"Daniele Fontanelli","orcid":"https://orcid.org/0000-0002-5486-9989"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Fontanelli","raw_affiliation_strings":["Dipartimento di Ingegneria Industriale (DII), University of Trento, 38123 Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5486-9989","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Industriale (DII), University of Trento, 38123 Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101439376","display_name":"Luigi Palopoli","orcid":"https://orcid.org/0000-0003-2393-479X"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Palopoli","raw_affiliation_strings":["Dipartimento di Ingegneria and Scienza Dell\u2019Informazione (DISI), University of Trento, 38123 Trento, Italy","Dipartimento di Ingegneria and Scienza Dell'Informazione (DISI), University of Trento, 38123 Trento, Italy"],"raw_orcid":"https://orcid.org/0000-0003-2393-479X","affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria and Scienza Dell\u2019Informazione (DISI), University of Trento, 38123 Trento, Italy","institution_ids":["https://openalex.org/I193223587"]},{"raw_affiliation_string":"Dipartimento di Ingegneria and Scienza Dell'Informazione (DISI), University of Trento, 38123 Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5070148842"],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":{"value":2600,"currency":"CHF","value_usd":3137},"apc_paid":{"value":2600,"currency":"CHF","value_usd":3137},"fwci":0.6139,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.6027351,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"24","issue":"15","first_page":"4981","last_page":"4981"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9990000128746033,"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":0.9990000128746033,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9922000169754028,"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":0.9498000144958496,"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":0.8603042960166931},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7633675336837769},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.668627142906189},{"id":"https://openalex.org/keywords/scratch","display_name":"Scratch","score":0.6616355180740356},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6363782286643982},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.6270390152931213},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.6100510358810425},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5680924654006958},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5416318774223328},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.49112650752067566},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47637173533439636},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.39873406291007996},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09325036406517029}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8603042960166931},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7633675336837769},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.668627142906189},{"id":"https://openalex.org/C2781235140","wikidata":"https://www.wikidata.org/wiki/Q275131","display_name":"Scratch","level":2,"score":0.6616355180740356},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6363782286643982},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.6270390152931213},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.6100510358810425},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5680924654006958},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5416318774223328},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.49112650752067566},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47637173533439636},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.39873406291007996},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09325036406517029},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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":5,"locations":[{"id":"doi:10.3390/s24154981","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24154981","pdf_url":"https://www.mdpi.com/1424-8220/24/15/4981/pdf?version=1722499496","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},{"id":"pmid:39124028","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39124028","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":"Sensors (Basel, Switzerland)","raw_type":"Journal Article"},{"id":"pmh:oai:pubmedcentral.nih.gov:11314636","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11314636","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11314636/pdf/sensors-24-04981.