{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T21:02:22Z","timestamp":1784408542971,"version":"3.55.0"},"publisher-location":"Singapore","reference-count":27,"publisher":"Springer Nature Singapore","isbn-type":[{"value":"9789819233809","type":"print"},{"value":"9789819233816","type":"electronic"}],"license":[{"start":{"date-parts":[[2026,7,19]],"date-time":"2026-07-19T00:00:00Z","timestamp":1784419200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2026,7,19]],"date-time":"2026-07-19T00:00:00Z","timestamp":1784419200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2027]]},"DOI":"10.1007\/978-981-92-3381-6_42","type":"book-chapter","created":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T20:16:10Z","timestamp":1784405770000},"page":"517-528","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["SafeRecovery: A Safety-Recovery Benchmark with Four-Axis Evaluation for Quadruped Locomotion"],"prefix":"10.1007","author":[{"given":"Yaozeng","family":"Huang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ziyi","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuhao","family":"Jiang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jingjie","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yifan","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yanyun","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fei","family":"Shi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,7,19]]},"reference":[{"key":"42_CR1","doi-asserted-by":"crossref","unstructured":"Akki, S., Chen, T.: Benchmarking model predictive control and reinforcement learning based control for legged robot locomotion in MuJoCo simulation (2025). https:\/\/arxiv.org\/abs\/2501.16590","DOI":"10.1109\/ACCESS.2025.3582523"},{"key":"42_CR2","unstructured":"Al-Hafez, F., Zhao, G., Peters, J., Tateo, D.: LocoMuJoCo: A comprehensive imitation learning benchmark for locomotion (2023). https:\/\/arxiv.org\/abs\/2311.02496"},{"key":"42_CR3","unstructured":"Chane-Sane, E., Amigo, J., Flayols, T., Righetti, L., Mansard, N.: SoloParkour: Constrained reinforcement learning for visual locomotion from privileged experience (2024). https:\/\/arxiv.org\/abs\/2409.13678"},{"key":"42_CR4","doi-asserted-by":"crossref","unstructured":"Chane-Sane, E., Leziart, P.A., Flayols, T., Stasse, O., Sou\u00e8res, P., Mansard, N.: CaT: Constraints as terminations for legged locomotion reinforcement learning (2024). https:\/\/arxiv.org\/abs\/2403.18765","DOI":"10.1109\/IROS58592.2024.10802334"},{"key":"42_CR5","unstructured":"Chen, H., Hong, Z., Yang, S., Wensing, P.M., Zhang, W.: Quadruped capturability and push recovery via a switched-systems characterization of dynamic balance (2022). https:\/\/arxiv.org\/abs\/2201.11928"},{"key":"42_CR6","doi-asserted-by":"crossref","unstructured":"Chen, Y., Nguyen, Q.: Learning agile locomotion and adaptive behaviors via RL-augmented MPC (2024). https:\/\/arxiv.org\/abs\/2310.09442","DOI":"10.1109\/ICRA57147.2024.10610453"},{"key":"42_CR7","unstructured":"Ha, S., Lee, J., van de Panne, M., Xie, Z., Yu, W., Khadiv, M.: Learning-based legged locomotion; state of the art and future perspectives (2024). https:\/\/arxiv.org\/abs\/2406.01152"},{"key":"42_CR8","doi-asserted-by":"crossref","unstructured":"He, T., Zhang, C., Xiao, W., He, G., Liu, C., Shi, G.: Agile but safe: learning collision-free high-speed legged locomotion (2024). https:\/\/arxiv.org\/abs\/2401.17583","DOI":"10.15607\/RSS.2024.XX.059"},{"key":"42_CR9","unstructured":"Ji, J., et al.: Safety-gymnasium: a unified safe reinforcement learning benchmark (2024). https:\/\/arxiv.org\/abs\/2310.12567"},{"key":"42_CR10","doi-asserted-by":"crossref","unstructured":"Klipfel, A., Sontakke, N., Liu, R., Ha, S.: Learning a single policy for diverse behaviors on a quadrupedal robot using scalable motion imitation (2023). https:\/\/arxiv.org\/abs\/2303.15331","DOI":"10.1109\/IROS55552.2023.10341709"},{"key":"42_CR11","unstructured":"Lee, J., Hwangbo, J., Hutter, M.: Robust recovery controller for a quadrupedal robot using deep reinforcement learning (2019). https:\/\/arxiv.org\/abs\/1901.07517"},{"issue":"47","key":"42_CR12","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986","volume":"5","author":"J Lee","year":"2020","unstructured":"Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., Hutter, M.: Learning quadrupedal locomotion over challenging terrain. Sci. Robot. 5(47), eabc5986 (2020). https:\/\/doi.org\/10.1126\/scirobotics.abc5986","journal-title":"Sci. Robot."},{"key":"42_CR13","unstructured":"Li, P., et al.: SATA: Safe and adaptive torque-based locomotion policies inspired by animal learning (2025). https:\/\/arxiv.org\/abs\/2502.12674"},{"key":"42_CR14","doi-asserted-by":"crossref","unstructured":"Li, S., et al.: Learning agility and adaptive legged locomotion via curricular hindsight reinforcement learning (2023). https:\/\/arxiv.org\/abs\/2310.15583","DOI":"10.21203\/rs.3.rs-3812430\/v1"},{"key":"42_CR15","unstructured":"Lu, Y., Dong, Y., Ma, J., Zhang, J., Lu, P.: Learning an adaptive fall recovery controller for quadrupeds on complex terrains (2024). https:\/\/arxiv.org\/abs\/2412.16924"},{"issue":"7","key":"42_CR16","doi-asserted-by":"publisher","first-page":"6632","DOI":"10.1109\/LRA.2025.3569117","volume":"10","author":"Y Lu","year":"2025","unstructured":"Lu, Y., Dong, Y., Zhang, J., Ma, J., Lu, P.: FR-Net: Learning robust quadrupedal fall recovery on challenging terrains through mass-contact prediction. IEEE Rob. Autom. Lett. 10(7), 6632\u20136639 (2025). https:\/\/doi.org\/10.1109\/LRA.2025.3569117","journal-title":"IEEE Rob. Autom. Lett."