{"id":"https://openalex.org/W7167029641","doi":"https://doi.org/10.48550/arxiv.2607.00442","title":"Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications","display_name":"Learning Gait-Aware Quadruped Locomotion with Temporal Logic Specifications","publication_year":2026,"publication_date":"2026-07-01","ids":{"openalex":"https://openalex.org/W7167029641","doi":"https://doi.org/10.48550/arxiv.2607.00442"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2607.00442","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00442","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":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.2607.00442","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114336086","display_name":"Merve Atasever","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Atasever, Merve","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139899987","display_name":"Cagan Bakirci","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bakirci, Cagan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139933405","display_name":"Alfredo Reina Corona","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Corona, Alfredo Reina","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139931565","display_name":"Keyan Azbijari","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Azbijari, Keyan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5023357035","display_name":"Jyotirmoy V. Deshmukh","orcid":"https://orcid.org/0000-0002-8815-464X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Deshmukh, Jyotirmoy V.","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":0.9182999730110168,"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":0.9182999730110168,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.020400000736117363,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.0203000009059906,"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/interpretability","display_name":"Interpretability","score":0.8008999824523926},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6410999894142151},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6103000044822693},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5252000093460083},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5202000141143799},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4796000123023987},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4449000060558319},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.42329999804496765},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.36480000615119934}],"concepts":[{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.8008999824523926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6590999960899353},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6410999894142151},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6103000044822693},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5252000093460083},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5202000141143799},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4796000123023987},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4449000060558319},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.42329999804496765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3686999976634979},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.36480000615119934},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.335999995470047},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.33340001106262207},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3188999891281128},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.3158999979496002},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.3111000061035156},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3059999942779541},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.30250000953674316},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.30090001225471497},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.29989999532699585},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2989000082015991},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.29269999265670776},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.26910001039505005},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2660999894142151},{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.25940001010894775},{"id":"https://openalex.org/C103824480","wikidata":"https://www.wikidata.org/wiki/Q185889","display_name":"Time domain","level":2,"score":0.25380000472068787},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2607.00442","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00442","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2607.00442","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2607.00442","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":false,"raw_source_name":null,"raw_type":"Preprint"},"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":{"Reinforcement":[0],"learning":[1,70],"(RL)":[2],"for":[3,86],"quadruped":[4,135],"locomotion":[5],"commonly":[6],"depends":[7],"on":[8,132,184],"fixed,":[9],"hand-crafted,":[10],"and":[11,22,56,99,151,176],"Markovian":[12],"reward":[13,65,75],"functions":[14],"that":[15,68,77,161],"limit":[16],"both":[17],"interpretability":[18],"of":[19,106,166],"learned":[20,157],"policies":[21],"lack":[23],"explicit":[24],"control":[25],"over":[26,109],"gait":[27,51],"behaviors.":[28],"We":[29,81,128,141,159],"introduce":[30],"a":[31,64,72,164],"framework":[32],"where":[33],"distinct":[34],"gaits":[35],"are":[36],"specified":[37],"using":[38,103],"parameterized":[39],"constraints":[40],"expressed":[41],"in":[42,137],"Signal":[43],"Temporal":[44],"Logic":[45],"(STL).":[46],"These":[47],"include":[48],"safety":[49],"bounds,":[50],"synchronization":[52],"constraints,":[53],"command":[54],"tracking,":[55],"actuation":[57],"bounds.":[58],"From":[59],"these":[60],"specifications,":[61],"we":[62],"develop":[63],"shaping":[66],"mechanism":[67],"provides":[69],"agents":[71],"dense,":[73],"continuous":[74],"landscape":[76],"encodes":[78],"desired":[79],"behavior.":[80],"define":[82],"parametric":[83],"STL":[84,107],"templates":[85],"three":[87],"speed":[88],"regimes":[89],"(walking-trot,":[90],"trot,":[91],"bound),":[92],"calibrate":[93],"their":[94],"parameters":[95],"from":[96,102],"reference":[97],"rollouts,":[98],"compute":[100],"rewards":[101,114,171],"smooth":[104],"approximations":[105],"robustness":[108],"the":[110,130,145,169],"rollouts.":[111],"The":[112],"generated":[113],"can":[115,181],"be":[116,182],"used":[117],"to":[118,147,155,163],"provide":[119],"shaped":[120],"gradients":[121],"compatible":[122],"with":[123],"Proximal":[124],"Policy":[125],"Optimization":[126],"(PPO).":[127],"instantiate":[129],"approach":[131],"Google's":[133],"Barkour":[134],"robot":[136],"MuJoCo":[138],"XLA":[139],"(MJX).":[140],"use":[142,152],"parallelization":[143],"within":[144],"simulator":[146],"improve":[148],"training":[149],"speeds":[150],"domain":[153],"randomization":[154],"robustify":[156],"policies.":[158],"show":[160],"compared":[162],"baseline":[165],"hand-crafted":[167],"rewards,":[168],"STL-shaped":[170],"yield":[172],"tighter":[173],"velocity":[174],"tracking":[175],"more":[177],"stable":[178],"training.":[179],"Videos":[180],"found":[183],"our":[185],"project":[186],"website:":[187],"https://stl-locomotion.github.io/.":[188]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-07-03T00:00:00"}
