{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T19:46:46Z","timestamp":1778701606817,"version":"3.51.4"},"publisher-location":"New York, NY, USA","reference-count":32,"publisher":"ACM","license":[{"start":{"date-parts":[[2019,10,28]],"date-time":"2019-10-28T00:00:00Z","timestamp":1572220800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"DOI":"10.13039\/501100002790","name":"Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["RGPIN-2015-04843"],"award-info":[{"award-number":["RGPIN-2015-04843"]}],"id":[{"id":"10.13039\/501100002790","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019,10,28]]},"DOI":"10.1145\/3359566.3360070","type":"proceedings-article","created":{"date-parts":[[2019,10,25]],"date-time":"2019-10-25T12:36:23Z","timestamp":1572006983000},"page":"1-10","source":"Crossref","is-referenced-by-count":32,"title":["On Learning Symmetric Locomotion"],"prefix":"10.1145","author":[{"given":"Farzad","family":"Abdolhosseini","sequence":"first","affiliation":[{"name":"The University of British Columbia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hung Yu","family":"Ling","sequence":"additional","affiliation":[{"name":"The University of British Columbia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhaoming","family":"Xie","sequence":"additional","affiliation":[{"name":"The University of British Columbia"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xue Bin","family":"Peng","sequence":"additional","affiliation":[{"name":"University of California, Berkeley"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michiel","family":"van de Panne","sequence":"additional","affiliation":[{"name":"The University of British Columbia"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2019,10,28]]},"reference":[{"key":"e_1_3_2_1_1_1","unstructured":"Greg Brockman Vicki Cheung Ludwig Pettersson Jonas Schneider John Schulman Jie Tang and Wojciech Zaremba. 2016. OpenAI Gym. arXiv:arXiv:1606.01540  Greg Brockman Vicki Cheung Ludwig Pettersson Jonas Schneider John Schulman Jie Tang and Wojciech Zaremba. 2016. OpenAI Gym. arXiv:arXiv:1606.01540"},{"key":"e_1_3_2_1_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature04344"},{"key":"e_1_3_2_1_3_1","doi-asserted-by":"crossref","unstructured":"Armin Bruderlin and Thomas\u00a0W Calvert. 1989. Goal-directed dynamic animation of human walking. In ACM SIGGRAPH Computer Graphics Vol.\u00a023. ACM 233\u2013242.  Armin Bruderlin and Thomas\u00a0W Calvert. 1989. Goal-directed dynamic animation of human walking. In ACM SIGGRAPH Computer Graphics Vol.\u00a023. ACM 233\u2013242.","DOI":"10.1145\/74334.74357"},{"key":"e_1_3_2_1_4_1","volume-title":"Generalized Biped Walking Control. ACM Transctions on Graphics 29, 4","author":"Coros Stelian","year":"2010"},{"key":"e_1_3_2_1_5_1","doi-asserted-by":"publisher","DOI":"10.1145\/2010324.1964954"},{"key":"e_1_3_2_1_6_1","unstructured":"Erwin Coumans and Yunfei Bai. 2016\u20132019. PyBullet a Python module for physics simulation for games robotics and machine learning. http:\/\/pybullet.org.  Erwin Coumans and Yunfei Bai. 2016\u20132019. PyBullet a Python module for physics simulation for games robotics and machine learning. http:\/\/pybullet.org."},{"key":"e_1_3_2_1_7_1","volume-title":"Computer Graphics Forum, Vol.\u00a031","author":"Geijtenbeek Thomas"},{"key":"e_1_3_2_1_8_1","doi-asserted-by":"crossref","unstructured":"Nikolaus Hansen. 2006. The CMA Evolution Strategy: A Comparing Review. In Towards a New Evolutionary Computation. 75\u2013102.  Nikolaus Hansen. 2006. The CMA Evolution Strategy: A Comparing Review. In Towards a New Evolutionary Computation. 75\u2013102.","DOI":"10.1007\/3-540-32494-1_4"},{"key":"e_1_3_2_1_9_1","unstructured":"Nicolas Heess Dhruva TB Srinivasan  Sriram Jay Lemmon Josh Merel Greg Wayne Yuval Tassa Tom Erez Ziyu Wang S.\u00a0M.\u00a0Ali Eslami Martin\u00a0A. Riedmiller and David Silver. 2017. Emergence of Locomotion Behaviours in Rich Environments. CoRR abs\/1707.02286(2017). arxiv:1707.02286http:\/\/arxiv.org\/abs\/1707.02286  Nicolas Heess Dhruva TB Srinivasan Sriram Jay Lemmon Josh Merel Greg Wayne Yuval Tassa Tom Erez Ziyu Wang S.\u00a0M.\u00a0Ali Eslami Martin\u00a0A. Riedmiller and David Silver. 2017. Emergence of Locomotion Behaviours in Rich Environments. CoRR abs\/1707.02286(2017). arxiv:1707.02286http:\/\/arxiv.org\/abs\/1707.02286"},{"key":"e_1_3_2_1_10_1","doi-asserted-by":"publisher","DOI":"10.1145\/218380.218414"},{"key":"e_1_3_2_1_11_1","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073663"},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.3390\/sym2021135"},{"key":"e_1_3_2_1_13_1","volume-title":"Data-Driven Biped Control. ACM Transctions on Graphics 29, 4","author":"Lee Yoonsang","year":"2010"},{"key":"e_1_3_2_1_14_1","doi-asserted-by":"publisher","DOI":"10.1145\/2893476"},{"key":"e_1_3_2_1_15_1","volume-title":"Proceedings of the 2007 ACM SIGGRAPH\/Eurographics symposium on Computer animation. Eurographics Association, 35\u201344","author":"Majkowska Anna","year":"2007"},{"key":"e_1_3_2_1_16_1","volume-title":"Princeton University Press","author":"McMahon A."