},{"key":"42_CR17","unstructured":"Makoviychuk, V., et al.: Isaac gym: High performance GPU-based physics simulation for robot learning (2021). https:\/\/arxiv.org\/abs\/2108.10470"},{"key":"42_CR18","doi-asserted-by":"crossref","unstructured":"Roscia, F., Focchi, M., Prete, A.D., Caldwell, D.G., Semini, C.: Reactive landing controller for quadruped robots (2023). https:\/\/arxiv.org\/abs\/2305.07748","DOI":"10.1109\/LRA.2023.3313919"},{"key":"42_CR19","unstructured":"Rudin, N., Hoeller, D., Reist, P., Hutter, M.: Learning to walk in minutes using massively parallel deep reinforcement learning (2022). https:\/\/arxiv.org\/abs\/2109.11978"},{"key":"42_CR20","unstructured":"Schulman, J., Wolski, F., Dhariwal, P., Radford, A., Klimov, O.: Proximal policy optimization algorithms (2017). https:\/\/arxiv.org\/abs\/1707.06347"},{"key":"42_CR21","unstructured":"Shi, H., Zhu, Q., Han, L., Chi, W., Li, T., Meng, M.Q.H.: Terrain-aware quadrupedal locomotion via reinforcement learning (2023). https:\/\/arxiv.org\/abs\/2310.04675"},{"key":"42_CR22","doi-asserted-by":"crossref","unstructured":"Smith, L., et al.: Learning and adapting agile locomotion skills by transferring experience (2023). https:\/\/arxiv.org\/abs\/2304.09834","DOI":"10.15607\/RSS.2023.XIX.051"},{"key":"42_CR23","doi-asserted-by":"crossref","unstructured":"Tan, J., et al.: Sim-to-real: Learning agile locomotion for quadruped robots (2018). https:\/\/arxiv.org\/abs\/1804.10332","DOI":"10.15607\/RSS.2018.XIV.010"},{"key":"42_CR24","unstructured":"Wu, S., et al.: VOCALoco: Viability-optimized cost-aware adaptive locomotion (2025). https:\/\/arxiv.org\/abs\/2510.23997"},{"key":"42_CR25","unstructured":"Yang, L., Werner, B., de Sa, M., Ames, A.D.: CBF-RL: Safety filtering reinforcement learning in training with control barrier functions (2026). https:\/\/arxiv.org\/abs\/2510.14959"},{"key":"42_CR26","doi-asserted-by":"crossref","unstructured":"Yu, W., et al.: Discovery of skill switching criteria for learning agile quadruped locomotion (2025). https:\/\/arxiv.org\/abs\/2502.06676","DOI":"10.3389\/frobt.2026.1697159"},{"key":"42_CR27","unstructured":"Zhang, A., Zhuang, Z., Wang, C., Ge, S.S., Shi, F., Xiang, C.: SAC-Loco: Safe and adjustable compliant quadrupedal locomotion (2026). https:\/\/arxiv.org\/abs\/2509.23223"}],"container-title":["Lecture Notes in Computer Science","Advanced Intelligent Computing Technology and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/978-981-92-3381-6_42","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,7,18]],"date-time":"2026-07-18T20:16:12Z","timestamp":1784405772000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/978-981-92-3381-6_42"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,7,19]]},"ISBN":["9789819233809","9789819233816"],"references-count":27,"URL":"https:\/\/doi.org\/10.1007\/978-981-92-3381-6_42","relation":{},"ISSN":["0302-9743","1611-3349"],"issn-type":[{"value":"0302-9743","type":"print"},{"value":"1611-3349","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,7,19]]},"assertion":[{"value":"19 July 2026","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}},{"value":"ICIC","order":1,"name":"conference_acronym","label":"Conference Acronym","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"International Conference on Intelligent Computing","order":2,"name":"conference_name","label":"Conference Name","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Toronto","order":3,"name":"conference_city","label":"Conference City","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"Canada","order":4,"name":"conference_country","label":"Conference Country","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"2026","order":5,"name":"conference_year","label":"Conference Year","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22 July 2026","order":7,"name":"conference_start_date","label":"Conference Start Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"26 July 2026","order":8,"name":"conference_end_date","label":"Conference End Date","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"22","order":9,"name":"conference_number","label":"Conference Number","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"icic2026a","order":10,"name":"conference_id","label":"Conference ID","group":{"name":"ConferenceInfo","label":"Conference Information"}},{"value":"http:\/\/www.ic-icc.cn\/2026\/index.htm","order":11,"name":"conference_url","label":"Conference URL","group":{"name":"ConferenceInfo","label":"Conference Information"}}]}}