{"id":"https://openalex.org/W7160910999","doi":"https://doi.org/10.48550/arxiv.2605.10063","title":"EFGCL: Learning Dynamic Motion through Spotting-Inspired External Force Guided Curriculum Learning","display_name":"EFGCL: Learning Dynamic Motion through Spotting-Inspired External Force Guided Curriculum Learning","publication_year":2026,"publication_date":"2026-05-11","ids":{"openalex":"https://openalex.org/W7160910999","doi":"https://doi.org/10.48550/arxiv.2605.10063"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.10063","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.10063","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.10063","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109352026","display_name":"K. Yoneda","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yoneda, Keita","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087094940","display_name":"Kento Kawaharazuka","orcid":"https://orcid.org/0000-0002-7464-7187"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kawaharazuka, Kento","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135941467","display_name":"Kei Okada","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Okada, Kei","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":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":0.9449999928474426,"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":0.9449999928474426,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.019099999219179153,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.009600000455975533,"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/motion","display_name":"Motion (physics)","score":0.6794999837875366},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6693999767303467},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5730999708175659},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.438400000333786},{"id":"https://openalex.org/keywords/robot-learning","display_name":"Robot learning","score":0.3305000066757202},{"id":"https://openalex.org/keywords/active-learning","display_name":"Active learning (machine learning)","score":0.319599986076355},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.31850001215934753},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.30489999055862427}],"concepts":[{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6794999837875366},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6776000261306763},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6693999767303467},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5730999708175659},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5195000171661377},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.438400000333786},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3693999946117401},{"id":"https://openalex.org/C188888258","wikidata":"https://www.wikidata.org/wiki/Q7353390","display_name":"Robot learning","level":4,"score":0.3305000066757202},{"id":"https://openalex.org/C77967617","wikidata":"https://www.wikidata.org/wiki/Q4677561","display_name":"Active learning (machine learning)","level":2,"score":0.319599986076355},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.31850001215934753},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.30489999055862427},{"id":"https://openalex.org/C132758656","wikidata":"https://www.wikidata.org/wiki/Q5307365","display_name":"Dreyfus model of skill acquisition","level":2,"score":0.30169999599456787},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2987000048160553},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2953000068664551},{"id":"https://openalex.org/C2779506182","wikidata":"https://www.wikidata.org/wiki/Q7580141","display_name":"Spotting","level":2,"score":0.2879999876022339},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2842999994754791},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2653999924659729},{"id":"https://openalex.org/C34585555","wikidata":"https://www.wikidata.org/wiki/Q1368723","display_name":"Learning curve","level":2,"score":0.26010000705718994},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2587999999523163},{"id":"https://openalex.org/C47177190","wikidata":"https://www.wikidata.org/wiki/Q207137","display_name":"Curriculum","level":2,"score":0.25519999861717224},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.10063","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.10063","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.10063","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.10063","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":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.5262510776519775}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Learning":[0,40],"dynamic":[1,176],"whole-body":[2,177],"motions":[3,120,142],"for":[4,171],"legged":[5],"robots":[6],"through":[7],"reinforcement":[8],"learning":[9,101,173],"(RL)":[10],"remains":[11],"challenging":[12],"due":[13],"to":[14,28,71,126,159],"the":[15,48,103,114,132],"high":[16],"risk":[17],"of":[18,50,102,110,116],"failure,":[19],"which":[20,54,156],"makes":[21],"efficient":[22],"exploration":[23],"difficult":[24],"and":[25,94,112,168],"often":[26],"leads":[27],"unstable":[29],"learning.":[30],"In":[31],"this":[32],"paper,":[33],"we":[34],"propose":[35],"External":[36],"Force":[37],"Guided":[38],"Curriculum":[39],"(EFGCL),":[41],"a":[42,88,108],"guided":[43,154],"RL":[44,123],"approach":[45],"based":[46],"on":[47,79,87,138],"principle":[49],"physical":[51],"guidance,":[52],"in":[53,65,147,163,175],"external":[55],"assistive":[56],"forces":[57],"are":[58],"introduced":[59],"during":[60],"training.":[61],"Inspired":[62],"by":[63,106],"spotting":[64],"artistic":[66],"gymnastics,":[67],"EFGCL":[68,99],"enables":[69,113],"agents":[70,158],"physically":[72,153],"experience":[73,160],"successful":[74],"motion":[75,178],"executions":[76],"without":[77],"relying":[78],"task-specific":[80],"reward":[81],"shaping":[82],"or":[83],"reference":[84],"trajectories.":[85],"Experiments":[86],"quadrupedal":[89],"robot":[90],"performing":[91],"Jump,":[92],"Backflip,":[93],"Lateral-Flip":[95],"tasks":[96],"demonstrate":[97],"that":[98,121,131,152],"accelerates":[100],"Jump":[104],"task":[105],"approximately":[107],"factor":[109],"two":[111],"acquisition":[115],"complex":[117],"whole":[118],"body":[119],"conventional":[122],"methods":[124],"fail":[125],"learn.":[127],"We":[128],"further":[129],"show":[130],"learned":[133],"policies":[134],"can":[135],"be":[136],"deployed":[137],"real":[139],"robot,":[140],"reproducing":[141],"consistent":[143],"with":[144],"those":[145],"observed":[146],"simulation.":[148],"These":[149],"results":[150],"indicate":[151],"exploration,":[155],"allows":[157],"success":[161],"early":[162],"training,":[164],"is":[165],"an":[166],"effective":[167],"general":[169],"strategy":[170],"improving":[172],"efficiency":[174],"tasks.":[179]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-13T00:00:00"}
