{"id":"https://openalex.org/W4229014818","doi":"https://doi.org/10.48550/arxiv.2205.01807","title":"Learning Dynamic Bipedal Walking Across Stepping Stones","display_name":"Learning Dynamic Bipedal Walking Across Stepping Stones","publication_year":2022,"publication_date":"2022-05-03","ids":{"openalex":"https://openalex.org/W4229014818","doi":"https://doi.org/10.48550/arxiv.2205.01807"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2205.01807","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.01807","pdf_url":"https://arxiv.org/pdf/2205.01807","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2205.01807","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081698388","display_name":"Helei Duan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duan, Helei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102993615","display_name":"Ashish Malik","orcid":"https://orcid.org/0000-0003-0382-4374"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Malik, Ashish","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082095955","display_name":"Mohitvishnu S. Gadde","orcid":"https://orcid.org/0000-0002-3566-4275"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gadde, Mohitvishnu S.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025328125","display_name":"Jeremy Dao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dao, Jeremy","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030052689","display_name":"Alan Fern","orcid":"https://orcid.org/0000-0001-5851-8935"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fern, Alan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5026407792","display_name":"Jonathan Hurst","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hurst, Jonathan","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":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":0.9797000288963318,"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":0.9797000288963318,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9793999791145325,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9230999946594238,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7149359583854675},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.6985722780227661},{"id":"https://openalex.org/keywords/stepping-stone","display_name":"Stepping stone","score":0.6876057982444763},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6727110147476196},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6289172172546387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5622297525405884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.47304219007492065},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4678747355937958},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.43950772285461426},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36346861720085144},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3393057882785797},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20740577578544617}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7149359583854675},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.6985722780227661},{"id":"https://openalex.org/C3019463535","wikidata":"https://www.wikidata.org/wiki/Q7611136","display_name":"Stepping stone","level":3,"score":0.6876057982444763},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6727110147476196},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6289172172546387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5622297525405884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.47304219007492065},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4678747355937958},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.43950772285461426},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36346861720085144},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3393057882785797},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20740577578544617},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2778126366","wikidata":"https://www.wikidata.org/wiki/Q41171","display_name":"Unemployment","level":2,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2205.01807","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.01807","pdf_url":"https://arxiv.org/pdf/2205.01807","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"doi:10.48550/arxiv.2205.01807","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2205.01807","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":"pmh:oai:arXiv.org:2205.01807","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2205.01807","pdf_url":"https://arxiv.org/pdf/2205.01807","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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[{"score":0.5299999713897705,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4229014818.pdf","grobid_xml":"https://content.openalex.org/works/W4229014818.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2378211422","https://openalex.org/W2745001401","https://openalex.org/W4321353415","https://openalex.org/W2275421695","https://openalex.org/W2130974462","https://openalex.org/W2028665553","https://openalex.org/W2086519370","https://openalex.org/W972276598","https://openalex.org/W2087343574","https://openalex.org/W4246352526"],"abstract_inverted_index":{"In":[0],"this":[1,27],"work,":[2],"we":[3,133,156],"propose":[4],"a":[5,44,77,94,121,135],"learning":[6,47,71,160],"approach":[7,48,67],"for":[8,126,164],"3D":[9],"dynamic":[10,59,110,166],"bipedal":[11],"walking":[12,60],"when":[13],"footsteps":[14,105],"are":[15,117,143],"constrained":[16],"to":[17,34,75,145],"stepping":[18,128,139,169],"stones.":[19,170],"While":[20],"recent":[21],"work":[22],"has":[23],"shown":[24],"progress":[25],"on":[26],"problem,":[28],"real-world":[29,51],"demonstrations":[30],"have":[31],"been":[32],"limited":[33],"relatively":[35],"simple":[36],"open-loop,":[37],"perception-free":[38],"scenarios.":[39],"Our":[40,66],"main":[41],"contribution":[42],"is":[43,161],"more":[45],"advanced":[46],"that":[49,79,97,158,176],"enables":[50,101],"demonstrations,":[52],"using":[53],"the":[54,107,152],"Cassie":[55],"robot,":[56],"of":[57,96,103,138],"closed-loop":[58],"over":[61,168],"moderately":[62],"difficult":[63],"stepping-stone":[64],"patterns.":[65],"first":[68],"uses":[69],"reinforcement":[70],"(RL)":[72],"in":[73,148],"simulation":[74,150],"train":[76],"controller":[78,114],"maps":[80],"footstep":[81],"commands":[82],"onto":[83],"joint":[84],"actions":[85],"without":[86],"any":[87],"reference":[88],"motion":[89],"information.":[90],"We":[91,171],"then":[92,118],"learn":[93],"model":[95,116],"controller's":[98],"capabilities,":[99],"which":[100,142],"prediction":[102],"feasible":[104],"given":[106],"robot's":[108],"current":[109],"state.":[111],"The":[112],"resulting":[113],"and":[115,151],"integrated":[119],"with":[120],"real-time":[122],"overhead":[123],"camera":[124],"system":[125],"detecting":[127],"stone":[129,140],"locations.":[130],"For":[131],"evaluation,":[132],"develop":[134],"benchmark":[136],"set":[137],"patterns,":[141],"used":[144],"test":[146],"performance":[147],"both":[149],"real":[153],"world.":[154],"Overall,":[155],"demonstrate":[157],"sim-to-real":[159],"extremely":[162],"promising":[163],"enabling":[165],"locomotion":[167],"also":[172],"identify":[173],"challenges":[174],"remaining":[175],"motivate":[177],"important":[178],"future":[179],"research":[180],"directions.":[181]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-10-10T00:00:00"}