{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T12:40:26Z","timestamp":1766061626602,"version":"3.48.0"},"reference-count":31,"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"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,10,19]]},"DOI":"10.1109\/iros60139.2025.11246319","type":"proceedings-article","created":{"date-parts":[[2025,11,27]],"date-time":"2025-11-27T18:54:45Z","timestamp":1764269685000},"page":"12546-12553","source":"Crossref","is-referenced-by-count":0,"title":["Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupeds"],"prefix":"10.1109","author":[{"given":"Dikai","family":"Liu","sequence":"first","affiliation":[{"name":"NVIDIA AI Technology Centre (NVAITC)"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tianwei","family":"Zhang","sequence":"additional","affiliation":[{"name":"Nanyang Technological University,College of Computing and Data Science,Singapore"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianxiong","family":"Yin","sequence":"additional","affiliation":[{"name":"NVIDIA AI Technology Centre (NVAITC)"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Simon","family":"See","sequence":"additional","affiliation":[{"name":"NVIDIA AI Technology Centre (NVAITC)"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.010"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau5872"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.011"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-74666-1_1"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21839"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3049426"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3007482"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.048"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10160497"},{"article-title":"Learning humanoid locomotion with transformers","year":"2023","author":"Radosavovic","key":"ref11"},{"key":"ref12","first-page":"627","article-title":"A reduction of imitation learning and structured prediction to no-regret online learning","volume-title":"Proceedings of the fourteenth international conference on artificial intelligence and statistics. JMLR Workshop and Conference Proceedings","author":"Ross"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3151396"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161144"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2018.xiv.008"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.48550\/ARXIV.1706.03762"},{"article-title":"Humanoid locomotion as next token prediction","year":"2024","author":"Radosavovic","key":"ref17"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/icra55743.2025.11128700"},{"article-title":"Saytap: Language to quadrupedal locomotion","year":"2023","author":"Tang","key":"ref19"},{"article-title":"A generalist agent","year":"2022","author":"Reed","key":"ref20"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2023.xix.025"},{"article-title":"Rt-2: Vision-language-action models transfer web knowledge to robotic control","year":"2023","author":"Brohan","key":"ref22"},{"article-title":"Open x-embodiment: Robotic learning datasets and rt-x models","year":"2023","author":"Padalkar","key":"ref23"},{"article-title":"Body transformer: Leveraging robot embodiment for policy learning","year":"2024","author":"Sferrazza","key":"ref24"},{"key":"ref25","first-page":"91","article-title":"Learning to walk in minutes using massively parallel deep reinforcement learning","volume-title":"conference on Robot Learning","author":"Rudin"},{"article-title":"Open-vla: An open-source vision-language-action model","year":"2024","author":"Kim","key":"ref26"},{"article-title":"Learning vision-guided quadrupedal locomotion end-to-end with cross-modal transformers","year":"2021","author":"Yang","key":"ref27"},{"article-title":"One policy to run them all: an end-to-end learning approach to multi-embodiment locomotion","year":"2024","author":"Bohlinger","key":"ref28"},{"article-title":"Scaling cross-embodied learning: One policy for manipulation, navigation, locomotion and aviation","year":"2024","author":"Doshi","key":"ref29"},{"article-title":"Isaac gym: High performance gpu-based physics simulation for robot learning","year":"2021","author":"Makoviychuk","key":"ref30"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.12794\/metadc1505267"}],"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\/11246319.pdf?arnumber=11246319","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T12:36:09Z","timestamp":1766061369000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11246319\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,10,19]]},"references-count":31,"URL":"https:\/\/doi.org\/10.1109\/iros60139.2025.11246319","relation":{},"subject":[],"published":{"date-parts":[[2025,10,19]]}}}