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:80d74ca46527447fa272c0d1b1d9214f","is_oa":false,"landing_page_url":"https://doaj.org/article/80d74ca46527447fa272c0d1b1d9214f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 15, p 4981 (2024)","raw_type":"article"},{"id":"pmh:oai:iris.unitn.it:11572/433790","is_oa":true,"landing_page_url":"https://www.mdpi.com/1424-8220/24/15/4981","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"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":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.3390/s24154981","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24154981","pdf_url":"https://www.mdpi.com/1424-8220/24/15/4981/pdf?version=1722499496","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1212517525","display_name":null,"funder_award_id":"2014\u20102020 DM1062 / 2021","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G1473749454","display_name":null,"funder_award_id":"PON Research and Innovation 2014-2020 DM1062 / 2021.","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"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401214187.pdf","grobid_xml":"https://content.openalex.org/works/W4401214187.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W2099270352","https://openalex.org/W2294151168","https://openalex.org/W2296073425","https://openalex.org/W2593412525","https://openalex.org/W2898868201","https://openalex.org/W2906487027","https://openalex.org/W2911087563","https://openalex.org/W2969343193","https://openalex.org/W2973043785","https://openalex.org/W3004070224","https://openalex.org/W3006891653","https://openalex.org/W3098680447","https://openalex.org/W3200962355","https://openalex.org/W3205653979","https://openalex.org/W3207111613","https://openalex.org/W4205918232","https://openalex.org/W4226143977","https://openalex.org/W4226331969","https://openalex.org/W4253022264","https://openalex.org/W4283734789","https://openalex.org/W4286904426","https://openalex.org/W4287818847","https://openalex.org/W4289522461","https://openalex.org/W4293566197","https://openalex.org/W4293741188","https://openalex.org/W4300892751","https://openalex.org/W4310492983","https://openalex.org/W4312908419","https://openalex.org/W4360913297","https://openalex.org/W4365790399","https://openalex.org/W4366458446","https://openalex.org/W4367727829","https://openalex.org/W4383108288","https://openalex.org/W4383109295","https://openalex.org/W4385430674","https://openalex.org/W4386702919","https://openalex.org/W4390481291","https://openalex.org/W4390572252","https://openalex.org/W4401416847","https://openalex.org/W4401416997","https://openalex.org/W4404563874","https://openalex.org/W4404576594","https://openalex.org/W6675156076","https://openalex.org/W6773953490","https://openalex.org/W6851131224"],"related_works":["https://openalex.org/W3124676748","https://openalex.org/W2334192603","https://openalex.org/W2382466266","https://openalex.org/W2385281849","https://openalex.org/W1591560775","https://openalex.org/W2562824280","https://openalex.org/W4229024545","https://openalex.org/W2118935785","https://openalex.org/W2512066353","https://openalex.org/W2581854855"],"abstract_inverted_index":{"We":[0],"consider":[1],"a":[2,7,11,14,32,35,78,106,133],"complex":[3],"control":[4],"problem:":[5],"making":[6],"monopod":[8,18],"accurately":[9],"reach":[10],"target":[12],"with":[13,77],"single":[15],"jump.":[16],"The":[17],"can":[19,74],"jump":[20],"in":[21,65,122],"any":[22],"direction":[23],"at":[24],"different":[25],"elevations":[26],"of":[27,39,109,126,136],"the":[28,67,88,113,123,127],"terrain.":[29],"This":[30,99],"is":[31,57,85],"paradigm":[33],"for":[34,119],"much":[36],"larger":[37],"class":[38],"problems,":[40],"which":[41,66],"are":[42],"extremely":[43],"challenging":[44],"and":[45,112,117,142],"computationally":[46],"expensive":[47],"to":[48,86,115],"solve":[49],"using":[50],"standard":[51],"optimization-based":[52,141],"techniques.":[53],"Reinforcement":[54],"learning":[55,89,110],"(RL)":[56],"an":[58,62,92],"interesting":[59],"alternative,":[60],"but":[61],"end-to-end":[63,143],"approach":[64],"controller":[68],"must":[69],"learn":[70,116],"everything":[71],"from":[72],"scratch":[73],"be":[75],"non-trivial":[76],"sparse-reward":[79],"task":[80],"like":[81],"jumping.":[82],"Our":[83,129],"solution":[84,138],"guide":[87],"process":[90],"within":[91],"RL":[93,144],"framework":[94],"leveraging":[95],"nature-inspired":[96],"heuristic":[97],"knowledge.":[98],"expedient":[100],"brings":[101],"widespread":[102],"benefits,":[103],"such":[104],"as":[105],"drastic":[107],"reduction":[108],"time,":[111],"ability":[114],"compensate":[118],"possible":[120],"errors":[121],"low-level":[124],"execution":[125],"motion.":[128],"simulation":[130],"results":[131],"reveal":[132],"clear":[134],"advantage":[135],"our":[137],"against":[139],"both":[140],"approaches.":[145]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-08-23T07:36:19.812096","created_date":"2025-10-10T00:00:00"}