{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T07:57:53Z","timestamp":1773388673002,"version":"3.50.1"},"reference-count":33,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T00:00:00Z","timestamp":1775001600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"National Key R&amp;D Program of China","award":["2023YFB4703900"],"award-info":[{"award-number":["2023YFB4703900"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62573057"],"award-info":[{"award-number":["62573057"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62273050"],"award-info":[{"award-number":["62273050"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2026,4]]},"DOI":"10.1109\/lra.2026.3666686","type":"journal-article","created":{"date-parts":[[2026,2,20]],"date-time":"2026-02-20T21:19:04Z","timestamp":1771622344000},"page":"5119-5126","source":"Crossref","is-referenced-by-count":0,"title":["VPIES: Variational Privileged Information Encoder as Scaffold for Legged Locomotion Learning"],"prefix":"10.1109","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-9015-7517","authenticated-orcid":false,"given":"Yubiao","family":"Ma","sequence":"first","affiliation":[{"name":"School of Automation, Beijing Institute of Technology, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-0589-8661","authenticated-orcid":false,"given":"Han","family":"Yu","sequence":"additional","affiliation":[{"name":"Humanoid Robotics (Shanghai) Company, Ltd., Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3451-7732","authenticated-orcid":false,"given":"Kai","family":"Guo","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shandong University, Jinan, China"}]},{"given":"Boyang","family":"Xing","sequence":"additional","affiliation":[{"name":"Humanoid Robotics (Shanghai) Company, Ltd., Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7248-3318","authenticated-orcid":false,"given":"Xuemei","family":"Ren","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing Institute of Technology, Beijing, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7080-2370","authenticated-orcid":false,"given":"Dongdong","family":"Zheng","sequence":"additional","affiliation":[{"name":"School of Automation, Beijing Institute of Technology, Beijing, China"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TETCI.2022.3141105"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7758092"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2024.3413833"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3290509"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2024.3429576"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3457379"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA57147.2024.10610200"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s10994-021-05961-4"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(98)00023-X"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2024.xx.058"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1609\/aaai.v35i11.17151"},{"key":"ref12","first-page":"138","article-title":"Deep whole-body control: Learning a unified policy for manipulation and locomotion","volume-title":"Proc. Conf. Robot. Learn.","volume":"205","author":"Fu","year":"2022"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2021.XVII.011"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abk2822"},{"key":"ref16","first-page":"29231","article-title":"Iterative teacher-aware learning","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","volume":"34","author":"Yuan","year":"2021"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48891.2023.10161144"},{"key":"ref18","first-page":"1","article-title":"Hybrid internal model: Learning agile legged locomotion with simulated robot response","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Long","year":"2024"},{"key":"ref19","first-page":"3212","article-title":"SLR: Learning quadruped locomotion without privileged information","volume-title":"Proc. Conf. Robot. Learn.,","volume":"270","author":"Chen","year":"2024"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS60139.2025.11247281"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1111\/j.1469-7610.1976.tb00381.x"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.2307\/j.ctvjf9vz4"},{"key":"ref23","first-page":"1","article-title":"Privileged sensing scaffolds reinforcement learning","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Hu","year":"2024"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.016"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2023.XIX.052"},{"key":"ref26","article-title":"ELBO surgery: Yet another way to carve up the evidence lower bound","volume-title":"Proc. Adv. Neural Inf. Process. Syst. Workshop Adv. Approx., Bayesian Inference","author":"Hoffman","year":"2016"},{"key":"ref27","first-page":"1","article-title":"Deep variational information bottleneck","volume-title":"Proc. Int. Conf. Learn. Representations","author":"Alemi","year":"2017"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.18653\/v1\/k16-1002"},{"key":"ref29","first-page":"1","article-title":"Isaac Gym: High performance GPU-based physics simulation for robot learning","volume-title":"Proc. Adv. Neural Inf. Process. Syst.","author":"Makoviychuk","year":"2021"},{"key":"ref30","first-page":"91","article-title":"Learning to walk in minutes using massively parallel deep reinforcement learning","volume-title":"Proc. Conf. Robot. Learn.","volume":"164","author":"Rudin","year":"2021"},{"key":"ref31","article-title":"unitree_rl_gym","author":"Robotics","year":"2023"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/IROS58592.2024.10802000"},{"key":"ref33","first-page":"22","article-title":"Walk these ways: Tuning robot control for generalization with multiplicity of behavior","volume-title":"Proc. Conf. Robot. Learn.","volume":"205","author":"Margolis","year":"2022"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/7083369\/11400564\/11403985.pdf?arnumber=11403985","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T04:53:50Z","timestamp":1773377630000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11403985\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,4]]},"references-count":33,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/lra.2026.3666686","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,4]]}}}