{"id":"https://openalex.org/W4401415435","doi":"https://doi.org/10.1109/icra57147.2024.10610132","title":"VAPOR: Legged Robot Navigation in Unstructured Outdoor Environments using Offline Reinforcement Learning","display_name":"VAPOR: Legged Robot Navigation in Unstructured Outdoor Environments using Offline Reinforcement Learning","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415435","doi":"https://doi.org/10.1109/icra57147.2024.10610132"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610132","doi":"https://doi.org/10.1109/icra57147.2024.10610132","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610132","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2309.07832","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080472165","display_name":"Kasun Weerakoon","orcid":"https://orcid.org/0000-0002-6526-8652","observed_orcids":["https://orcid.org/0000-0002-6526-8652"]},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kasun Weerakoon","raw_affiliation_strings":["University of Maryland,Dept. of Electrical and Computer Engineering,College Park,MD,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,Dept. of Electrical and Computer Engineering,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013408106","display_name":"Adarsh Jagan Sathyamoorthy","orcid":"https://orcid.org/0000-0002-9678-4748","observed_orcids":["https://orcid.org/0000-0002-9678-4748"]},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adarsh Jagan Sathyamoorthy","raw_affiliation_strings":["University of Maryland,Dept. of Electrical and Computer Engineering,College Park,MD,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,Dept. of Electrical and Computer Engineering,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092506235","display_name":"Mohamed Elnoor","orcid":"https://orcid.org/0009-0000-2326-6184","observed_orcids":["https://orcid.org/0009-0000-2326-6184"]},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mohamed Elnoor","raw_affiliation_strings":["University of Maryland,Dept. of Electrical and Computer Engineering,College Park,MD,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,Dept. of Electrical and Computer Engineering,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004194238","display_name":"Dinesh Manocha","orcid":"https://orcid.org/0000-0001-7047-9801","observed_orcids":["https://orcid.org/0000-0001-7047-9801"]},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["University of Maryland,Dept. of Computer Science,College Park,MD,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,Dept. of Computer Science,College Park,MD,USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I66946132"],"apc_list":null,"apc_paid":null,"fwci":2.2904,"has_fulltext":true,"cited_by_count":15,"citation_normalized_percentile":{"value":0.91005407,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"10344","last_page":"10350"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9541000127792358,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9541000127792358,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.03660000115633011,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.00559999980032444,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/legged-robot-navigation","display_name":"legged robot navigation","score":0.9940000176429749},{"id":"https://openalex.org/keywords/offline-reinforcement-learning","display_name":"offline reinforcement learning","score":0.8560000061988831},{"id":"https://openalex.org/keywords/unstructured-outdoor-environments","display_name":"unstructured outdoor environments","score":0.8050000071525574},{"id":"https://openalex.org/keywords/dense-vegetation","display_name":"dense vegetation","score":0.9330000281333923},{"id":"https://openalex.org/keywords/lidar-point-cloud","display_name":"LiDAR point cloud","score":0.6769999861717224},{"id":"https://openalex.org/keywords/cost-map","display_name":"cost map","score":0.7789999842643738},{"id":"https://openalex.org/keywords/narrow-passage-navigation","display_name":"narrow passage navigation","score":0.5600000023841858},{"id":"https://openalex.org/keywords/spot-robot","display_name":"Spot robot","score":0.7670000195503235},{"id":"https://openalex.org/keywords/proprioception","display_name":"proprioception","score":0.5230000019073486},{"id":"https://openalex.org/keywords/energy-efficiency","display_name":"energy