{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T17:08:35Z","timestamp":1777655315009,"version":"3.51.4"},"reference-count":45,"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"}],"funder":[{"DOI":"10.13039\/501100012166","name":"National Key R&D Program of China","doi-asserted-by":"publisher","award":["2022ZDO114804"],"award-info":[{"award-number":["2022ZDO114804"]}],"id":[{"id":"10.13039\/501100012166","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62076161"],"award-info":[{"award-number":["62076161"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,5,19]]},"DOI":"10.1109\/icra55743.2025.11128762","type":"proceedings-article","created":{"date-parts":[[2025,9,2]],"date-time":"2025-09-02T17:28:56Z","timestamp":1756834136000},"page":"11531-11537","source":"Crossref","is-referenced-by-count":6,"title":["World Model-Based Perception for Visual Legged Locomotion"],"prefix":"10.1109","author":[{"given":"Hang","family":"Lai","sequence":"first","affiliation":[{"name":"Shanghai Jiao Tong University,Dept. of Computer Sci. and Eng.,China"}]},{"given":"Jiahang","family":"Cao","sequence":"additional","affiliation":[{"name":"Shanghai Jiao Tong University,Dept. of Computer Sci. and Eng.,China"}]},{"given":"Jiafeng","family":"Xu","sequence":"additional","affiliation":[{"name":"ByteDance Research,China"}]},{"given":"Hongtao","family":"Wu","sequence":"additional","affiliation":[{"name":"ByteDance Research,China"}]},{"given":"Yunfeng","family":"Lin","sequence":"additional","affiliation":[{"name":"Shanghai Jiao Tong University,Dept. of Computer Sci. and Eng.,China"}]},{"given":"Tao","family":"Kong","sequence":"additional","affiliation":[{"name":"ByteDance Research,China"}]},{"given":"Yong","family":"Yu","sequence":"additional","affiliation":[{"name":"Shanghai Jiao Tong University,Dept. of Computer Sci. and Eng.,China"}]},{"given":"Weinan","family":"Zhang","sequence":"additional","affiliation":[{"name":"Shanghai Jiao Tong University,Dept. of Computer Sci. and Eng.,China"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.010"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968053"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9560837"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2020.xvi.064"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau5872"},{"key":"ref6","author":"Fu","year":"2021","journal-title":"Minimizing energy consumption leads to the emergence of gaits in legged robots"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.011"},{"key":"ref8","first-page":"5141","article-title":"Sim-to-real transfer for quadrupedal locomotion via terrain transformer","volume-title":"2023 IEEE International Conference on Robotics and Automation (ICRA).","author":"Lai"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161144"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3290509"},{"key":"ref11","article-title":"Hybrid internal model: Learning agile legged locomotion with simulated robot response","volume-title":"The Twelfth International Conference on Learning Representations","author":"Long","year":"2024"},{"key":"ref12","first-page":"403","article-title":"Legged locomotion in challenging terrains using egocentric vision","volume-title":"Conference on robot learning.","author":"Agarwal","year":"2023"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610200"},{"key":"ref14","author":"Zhuang","year":"2023","journal-title":"Robot parkour learning"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abk2822"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611621"},{"key":"ref17","article-title":"Unsupervised state representation learning in atari","volume":"32","author":"Anand","year":"2019","journal-title":"Advances in neural information processing systems"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/8291.003.0006"},{"key":"ref20","author":"He","year":"2023","journal-title":"Privileged knowledge distillation for sim-to-real policy generalization"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1007\/BF00148991"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-31635-3_22"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2012.03.040"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2013.03.010"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1093\/cercor\/bht318"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.neuron.2017.08.036"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1007\/s11432-022-3696-5"},{"key":"ref28","author":"Hafner","year":"2019","journal-title":"Dream to control: Learning behaviors by latent imagination"},{"key":"ref29","article-title":"When to trust your model: Model-based policy optimization","volume":"32","author":"Janner","year":"2019","journal-title":"Advances in neural information processing systems"},{"key":"ref30","author":"Hafner","year":"2020","journal-title":"Mastering atari with discrete world models"},{"key":"ref31","author":"Hafner","year":"2023","journal-title":"Mastering diverse domains through world models"},{"key":"ref32","first-page":"4754","article-title":"Deep reinforcement learning in a handful of trials using probabilistic dynamics models","author":"Chua","year":"2018","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref33","author":"Luo","year":"2018","journal-title":"Algorithmic framework for model-based deep reinforcement learning with theoretical guarantees"},{"key":"ref34","first-page":"2555","article-title":"Learning latent dynamics for planning from pixels","volume-title":"International conference on machine learning.","author":"Hafner","year":"2019"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/icra57147.2024.10610450"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2025.1585386"},{"issue":"arXiv:2308.10901","key":"ref37","author":"Mendonca","year":"2023","journal-title":"Structured world models from human videos"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1176\/appi.books.9781585622665.33114"},{"key":"ref39","author":"Chung","year":"2014","journal-title":"Empirical evaluation of gated recurrent neural networks on sequence modeling"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2018.xiv.008"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.12794\/metadc1505267"},{"key":"ref42","first-page":"91","article-title":"Learning to walk in minutes using massively parallel deep reinforcement learning","volume-title":"Conference on Robot Learning.","author":"Rudin","year":"2022"},{"key":"ref43","author":"Makoviychuk","year":"2021","journal-title":"Isaac gym: High performance gpu-based physics simulation for robot learning"},{"key":"ref44","volume-title":"Unitree robotics","year":"2022"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981973"}],"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\/11128762.pdf?arnumber=11128762","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,3]],"date-time":"2025-09-03T06:14:27Z","timestamp":1756880067000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11128762\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,5,19]]},"references-count":45,"URL":"https:\/\/doi.org\/10.1109\/icra55743.2025.11128762","relation":{},"subject":[],"published":{"date-parts":[[2025,5,19]]}}}