{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T12:44:56Z","timestamp":1766061896375,"version":"3.48.0"},"reference-count":27,"publisher":"IEEE","license":[{"start":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T00:00:00Z","timestamp":1760832000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T00:00:00Z","timestamp":1760832000000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,10,19]]},"DOI":"10.1109\/iros60139.2025.11245884","type":"proceedings-article","created":{"date-parts":[[2025,11,27]],"date-time":"2025-11-27T18:54:45Z","timestamp":1764269685000},"page":"18014-18020","source":"Crossref","is-referenced-by-count":0,"title":["A Unified Framework to Learn Collision-Free Loco-Manipulation via Adversarial Motion Priors"],"prefix":"10.1109","author":[{"given":"Huayang","family":"Yin","sequence":"first","affiliation":[{"name":"University of Science and Technology of China,Department of Automation,Hefei,China,230026"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tangyu","family":"Qian","sequence":"additional","affiliation":[{"name":"University of Science and Technology of China,Department of Automation,Hefei,China,230026"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mingrui","family":"Li","sequence":"additional","affiliation":[{"name":"University of Science and Technology of China,Department of Automation,Hefei,China,230026"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guanchen","family":"Lu","sequence":"additional","affiliation":[{"name":"University of Science and Technology of China,Department of Automation,Hefei,China,230026"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mingyu","family":"Cai","sequence":"additional","affiliation":[{"name":"University of California,Department of Mechanical Engineering,Riverside,CA,USA,92521"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhen","family":"Kan","sequence":"additional","affiliation":[{"name":"University of Science and Technology of China,Department of Automation,Hefei,China,230026"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"crossref","DOI":"10.1109\/ICARM58088.2023.10218811","article-title":"Vision-based reactive planning and control of quadruped robots in unstructured dynamic environments","author":"Qian","year":"2023"},{"issue":"2","key":"ref2","first-page":"229","article-title":"Reinforcement learning: An introduction","volume":"17","author":"Sutton","year":"1999","journal-title":"Robotica"},{"key":"ref3","first-page":"138","article-title":"Deep whole-body control: learning a unified policy for manipulation and locomotion","volume-title":"Proc. Mach. Learn. Res","author":"Fu"},{"article-title":"Roboduet: Whole-body legged loco-manipulation with cross-embodiment deployment","year":"2024","author":"Pan","key":"ref4"},{"article-title":"Visual whole-body control for legged loco-manipulation","volume-title":"The 8th Conference on Robot Learning","author":"Liu","key":"ref5"},{"article-title":"Umi on legs: Making manipulation policies mobile with manipulation-centric whole-body controllers","year":"2024","author":"Ha","key":"ref6"},{"key":"ref7","doi-asserted-by":"crossref","DOI":"10.24963\/ijcai.2022\/770","article-title":"Goal-conditioned reinforcement learning: Problems and solutions","author":"Liu","year":"2022"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10801925"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160612"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.011"},{"key":"ref11","first-page":"403","article-title":"Legged locomotion in challenging terrains using egocentric vision","volume-title":"Proc. Mach. Learn. Res","author":"Agarwal"},{"article-title":"Robot parkour learning","volume-title":"Proc. Mach. Learn. Res","author":"Zhuang","key":"ref12"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/icra57147.2024.10610200"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2024.xx.059"},{"article-title":"Adversarial motion priors make goodsubstitutes for complex reward functions","year":"2022","author":"Escontrela","key":"ref15"},{"key":"ref16","doi-asserted-by":"crossref","DOI":"10.1109\/ICRA48891.2023.10160562","article-title":"Opt-mimic: Imitation of optimized trajectories for dynamic quadruped behaviors","author":"Fuchioka","year":"2023"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3290509"},{"key":"ref18","doi-asserted-by":"crossref","DOI":"10.1109\/LRA.2021.3068908","article-title":"A unified mpc framework for whole-body dynamic locomotion and manipulation","author":"Sleiman","year":"2021"},{"article-title":"Deep whole-body control: Learning a unified policy for manipulation and locomotion","volume-title":"Conference on Robot Learning (CoRL)","author":"Fu","key":"ref19"},{"article-title":"Wildlma: Long horizon loco-manipulation in the wild","year":"2024","author":"Qiu","key":"ref20"},{"key":"ref21","article-title":"Optimization-based motion planning for legged robots","volume-title":"Ph.D. dissertation","author":"Winkler","year":"2018"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1145\/3450626.3459670"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS55552.2023.10342397"},{"article-title":"curobo: Parallelized collision-free minimum-jerk robot motion generation","year":"2023","author":"Sundaralingam","key":"ref24"},{"article-title":"Proximal policy optimization algorithms","year":"2017","author":"Schulman","key":"ref25"},{"article-title":"Isaac gym: High performance gpu-based physics simulation for robot learning","year":"2021","author":"Makoviychuk","key":"ref26"},{"article-title":"Learning whole-body loco-manipulation for omni-directional task space pose tracking with a wheeled-quadrupedal-manipulator","year":"2024","author":"Jiang","key":"ref27"}],"event":{"name":"2025 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","start":{"date-parts":[[2025,10,19]]},"location":"Hangzhou, China","end":{"date-parts":[[2025,10,25]]}},"container-title":["2025 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/11245651\/11245652\/11245884.pdf?arnumber=11245884","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T12:40:26Z","timestamp":1766061626000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11245884\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,19]]},"references-count":27,"URL":"https:\/\/doi.org\/10.1109\/iros60139.2025.11245884","relation":{},"subject":[],"published":{"date-parts":[[2025,10,19]]}}}