{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,21]],"date-time":"2026-04-21T14:53:39Z","timestamp":1776783219158,"version":"3.51.2"},"reference-count":32,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,5,19]],"date-time":"2025-05-19T00:00:00Z","timestamp":1747612800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,19]]},"DOI":"10.1109\/icra55743.2025.11128333","type":"proceedings-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T17:28:56Z","timestamp":1756834136000},"page":"9997-10003","source":"Crossref","is-referenced-by-count":6,"title":["Learning Humanoid Locomotion with Perceptive Internal Model"],"prefix":"10.1109","author":[{"given":"Junfeng","family":"Long","sequence":"first","affiliation":[{"name":"Shanghai AI Laboratory"}]},{"given":"Junli","family":"Ren","sequence":"additional","affiliation":[{"name":"Shanghai AI Laboratory"}]},{"given":"Moji","family":"Shi","sequence":"additional","affiliation":[{"name":"Shanghai AI Laboratory"}]},{"given":"Zirui","family":"Wang","sequence":"additional","affiliation":[{"name":"Shanghai AI Laboratory"}]},{"given":"Tao","family":"Huang","sequence":"additional","affiliation":[{"name":"Shanghai AI Laboratory"}]},{"given":"Ping","family":"Luo","sequence":"additional","affiliation":[{"name":"Shanghai AI Laboratory"}]},{"given":"Jiangmiao","family":"Pang","sequence":"additional","affiliation":[{"name":"Shanghai AI Laboratory"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau5872"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref3","article-title":"Hybrid internal model: Learning agile legged locomotion with simulated robot response","volume-title":"The Twelfth International Conference on Learning Representations, 2024","author":"Long"},{"key":"ref4","article-title":"Learning h-infinity locomotion control","volume-title":"8th Annual Conference on Robot Learning","author":"Long","year":"2024"},{"key":"ref5","first-page":"22","article-title":"Walk these ways: Tuning robot control for generalization with multiplicity of behavior","volume-title":"Conference on Robot Learning","author":"Margolis","year":"2023"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2024.XX.058"},{"key":"ref7","author":"Radosavovic","year":"2024","journal-title":"Humanoid locomotion as next token prediction"},{"key":"ref8","volume-title":"Berkeley humanoid: A research platform for learning-based control","author":"Liao","year":"2024"},{"key":"ref9","article-title":"Adapting humanoid locomotion over challenging terrain via two-phase training","volume-title":"8th Annual Conference on Robot Learning","author":"Cui"},{"key":"ref10","author":"Zhuang","year":"2024","journal-title":"Humanoid parkour learning"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2024.xx.107"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10801984"},{"key":"ref13","author":"Dugar","year":"2024","journal-title":"Learning multimodal whole-body control for real-world humanoid robots"},{"key":"ref14","author":"Fu","year":"2024","journal-title":"Humanplus: Humanoid shadowing and imitation from humans"},{"key":"ref15","author":"Gu","year":"2024","journal-title":"Humanoid-gym: Reinforcement learning for humanoid robot with zero-shot sim2real transfer"},{"key":"ref16","author":"Hansen","year":"2024","journal-title":"Hier-archical world models as visual whole-body humanoid controllers"},{"key":"ref17","article-title":"Harmon: Whole-body motion generation of humanoid robots from language descriptions","volume-title":"8th Annual Conference on Robot Learning","author":"Jiang"},{"key":"ref18","article-title":"Okami: Teaching humanoid robots manipulation skills through single video imitation","volume-title":"8th Annual Conference on Robot Learning","author":"Li"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/iros58592.2024.10802680"},{"key":"ref20","author":"Zhang","year":"2024","journal-title":"Wococo: Learning whole-body humanoid control with sequential contacts"},{"key":"ref21","article-title":"Bi-level motion imitation for humanoid robots","volume-title":"8th Annual Conference on Robot Learning","author":"Zhao"},{"key":"ref22","author":"He","year":"2024","journal-title":"Omnih2o: Universal and dexterous human-to-humanoid whole-body teleoperation and learning"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610200"},{"key":"ref24","first-page":"403","article-title":"Legged locomotion in challenging terrains using egocentric vision","volume-title":"Conference on robot learning","author":"Agarwal","year":"2023"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adi7566"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abk2822"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981507"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.12794\/metadc1505267"},{"key":"ref29","article-title":"Unsupervised learning of visual features by contrasting cluster assignments","author":"Caron","year":"2020","journal-title":"Advances in neural information processing systems"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3064227"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3141876"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10802439"}],"event":{"name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","location":"Atlanta, GA, USA","start":{"date-parts":[[2025,5,19]]},"end":{"date-parts":[[2025,5,23]]}},"container-title":["2025 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11127273\/11127223\/11128333.pdf?arnumber=11128333","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T06:07:24Z","timestamp":1756879644000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11128333\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,19]]},"references-count":32,"URL":"https:\/\/doi.org\/10.1109\/icra55743.2025.11128333","relation":{},"subject":[],"published":{"date-parts":[[2025,5,19]]}}}