{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,18]],"date-time":"2026-04-18T16:26:02Z","timestamp":1776529562754,"version":"3.51.2"},"reference-count":45,"publisher":"IEEE","license":[{"start":{"date-parts":[[2024,11,22]],"date-time":"2024-11-22T00:00:00Z","timestamp":1732233600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2024,11,22]],"date-time":"2024-11-22T00:00:00Z","timestamp":1732233600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2024,11,22]]},"DOI":"10.1109\/humanoids58906.2024.10769916","type":"proceedings-article","created":{"date-parts":[[2024,12,3]],"date-time":"2024-12-03T18:54:29Z","timestamp":1733252069000},"page":"1048-1055","source":"Crossref","is-referenced-by-count":8,"title":["Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains"],"prefix":"10.1109","author":[{"given":"Shangqun","family":"Yu","sequence":"first","affiliation":[{"name":"University of Massachusetts Amherst, Amherst, MA, 140 Governors Dr,Manning College of Information and Computer Sciences,Amherst,MA,USA,01002"}]},{"given":"Nisal","family":"Perera","sequence":"additional","affiliation":[{"name":"University of Massachusetts Amherst, Amherst, MA, 140 Governors Dr,Manning College of Information and Computer Sciences,Amherst,MA,USA,01002"}]},{"given":"Daniel","family":"Marew","sequence":"additional","affiliation":[{"name":"University of Massachusetts Amherst, Amherst, MA, 140 Governors Dr,Manning College of Information and Computer Sciences,Amherst,MA,USA,01002"}]},{"given":"Donghyun","family":"Kim","sequence":"additional","affiliation":[{"name":"University of Massachusetts Amherst, Amherst, MA, 140 Governors Dr,Manning College of Information and Computer Sciences,Amherst,MA,USA,01002"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594448"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197312"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364198"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206268"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560742"},{"key":"ref6","article-title":"Highly dynamic quadruped locomotion via whole-body impulse control and model predictive control","author":"Kim","year":"2019"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS47582.2021.9555775"},{"key":"ref8","article-title":"Fast and feature-complete differentiable physics for articulated rigid bodies with contact","author":"Werling","year":"2021","journal-title":"arXiv preprint arXiv:2103.16021"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3351554"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9811796"},{"key":"ref11","article-title":"Contact-implicit mpc: Controlling diverse quadruped motions without pre-planned contact modes or trajectories","author":"Kim","year":"2023","journal-title":"arXiv preprint arXiv:2312.08961"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2020.xvi.064"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560769"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids57100.2023.10375154"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3304561"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.010"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.061"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adi9579"},{"key":"ref20","article-title":"Learning to walk in minutes using massively parallel deep reinforcement learning","volume-title":"5th Annual Conference on Robot Learning","author":"Rudin"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/icra57147.2024.10610200"},{"key":"ref22","article-title":"Robot parkour learning","volume-title":"Conference on Robot Learning (CoRL)","author":"Zhuang"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adi7566"},{"key":"ref24","article-title":"Learning to jump from pixels","volume-title":"5th Annual Conference on Robot Learning","author":"Margolis"},{"key":"ref25","first-page":"1291","article-title":"Visual-locomotion: Learning to walk on complex terrains with vision","volume-title":"Proceedings of the 5th Conference on Robot Learning, ser. Proceedings of Machine Learning Research","volume":"164","author":"Yu"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3172469"},{"key":"ref27","first-page":"883","article-title":"Learning a contact-adaptive controller for robust, efficient legged locomotion","volume-title":"Proceedings of the 2020 Conference on Robot Learning, ser. Proceedings of Machine Learning Research","volume":"155","author":"Da"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2979660"},{"key":"ref29","first-page":"523","article-title":"Glide: Generalizable quadrupedal locomotion in diverse environments with a centroidal model","volume-title":"International Workshop on the Algorithmic Foundations of Robotics.","author":"Xie"},{"key":"ref30","article-title":"CAJun: Continuous adaptive jumping using a learned centroidal controller","volume-title":"7th Annual Conference on Robot Learning","author":"Yang"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1101\/cshperspect.a009621"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS47582.2021.9555782"},{"key":"ref33","article-title":"Dtc: Deep tracking control - a unifying approach to model-based planning and reinforcement-learning for versatile and robust locomotion","volume":"abs\/2309.15462","author":"Jenelten","year":"2023","journal-title":"ArXiv"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594161"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/AMC.2006.1631739"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913506757"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386025"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2798285"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abk2822"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/icra57147.2024.10610449"},{"key":"ref41","article-title":"Isaac gym: High performance gpu-based physics simulation for robot learning","author":"Makoviychuk","year":"2021","journal-title":"arXiv preprint arXiv:2108.10470"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1007\/s12532-018-0139-4"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920918014"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3188122"},{"key":"ref45","article-title":"Isaac gym environments for legged robots","author":"Rudin","year":"2021"}],"event":{"name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","location":"Nancy, France","start":{"date-parts":[[2024,11,22]]},"end":{"date-parts":[[2024,11,24]]}},"container-title":["2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/10769770\/10769590\/10769916.pdf?arnumber=10769916","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,10]],"date-time":"2025-01-10T19:57:10Z","timestamp":1736539030000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10769916\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,11,22]]},"references-count":45,"URL":"https:\/\/doi.org\/10.1109\/humanoids58906.2024.10769916","relation":{},"subject":[],"published":{"date-parts":[[2024,11,22]]}}}