{"id":"https://openalex.org/W4403796954","doi":"https://doi.org/10.48550/arxiv.2409.17992","title":"LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots","display_name":"LoopSR: Looping Sim-and-Real for Lifelong Policy Adaptation of Legged Robots","publication_year":2024,"publication_date":"2024-09-26","ids":{"openalex":"https://openalex.org/W4403796954","doi":"https://doi.org/10.48550/arxiv.2409.17992"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2409.17992","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.17992","pdf_url":"https://arxiv.org/pdf/2409.17992","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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/2409.17992","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101947561","display_name":"Pei\u2010Lin Wu","orcid":"https://orcid.org/0009-0000-1447-220X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Wu, Peilin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104253488","display_name":"Weiji Xie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xie, Weiji","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015422529","display_name":"Jiahang Cao","orcid":"https://orcid.org/0000-0003-4338-4414"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cao, Jiahang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101789061","display_name":"Hang Lai","orcid":"https://orcid.org/0000-0003-1000-3232"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lai, Hang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5102020194","display_name":"Weinan Zhang","orcid":"https://orcid.org/0000-0001-5893-1543"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Weinan","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101947561"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9046000242233276,"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":0.9046000242233276,"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/adaptation","display_name":"Adaptation (eye)","score":0.7624415159225464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6941530704498291},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48711180686950684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2508540451526642},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12859225273132324}],"concepts":[{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.7624415159225464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6941530704498291},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48711180686950684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2508540451526642},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12859225273132324},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2409.17992","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.17992","pdf_url":"https://arxiv.org/pdf/2409.17992","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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.2409.17992","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2409.17992","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2409.17992","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.17992","pdf_url":"https://arxiv.org/pdf/2409.17992","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4403796954.pdf"},"referenced_works_count":0,"referenced_works":[],"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":{"Reinforcement":[0],"Learning":[1],"(RL)":[2],"has":[3],"shown":[4],"its":[5],"remarkable":[6],"and":[7,87,101,160,169],"generalizable":[8],"capability":[9],"in":[10,38,70,157],"legged":[11],"locomotion":[12],"through":[13],"sim-to-real":[14,161],"transfer.":[15],"However,":[16],"while":[17],"adaptive":[18],"methods":[19,104],"like":[20],"domain":[21],"randomization":[22],"are":[23,105,119],"expected":[24],"to":[25,43,48,79,107,165],"enhance":[26,108],"policy":[27,62],"robustness":[28],"across":[29],"diverse":[30],"environments,":[31],"they":[32],"potentially":[33],"compromise":[34],"the":[35,49,71,93,126],"policy's":[36],"performance":[37,153],"any":[39],"specific":[40],"environment,":[41],"leading":[42],"suboptimal":[44],"real-world":[45,81,112],"deployment":[46],"due":[47],"No":[50],"Free":[51],"Lunch":[52],"theorem.":[53],"To":[54],"address":[55],"this,":[56],"we":[57],"propose":[58],"LoopSR,":[59],"a":[60,76,84,89,132],"lifelong":[61],"adaptation":[63],"framework":[64],"that":[65],"continuously":[66],"refines":[67],"RL":[68],"policies":[69],"post-deployment":[72],"stage.":[73],"LoopSR":[74,142],"employs":[75],"transformer-based":[77],"encoder":[78],"map":[80],"trajectories":[82],"into":[83],"latent":[85],"space":[86],"reconstruct":[88],"digital":[90],"twin":[91],"of":[92,111],"real":[94],"world":[95],"for":[96,116,167],"further":[97],"improvement.":[98],"Autoencoder":[99],"architecture":[100],"contrastive":[102],"learning":[103],"adopted":[106],"feature":[109],"extraction":[110],"dynamics.":[113],"Simulation":[114],"parameters":[115,130],"continual":[117,140],"training":[118],"derived":[120],"by":[121],"combining":[122],"predicted":[123],"values":[124],"from":[125,131],"decoder":[127],"with":[128,148,154],"retrieved":[129],"pre-collected":[133],"simulation":[134],"trajectory":[135],"dataset.":[136],"By":[137],"leveraging":[138],"simulated":[139],"training,":[141],"achieves":[143],"superior":[144],"data":[145,156],"efficiency":[146],"compared":[147],"strong":[149],"baselines,":[150],"yielding":[151],"eminent":[152],"limited":[155],"both":[158],"sim-to-sim":[159],"experiments.":[162],"Please":[163],"refer":[164],"https://peilinwu.site/looping-sim-and-real.github.io/":[166],"videos":[168],"code.":[170]},"counts_by_year":[],"updated_date":"2026-03-11T14:59:36.786465","created_date":"2025-10-10T00:00:00"}