},{"key":"e_1_3_2_1_17_1","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201311"},{"key":"e_1_3_2_1_18_1","doi-asserted-by":"publisher","DOI":"10.1145\/3072959.3073602"},{"key":"e_1_3_2_1_19_1","volume-title":"Evaluating gait symmetry and leg dominance during walking in healthy older adults","author":"Riskowski L"},{"key":"e_1_3_2_1_20_1","unstructured":"RO Robinson W Herzog and BM Nigg. 1987. Use of force platform variables to quantify the effects of chiropractic manipulation on gait symmetry.Journal of manipulative and physiological therapeutics 10 4(1987) 172\u2013176.  RO Robinson W Herzog and BM Nigg. 1987. Use of force platform variables to quantify the effects of chiropractic manipulation on gait symmetry.Journal of manipulative and physiological therapeutics 10 4(1987) 172\u2013176."},{"key":"e_1_3_2_1_21_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0966-6362(00)00070-9"},{"key":"e_1_3_2_1_22_1","unstructured":"Tom Schaul Diana Borsa Joseph Modayil and Razvan Pascanu. 2019. Ray Interference: a Source of Plateaus in Deep Reinforcement Learning. CoRR abs\/1904.11455(2019). arxiv:1904.11455http:\/\/arxiv.org\/abs\/1904.11455  Tom Schaul Diana Borsa Joseph Modayil and Razvan Pascanu. 2019. Ray Interference: a Source of Plateaus in Deep Reinforcement Learning. CoRR abs\/1904.11455(2019). arxiv:1904.11455http:\/\/arxiv.org\/abs\/1904.11455"},{"key":"e_1_3_2_1_23_1","unstructured":"John Schulman Sergey Levine Philipp Moritz Michael\u00a0I. Jordan and Pieter Abbeel. 2015. Trust Region Policy Optimization. CoRR abs\/1502.05477(2015). arxiv:1502.05477http:\/\/arxiv.org\/abs\/1502.05477  John Schulman Sergey Levine Philipp Moritz Michael\u00a0I. Jordan and Pieter Abbeel. 2015. Trust Region Policy Optimization. CoRR abs\/1502.05477(2015). arxiv:1502.05477http:\/\/arxiv.org\/abs\/1502.05477"},{"key":"e_1_3_2_1_24_1","unstructured":"John Schulman Filip Wolski Prafulla Dhariwal Alec Radford and Oleg Klimov. 2017. Proximal Policy Optimization Algorithms. CoRR abs\/1707.06347(2017). arxiv:1707.06347http:\/\/arxiv.org\/abs\/1707.06347  John Schulman Filip Wolski Prafulla Dhariwal Alec Radford and Oleg Klimov. 2017. Proximal Policy Optimization Algorithms. CoRR abs\/1707.06347(2017). arxiv:1707.06347http:\/\/arxiv.org\/abs\/1707.06347"},{"key":"e_1_3_2_1_25_1","volume-title":"A test of the functional asymmetry hypothesis in walking. Gait & posture 28, 1","author":"Seeley K","year":"2008"},{"key":"e_1_3_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.5555\/3009657.3009806"},{"key":"e_1_3_2_1_27_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6386109"},{"key":"e_1_3_2_1_28_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.bspc.2018.01.013"},{"key":"e_1_3_2_1_29_1","volume-title":"Optimizing Walking Controllers. ACM Transctions on Graphics 28, 5","author":"Wang M.","year":"2009"},{"key":"e_1_3_2_1_30_1","unstructured":"Zhaoming Xie Patrick Clary Jeremy Dao Pedro Morais Jonathan\u00a0W. Hurst and Michiel van\u00a0de Panne. 2019. Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie. CoRR abs\/1903.09537(2019). arxiv:1903.09537http:\/\/arxiv.org\/abs\/1903.09537  Zhaoming Xie Patrick Clary Jeremy Dao Pedro Morais Jonathan\u00a0W. Hurst and Michiel van\u00a0de Panne. 2019. Iterative Reinforcement Learning Based Design of Dynamic Locomotion Skills for Cassie. CoRR abs\/1903.09537(2019). arxiv:1903.09537http:\/\/arxiv.org\/abs\/1903.09537"},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1145\/1275808.1276509"},{"key":"e_1_3_2_1_32_1","volume-title":"Learning Symmetric and Low-energy Locomotion. ACM Transactions on Graphics (Proc. SIGGRAPH 2018 -","author":"Yu Wenhao","year":"2018"}],"event":{"name":"MIG '19: Motion, Interaction and Games","location":"Newcastle upon Tyne United Kingdom","acronym":"MIG '19","sponsor":["SIGGRAPH ACM Special Interest Group on Computer Graphics and Interactive Techniques"]},"container-title":["Motion, Interaction and Games"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3359566.3360070","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3359566.3360070","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T23:23:05Z","timestamp":1750202585000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3359566.3360070"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,10,28]]},"references-count":32,"alternative-id":["10.1145\/3359566.3360070","10.1145\/3359566"],"URL":"https:\/\/doi.org\/10.1145\/3359566.3360070","relation":{},"subject":[],"published":{"date-parts":[[2019,10,28]]}}}