{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T07:30:30Z","timestamp":1766129430385,"version":"3.48.0"},"reference-count":25,"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\/501100004147","name":"Tsinghua University","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100004147","id-type":"DOI","asserted-by":"publisher"}]},{"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\/iros60139.2025.11246243","type":"proceedings-article","created":{"date-parts":[[2025,11,27]],"date-time":"2025-11-27T18:54:45Z","timestamp":1764269685000},"page":"10698-10703","source":"Crossref","is-referenced-by-count":0,"title":["UniLegs: Universal Multi-Legged Robot Control through Morphology-Agnostic Policy Distillation"],"prefix":"10.1109","author":[{"given":"Weijie","family":"Xi","sequence":"first","affiliation":[{"name":"Jiangnan University,School of Internet of Things Engineering,Department of Automation,Wuxi,China,214122"}]},{"given":"Zhanxiang","family":"Cao","sequence":"additional","affiliation":[{"name":"Shanghai Jiao Tong University,Shanghai,P.R. China"}]},{"given":"Chenlin","family":"Ming","sequence":"additional","affiliation":[{"name":"Shanghai Jiao Tong University,Shanghai,P.R. China"}]},{"given":"Jianying","family":"Zheng","sequence":"additional","affiliation":[{"name":"Beihang University,School of Automation Science and Electrical Engineering,Beijing,China"}]},{"given":"Guyue","family":"Zhou","sequence":"additional","affiliation":[{"name":"Tsinghua University,Institute for AI Indus try Research,Beijing,China,100084"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abk2822"},{"key":"ref2","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"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IROS47612.2022.9981091"},{"article-title":"Metamorph: Learning universal controllers with transformers","year":"2022","author":"Gupta","key":"ref4"},{"article-title":"Nervenet: Learning structured policy with graph neural networks","volume-title":"International conference on learning representations","author":"Wang","key":"ref5"},{"article-title":"My body is a cage: the role of morphology in graph-based incompatible control","year":"2020","author":"Kurin","key":"ref6"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161034"},{"key":"ref8","first-page":"73 395","article-title":"Cross-domain policy adaptation via value-guided data filtering","volume":"36","author":"Xu","year":"2023","journal-title":"Advances in Neural Information Processing Systems"},{"article-title":"Learning robot manipulation from cross-morphology demonstration","year":"2023","author":"Salhotra","key":"ref9"},{"key":"ref10","first-page":"4455","article-title":"One policy to control them all: Shared modular policies for agent-agnostic control","volume-title":"International Conference on Machine Learning","author":"Huang"},{"key":"ref11","first-page":"4470","article-title":"Graph networks as learnable physics engines for inference and control","volume-title":"International conference on machine learning","author":"Sanchez-Gonzalez"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3358750"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1145\/3638529.3654013"},{"key":"ref14","first-page":"4159","article-title":"Hierarchically decoupled imitation for morphological transfer","volume-title":"International Conference on Machine Learning","author":"Hejna"},{"key":"ref15","article-title":"Third-person visual imitation learning via decoupled hierarchical controller","volume":"32","author":"Sharma","year":"2019","journal-title":"Advances in Neural Information Processing Systems"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919887447"},{"key":"ref17","first-page":"91","article-title":"Learning to walk in minutes using massively parallel deep reinforcement learning","volume-title":"Conference on Robot Learning","author":"Rudin"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.011"},{"key":"ref19","first-page":"36 599","article-title":"When to trust your simulator: Dynamics-aware hybrid offline-and-online reinforcement learning","volume":"35","author":"Niu","year":"2022","journal-title":"Advances in Neural Information Processing Systems"},{"article-title":"Distilling the knowledge in a neural network","year":"2015","author":"Hinton","key":"ref20"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10611477"},{"article-title":"A generalist agent","year":"2022","author":"Reed","key":"ref22"},{"article-title":"Diffuseloco: Real-time legged locomotion control with diffusion from offline datasets","year":"2024","author":"Huang","key":"ref23"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3375086"}],"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\/11246243.pdf?arnumber=11246243","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T07:27:33Z","timestamp":1766129253000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11246243\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,19]]},"references-count":25,"URL":"https:\/\/doi.org\/10.1109\/iros60139.2025.11246243","relation":{},"subject":[],"published":{"date-parts":[[2025,10,19]]}}}