{"id":"https://openalex.org/W7147349956","doi":"https://doi.org/10.48550/arxiv.2603.27944","title":"Flip Stunts on Bicycle Robots using Iterative Motion Imitation","display_name":"Flip Stunts on Bicycle Robots using Iterative Motion Imitation","publication_year":2026,"publication_date":"2026-03-30","ids":{"openalex":"https://openalex.org/W7147349956","doi":"https://doi.org/10.48550/arxiv.2603.27944"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.27944","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27944","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.27944","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128700158","display_name":"Jeonghwan Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kim, Jeonghwan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004665939","display_name":"Shamel Fahmi","orcid":"https://orcid.org/0000-0002-0892-7359"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fahmi, Shamel","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079635661","display_name":"Seungeun Rho","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rho, Seungeun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132647653","display_name":"Sehoon Ha","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ha, Sehoon","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5009868904","display_name":"Gabriel M. Nelson","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nelson, Gabriel","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5128700158"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"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":0.5985000133514404,"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":0.5985000133514404,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.13819999992847443,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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":0.07029999792575836,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.729200005531311},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5971999764442444},{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.524399995803833},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5029000043869019},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.4731000065803528},{"id":"https://openalex.org/keywords/imitation","display_name":"Imitation","score":0.4657000005245209},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.46140000224113464},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.3993000090122223},{"id":"https://openalex.org/keywords/iterative-and-incremental-development","display_name":"Iterative and incremental development","score":0.3621000051498413}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.729200005531311},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6101999878883362},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5971999764442444},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.524399995803833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.513700008392334},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5029000043869019},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.4731000065803528},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.4657000005245209},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.46140000224113464},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.3993000090122223},{"id":"https://openalex.org/C143587482","wikidata":"https://www.wikidata.org/wiki/Q1543216","display_name":"Iterative and incremental development","level":2,"score":0.3621000051498413},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.36169999837875366},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3610000014305115},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3544999957084656},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3276999890804291},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3179999887943268},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3118000030517578},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3111000061035156},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3100999891757965},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.2969000041484833},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.28940001130104065},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28760001063346863},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.28600001335144043},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.272599995136261},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.26660001277923584},{"id":"https://openalex.org/C2778344882","wikidata":"https://www.wikidata.org/wiki/Q278938","display_name":"Shot (pellet)","level":2,"score":0.25519999861717224}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.27944","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27944","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.27944","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27944","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"work":[1],"demonstrates":[2],"a":[3,29,70,81,88,108,141],"front-flip":[4],"on":[5,66,139],"bicycle":[6,71],"robots":[7],"via":[8],"reinforcement":[9],"learning,":[10],"particularly":[11],"by":[12,36,87],"imitating":[13],"reference":[14,44,85],"motions":[15],"that":[16,31,45,55,73,97,105],"are":[17,92],"infeasible":[18],"and":[19,59,100,120],"imperfect.":[20],"To":[21,128],"address":[22],"this,":[23],"we":[24,91],"propose":[25],"Iterative":[26],"Motion":[27],"Imitation(IMI),":[28],"method":[30,65],"iteratively":[32],"imitates":[33],"trajectories":[34],"generated":[35,86],"prior":[37],"policy":[38],"rollouts.":[39],"Starting":[40],"from":[41],"an":[42],"initial":[43],"is":[46,74,132],"kinematically":[47],"or":[48],"dynamically":[49],"infeasible,":[50],"IMI":[51,112],"helps":[52],"train":[53,95],"policies":[54,96,115],"lead":[56],"to":[57,76,94,107,124],"feasible":[58],"agile":[60,78],"behaviors.":[61,79],"We":[62,103],"demonstrate":[63],"our":[64,129],"Ultra-Mobility":[67],"Vehicle":[68],"(UMV),":[69],"robot":[72],"designed":[75],"enable":[77,98],"From":[80],"self-colliding":[82],"table-to-ground":[83],"flip":[84,137],"model-based":[89],"controller,":[90],"able":[93],"ground-to-ground":[99],"ground-to-table":[101],"front-flips.":[102],"show":[104],"compared":[106],"single-shot":[109],"motion":[110],"imitation,":[111],"results":[113],"in":[114],"with":[116],"higher":[117],"success":[118],"rates":[119],"can":[121],"transfer":[122],"robustly":[123],"the":[125,133],"real":[126],"world.":[127],"knowledge,":[130],"this":[131],"first":[134],"unassisted":[135],"acrobatic":[136],"behavior":[138],"such":[140],"platform.":[142]},"counts_by_year":[],"updated_date":"2026-04-02T13:53:19.096889","created_date":"2026-04-02T00:00:00"}
