{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,9]],"date-time":"2026-05-09T17:29:30Z","timestamp":1778347770677,"version":"3.51.4"},"reference-count":30,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2022,10,1]],"date-time":"2022-10-01T00:00:00Z","timestamp":1664582400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2022,10,1]],"date-time":"2022-10-01T00:00:00Z","timestamp":1664582400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,10,1]],"date-time":"2022-10-01T00:00:00Z","timestamp":1664582400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"EPSRC CDT in Robotics and Autonomous Systems"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2022,10]]},"DOI":"10.1109\/lra.2022.3188108","type":"journal-article","created":{"date-parts":[[2022,7,4]],"date-time":"2022-07-04T19:50:46Z","timestamp":1656964246000},"page":"8611-8618","source":"Crossref","is-referenced-by-count":12,"title":["Learning Perceptual Locomotion on Uneven Terrains Using Sparse Visual Observations"],"prefix":"10.1109","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5470-8122","authenticated-orcid":false,"given":"Fernando","family":"Acero","sequence":"first","affiliation":[{"name":"School of Informatics, University of Edinburgh, and Department of Computer Science, University College London, London, U.K."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2349-4192","authenticated-orcid":false,"given":"Kai","family":"Yuan","sequence":"additional","affiliation":[{"name":"School of Informatics, University of Edinburgh, and Department of Computer Science, University College London, London, U.K."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6357-7419","authenticated-orcid":false,"given":"Zhibin","family":"Li","sequence":"additional","affiliation":[{"name":"School of Informatics, University of Edinburgh, and Department of Computer Science, University College London, London, U.K."}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S0959-4388(97)80030-X"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.2016.0063"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916640102"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197488"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3068695"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3118957"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967696"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594448"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau5872"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2019.xv.011"},{"key":"ref12","article-title":"Iterative reinforcement learning based design of dynamic locomotion skills for cassie","author":"Xie","year":"2019"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abb2174"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.011"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561444"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA46639.2022.9812127"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2020.xvi.064"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196523"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abk2822"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TePRA.2013.6556366"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2017.8246907"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1098\/rsfs.2018.0015"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561639"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2979660"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073602"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073663"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2792536"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1126\/science.153.3731.34"},{"key":"ref29","article-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017"},{"key":"ref30","article-title":"Title 8, chapter 7, section 3231","year":"1997","journal-title":"California Code Regulations"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9831196\/09813556.pdf?arnumber=9813556","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,1]],"date-time":"2024-02-01T03:54:25Z","timestamp":1706759665000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9813556\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10]]},"references-count":30,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/lra.2022.3188108","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,10]]}}}