{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T14:56:27Z","timestamp":1777560987212,"version":"3.51.4"},"reference-count":44,"publisher":"Zhejiang University Press","issue":"9","license":[{"start":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T00:00:00Z","timestamp":1756684800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2025,9,1]],"date-time":"2025-09-01T00:00:00Z","timestamp":1756684800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Front Inform Technol Electron Eng"],"published-print":{"date-parts":[[2025,9]]},"DOI":"10.1631\/fitee.2401070","type":"journal-article","created":{"date-parts":[[2025,10,24]],"date-time":"2025-10-24T11:10:30Z","timestamp":1761304230000},"page":"1679-1691","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Efficient learning of robust multigait quadruped locomotion for minimizing the cost of transport","\u9762\u5411\u8fd0\u8f93\u4ee3\u4ef7\u6700\u5c0f\u5316\u7684\u9c81\u68d2\u591a\u6b65\u6001\u56db\u8db3\u673a\u5668\u4eba\u9ad8\u6548\u5b66\u4e60"],"prefix":"10.1631","volume":"26","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2657-7591","authenticated-orcid":false,"given":"Zhicheng","family":"Wang","sequence":"first","affiliation":[]},{"given":"Xin","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Meng Yee Michael","family":"Chuah","sequence":"additional","affiliation":[]},{"given":"Zhibin","family":"Li","sequence":"additional","affiliation":[]},{"given":"Jun","family":"Wu","sequence":"additional","affiliation":[]},{"given":"Qiuguo","family":"Zhu","sequence":"additional","affiliation":[]}],"member":"635","published-online":{"date-parts":[[2025,10,24]]},"reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2022.3188108"},{"key":"ref2","first-page":"403","article-title":"Legged locomotion in challenging terrains using egocentric vision","volume-title":"Proc 6th Annual Conf on Robot Learning","author":"Agarwal","year":"2022"},{"key":"ref3","first-page":"66","article-title":"Learning by cheating","volume-title":"Proc 3rd Annual Conf on Robot Learning","author":"Chen","year":"2019"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/iros.2018.8594448"},{"key":"ref5","first-page":"928","article-title":"Minimizing energy consumption leads to the emergence of gaits in legged robots","volume-title":"Proc 5th Annual Conf on Robot Learning","author":"Fu","year":"2021"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/robot.2006.1641859"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1126\/science.150.3697.701"},{"key":"ref8","volume-title":"Distilling the knowledge in a neural network","author":"Hinton","year":"2015"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1038\/292239a0"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.3390\/sym2021135"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2018.2792536"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2008.03.014"},{"key":"ref13","first-page":"916","article-title":"Policies modulating trajectory generators","volume-title":"Proc 2nd Annual Conf on Robot Learning","author":"Iscen","year":"2018"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1162\/neco.1991.3.1.79"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1038\/s42256-022-00576-3"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2021.xvii.011"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/iros47612.2022.9981091"},{"key":"ref18","volume-title":"Robust recovery controller for a quadrupedal robot using deep reinforcement learning","author":"Lee","year":"2019"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/icra48891.2023.10160760"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1145\/3386569.3392433"},{"key":"ref22","first-page":"1","article-title":"Isaac Gym: high performance GPU based physics simulation for robot learning","volume-title":"Proc 35th Conf on Neural Information Processing Systems","author":"Makoviychuk","year":"2021"},{"key":"ref23","first-page":"1","article-title":"Walk these ways: tuning robot control for generalization with multiplicity of behavior","volume-title":"Proc 6th Annual Conf on Robot Learning","author":"Margolis","year":"2022"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2022.XVIII.022"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abk2822"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/icra48891.2023.10161144"},{"key":"ref27","first-page":"8024","article-title":"PyTorch: an imperative style, high-performance deep learning library","volume-title":"Proc 33rd Int Conf on Neural Information Processing Systems","author":"Paszke","year":"2019"},{"key":"ref28","article-title":"MCP: learning composable hierarchical control with multiplicative compositional policies","volume-title":"Proc 33rd Int Conf on Neural Information Processing Systems","author":"Peng","year":"2019"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2020.xvi.064"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1145\/3450626.3459670"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1145\/3528223.3530110"},{"key":"ref32","volume-title":"Proximal policy optimization algorithms","author":"Schulman","year":"2017"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/icra.2013.6631038"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2021.3136645"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2020.xvi.031"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2021.xvii.061"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/icra48506.2021.9561814"},{"key":"ref38","volume-title":"Perceptive locomotion with controllable pace and natural gait transitions over uneven terrains","author":"Tan","year":"2023"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2018.xiv.010"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2020.2979660"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915612572"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/icra48506.2021.9560837"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abb2174"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1145\/3197517.3201366"}],"updated-by":[{"DOI":"10.1631\/fitee.24e1070","type":"erratum","label":"Erratum","source":"publisher","updated":{"date-parts":[[2025,11,17]],"date-time":"2025-11-17T00:00:00Z","timestamp":1763337600000}}],"container-title":["Frontiers of Information Technology & Electronic Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1631\/FITEE.2401070.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1631\/FITEE.2401070\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1631\/FITEE.2401070.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T06:41:08Z","timestamp":1771656068000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1631\/FITEE.2401070"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,9]]},"references-count":44,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2025,9]]}},"alternative-id":["2092"],"URL":"https:\/\/doi.org\/10.1631\/fitee.2401070","relation":{},"ISSN":["2095-9184","2095-9230"],"issn-type":[{"value":"2095-9184","type":"print"},{"value":"2095-9230","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,9]]},"assertion":[{"value":"16 December 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"12 May 2025","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 October 2025","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"17 November 2025","order":5,"name":"change_date","label":"Change Date","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"Erratum","order":6,"name":"change_type","label":"Change Type","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"An Erratum to this paper has been published:","order":7,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"https:\/\/doi.org\/10.1631\/FITEE.24e1070","URL":"https:\/\/doi.org\/10.1631\/FITEE.24e1070","order":8,"name":"change_details","label":"Change Details","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"All the authors declare that they have no conflict of interest.","order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}