efficiency","score":0.42899999022483826}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8552996516227722},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6516607999801636},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6108609437942505},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5220282673835754},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4793339669704437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4501105844974518},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.4224781095981598},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4137292802333832},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1770382523536682},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra57147.2024.10610132","doi":"https://doi.org/10.1109/icra57147.2024.10610132","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610132","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2309.07832","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2309.07832","pdf_url":"https://arxiv.org/pdf/2309.07832","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2309.07832","doi":"https://doi.org/10.48550/arxiv.2309.07832","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2309.07832","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2309.07832","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2309.07832","pdf_url":"https://arxiv.org/pdf/2309.07832","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320316514","display_name":"Arm","ror":"https://ror.org/04mmhzs81"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401415435.pdf","grobid_xml":"https://content.openalex.org/works/W4401415435.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W1130573204","https://openalex.org/W1424654272","https://openalex.org/W1480087110","https://openalex.org/W1516027685","https://openalex.org/W1529542750","https://openalex.org/W2058784782","https://openalex.org/W2073924944","https://openalex.org/W2117211893","https://openalex.org/W2467214650","https://openalex.org/W2573424206","https://openalex.org/W2604812688","https://openalex.org/W2760878839","https://openalex.org/W2767506186","https://openalex.org/W2781726626","https://openalex.org/W2802726207","https://openalex.org/W2913480210","https://openalex.org/W2982721083","https://openalex.org/W3000916453","https://openalex.org/W3006388420","https://openalex.org/W3011616754","https://openalex.org/W3020825567","https://openalex.org/W3022566517","https://openalex.org/W3033324992","https://openalex.org/W3036259090","https://openalex.org/W3037065368","https://openalex.org/W3112571096","https://openalex.org/W3138171450","https://openalex.org/W3167898434","https://openalex.org/W3204691825","https://openalex.org/W3205794883","https://openalex.org/W3206270475","https://openalex.org/W4206296908","https://openalex.org/W4210436559","https://openalex.org/W4221164136","https://openalex.org/W4281550413","https://openalex.org/W4285044830","https://openalex.org/W4285304415","https://openalex.org/W4296993029","https://openalex.org/W4311992093","https://openalex.org/W4312360880","https://openalex.org/W4360584316","https://openalex.org/W4383109304","https://openalex.org/W4387092535","https://openalex.org/W4388755205","https://openalex.org/W4389667035"],"related_works":["https://openalex.org/W4386794417","https://openalex.org/W4389667035","https://openalex.org/W6911932726","https://openalex.org/W7130617032","https://openalex.org/W4401413804","https://openalex.org/W7081569526","https://openalex.org/W4413917771","https://openalex.org/W2039995447","https://openalex.org/W7124939904","https://openalex.org/W4311992093"],"abstract_inverted_index":{"We":[0,126,143],"present":[1],"VAPOR,":[2],"a":[3,25,55,101,132],"novel":[4,26,102],"method":[5,23],"for":[6],"autonomous":[7],"legged":[8],"robot":[9,134],"navigation":[10,183],"in":[11,37,123,135],"unstructured,":[12],"densely":[13],"vegetated":[14],"outdoor":[15,39,138,182],"environments":[16],"using":[17,29],"offline":[18,178],"Reinforcement":[19],"Learning":[20],"(RL).":[21],"Our":[22,41,105],"trains":[24],"RL":[27,179],"policy":[28,42],"an":[30],"actor-critic":[31],"network":[32,87],"and":[33,45,59,66,70,81,120,164,180],"arbitrary":[34],"data":[35,62],"collected":[36],"real":[38],"vegetation.":[40,142],"uses":[43],"height":[44],"intensity-based":[46],"cost":[47,57],"maps":[48],"derived":[49],"from":[50,100],"3D":[51],"LiDAR":[52],"point":[53],"clouds,":[54],"goal":[56],"map,":[58],"processed":[60],"proprioception":[61],"as":[63,78],"state":[64],"inputs,":[65],"learns":[67],"the":[68,74,93,108,114,156,166],"physical":[69],"geometric":[71],"properties":[72],"of":[73,95,116],"surrounding":[75],"obstacles":[76],"such":[77],"height,":[79],"density,":[80],"solidity/stiffness.":[82],"The":[83],"fully-trained":[84],"policy\u2019s":[85],"critic":[86],"is":[88],"then":[89],"used":[90],"to":[91,153,162,172,175],"evaluate":[92],"quality":[94],"dynamically":[96],"feasible":[97],"velocities":[98],"generated":[99],"contextaware":[103],"planner.":[104],"planner":[106],"adapts":[107],"robot\u2019s":[109],"velocity":[110],"space":[111],"based":[112],"on":[113,131],"presence":[115],"entrapment":[117],"including":[118,140],"vegetation,":[119],"narrow":[121],"passages":[122],"dense":[124,141],"environments.":[125],"demonstrate":[127],"our":[128],"method\u2019s":[129],"capabilities":[130],"Spot":[133],"complex":[136],"real-world":[137],"scenes,":[139],"observe":[144],"that":[145],"VAPOR\u2019s":[146],"actions":[147],"improve":[148],"success":[149],"rates":[150],"by":[151,160,170],"up":[152,161,171],"40%,":[154],"decrease":[155,165],"average":[157],"current":[158],"consumption":[159],"2.9%,":[163],"normalized":[167],"trajectory":[168],"length":[169],"11.2%":[173],"compared":[174],"existing":[176],"end-to-end":[177],"other":[181],"methods.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2024-08-09T00:00:00"}