{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,21]],"date-time":"2026-03-21T07:37:24Z","timestamp":1774078644273,"version":"3.50.1"},"reference-count":41,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,1,1]],"date-time":"2026-01-01T00:00:00Z","timestamp":1767225600000},"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","doi-asserted-by":"publisher","award":["62333017"],"award-info":[{"award-number":["62333017"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation","doi-asserted-by":"publisher","award":["62403358"],"award-info":[{"award-number":["62403358"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Shanghai Municipal Science and Technology Major Project","award":["2021SHZDZX0100"],"award-info":[{"award-number":["2021SHZDZX0100"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Automat. Sci. Eng."],"published-print":{"date-parts":[[2026]]},"DOI":"10.1109\/tase.2026.3673779","type":"journal-article","created":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T19:56:39Z","timestamp":1773431799000},"page":"6564-6578","source":"Crossref","is-referenced-by-count":0,"title":["Reinforcement Learning-Based Whole-Body Motion Control for Humanoids With Position-Controlled Joints"],"prefix":"10.1109","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7543-0855","authenticated-orcid":false,"given":"Chengju","family":"Liu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Autonomous Intelligent Unmanned System, Tongji University, Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-2329-4910","authenticated-orcid":false,"given":"Kaiyan","family":"Xiao","sequence":"additional","affiliation":[{"name":"Robot and Artificial Intelligence Laboratory, College of Electronic and Information Engineering, Tongji University, Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0004-9844-5768","authenticated-orcid":false,"given":"Mengxian","family":"Hu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Autonomous Intelligent Unmanned System, Tongji University, Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-4821-4230","authenticated-orcid":false,"given":"Qin","family":"Fang","sequence":"additional","affiliation":[{"name":"Robot and Artificial Intelligence Laboratory, College of Electronic and Information Engineering, Tongji University, Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5100-1439","authenticated-orcid":false,"given":"Zihan","family":"Xu","sequence":"additional","affiliation":[{"name":"Robot and Artificial Intelligence Laboratory, College of Electronic and Information Engineering, Tongji University, Shanghai, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5644-1188","authenticated-orcid":false,"given":"Qijun","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Autonomous Intelligent Unmanned System, Tongji University, Shanghai, China"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2019.2914350"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/mra.2019.2943395"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/tcyb.2014.2363664"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2024.3484633"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1017\/s0263574718001145"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2024.104812"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/humanoids.2016.7803348"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920987859"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/iros58592.2024.10801984"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1145\/3450626.3459670"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2025.XXI.066"},{"key":"ref12","first-page":"2828","article-title":"HumanPlus: Humanoid shadowing and imitation from humans","volume-title":"Proc. Conf. Robot Learn.","author":"Fu"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2021.3072544"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2023.3324580"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/iros.2015.7353843"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/icra.2019.8794348"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/icrae59816.2023.10458483"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2024.3475052"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2022.3151401"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2024.3396094"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2024.3455907"},{"key":"ref22","first-page":"1975","article-title":"Humanoid parkour learning","volume-title":"Proc. Conf. Robot Learn.","author":"Zhuang"},{"key":"ref23","article-title":"A unified and general humanoid whole-body controller for versatile locomotion","author":"Xue","year":"2025","journal-title":"arXiv:2502.03206"},{"key":"ref24","first-page":"455","article-title":"WoCoCo: Learning whole-body humanoid control with sequential contacts","volume-title":"Proc. Conf. Robot Learn.","author":"Zhang"},{"key":"ref25","first-page":"1516","article-title":"OmniH2O: Universal and dexterous human-to-humanoid whole-body teleoperation and learning","volume-title":"Proc. Conf. Robot Learn.","author":"He"},{"key":"ref26","article-title":"BeyondMimic: From motion tracking to versatile humanoid control via guided diffusion","author":"Liao","year":"2025","journal-title":"arXiv:2508.08241"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2022.3211194"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/tim.2024.3374292"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1017\/s0263574724001541"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/tcst.2024.3356391"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/tim.2025.3542857"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/jas.2025.125237"},{"key":"ref33","article-title":"MuJoCo playground","author":"Zakka","year":"2025","journal-title":"arXiv:2502.08844"},{"key":"ref34","article-title":"Isaac gym: High performance GPU-based physics simulation for robot learning","author":"Makoviychuk","year":"2021","journal-title":"arXiv:2108.10470"},{"key":"ref35","volume-title":"Isaac SIM","year":"2025"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/cvpr52688.2022.00509"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/tevc.2010.2059031"},{"key":"ref38","first-page":"91","article-title":"Learning to walk in minutes using massively parallel deep reinforcement learning","volume-title":"Proc. 5th Conf. Robot Learn.","volume":"164","author":"Rudin"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2023.3270034"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/iros.2017.8202133"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1145\/3596711.3596800"}],"container-title":["IEEE Transactions on Automation Science and Engineering"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8856\/11323516\/11433762.pdf?arnumber=11433762","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,21]],"date-time":"2026-03-21T04:47:16Z","timestamp":1774068436000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/11433762\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026]]},"references-count":41,"URL":"https:\/\/doi.org\/10.1109\/tase.2026.3673779","relation":{},"ISSN":["1545-5955","1558-3783"],"issn-type":[{"value":"1545-5955","type":"print"},{"value":"1558-3783","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026]]}}}