{"id":"https://openalex.org/W4382727195","doi":"https://doi.org/10.1007/s40747-023-01144-x","title":"EMExplorer: an episodic memory enhanced autonomous exploration strategy with Voronoi domain conversion and invalid action masking","display_name":"EMExplorer: an episodic memory enhanced autonomous exploration strategy with Voronoi domain conversion and invalid action masking","publication_year":2023,"publication_date":"2023-06-29","ids":{"openalex":"https://openalex.org/W4382727195","doi":"https://doi.org/10.1007/s40747-023-01144-x"},"language":"en","primary_location":{"id":"doi:10.1007/s40747-023-01144-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01144-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01144-x.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01144-x.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061801802","display_name":"Bolei Chen","orcid":"https://orcid.org/0000-0001-8552-3334"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bolei Chen","raw_affiliation_strings":["School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002771011","display_name":"Ping Zhong","orcid":"https://orcid.org/0000-0003-3393-8874"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Zhong","raw_affiliation_strings":["School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084615495","display_name":"Yongzheng Cui","orcid":"https://orcid.org/0000-0002-5035-067X"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongzheng Cui","raw_affiliation_strings":["School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002625448","display_name":"Siyi Lu","orcid":"https://orcid.org/0000-0003-4637-844X"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Siyi Lu","raw_affiliation_strings":["School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004436217","display_name":"Yixiong Liang","orcid":"https://orcid.org/0000-0003-0407-5838"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixiong Liang","raw_affiliation_strings":["School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101706948","display_name":"Yu Sheng","orcid":"https://orcid.org/0000-0002-6347-0769"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Sheng","raw_affiliation_strings":["School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Central South University, Changsha, 410083, Hunan, China","institution_ids":["https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5061801802"],"corresponding_institution_ids":["https://openalex.org/I139660479"],"apc_list":{"value":1320,"currency":"GBP","value_usd":1619},"apc_paid":{"value":1320,"currency":"GBP","value_usd":1619},"fwci":5.7202,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.95403731,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"9","issue":"6","first_page":"7365","last_page":"7379"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9979000091552734,"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/computer-science","display_name":"Computer science","score":0.7340443134307861},{"id":"https://openalex.org/keywords/voronoi-diagram","display_name":"Voronoi diagram","score":0.6269857287406921},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.557913064956665},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.5175535082817078},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5077858567237854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4907725751399994},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44680750370025635},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.439997136592865},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3332686126232147}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7340443134307861},{"id":"https://openalex.org/C24881265","wikidata":"https://www.wikidata.org/wiki/Q757267","display_name":"Voronoi diagram","level":2,"score":0.6269857287406921},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.557913064956665},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.5175535082817078},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5077858567237854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4907725751399994},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44680750370025635},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.439997136592865},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3332686126232147},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s40747-023-01144-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01144-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01144-x.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:12ea86a4e8584c4cbdb61c58de857c7a","is_oa":true,"landing_page_url":"https://doaj.org/article/12ea86a4e8584c4cbdb61c58de857c7a","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complex & Intelligent Systems, Vol 9, Iss 6, Pp 7365-7379 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1007/s40747-023-01144-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s40747-023-01144-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s40747-023-01144-x.pdf","source":{"id":"https://openalex.org/S3035462843","display_name":"Complex & Intelligent Systems","issn_l":"2198-6053","issn":["2198-6053","2199-4536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complex &amp; Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3137948026","display_name":null,"funder_award_id":"2022JJ30760","funder_id":"https://openalex.org/F4320322843","funder_display_name":"Natural Science Foundation of\u00a0Hunan Province"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4784200619","display_name":null,"funder_award_id":"kq2202107","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5305027673","display_name":null,"funder_award_id":"62172443","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5554522247","display_name":null,"funder_award_id":"kq2202108","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5762773393","display_name":null,"funder_award_id":"202108","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8232301930","display_name":null,"funder_award_id":"202107","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321514","display_name":"Central South University","ror":"https://ror.org/00f1zfq44"},{"id":"https://openalex.org/F4320322843","display_name":"Natural Science Foundation of\u00a0Hunan Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4382727195.pdf"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W569478347","https://openalex.org/W1980965102","https://openalex.org/W1996075053","https://openalex.org/W2012605409","https://openalex.org/W2064675550","https://openalex.org/W2084474153","https://openalex.org/W2088541629","https://openalex.org/W2593841437","https://openalex.org/W2771728020","https://openalex.org/W2891234582","https://openalex.org/W2905529951","https://openalex.org/W2910054127","https://openalex.org/W2915903202","https://openalex.org/W2962789679","https://openalex.org/W2966477753","https://openalex.org/W2968968404","https://openalex.org/W2996899864","https://openalex.org/W3016507688","https://openalex.org/W3092987314","https://openalex.org/W3095530566","https://openalex.org/W3097090618","https://openalex.org/W3125100443","https://openalex.org/W3126614957","https://openalex.org/W3133136962","https://openalex.org/W3134070994","https://openalex.org/W3157825079","https://openalex.org/W3162002595","https://openalex.org/W3171884590","https://openalex.org/W3183479207","https://openalex.org/W3200552698","https://openalex.org/W3202969251","https://openalex.org/W3205557404","https://openalex.org/W3207022667","https://openalex.org/W3207246097","https://openalex.org/W3208078836","https://openalex.org/W4200079766","https://openalex.org/W4200433588","https://openalex.org/W4212912781","https://openalex.org/W4213438864","https://openalex.org/W4226300900","https://openalex.org/W4285102342","https://openalex.org/W4285296316","https://openalex.org/W4296335812","https://openalex.org/W4319833529","https://openalex.org/W6600599538","https://openalex.org/W6603242443","https://openalex.org/W6814003322"],"related_works":["https://openalex.org/W3020555194","https://openalex.org/W2793256277","https://openalex.org/W4360958759","https://openalex.org/W2348235448","https://openalex.org/W2116218375","https://openalex.org/W2389906634","https://openalex.org/W176898926","https://openalex.org/W288156810","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"Abstract":[0],"Autonomous":[1],"exploration":[2,34,60,82,129,150,169,204],"is":[3,36,98,124,142,176],"a":[4,26,75,106,172],"critical":[5],"technology":[6],"to":[7,38,78,104,126,144,152,178],"realize":[8],"robotic":[9],"intelligence":[10],"as":[11],"it":[12],"allows":[13],"unsupervised":[14],"preparation":[15],"for":[16,53,101],"future":[17],"tasks":[18,151],"and":[19,47,70,121,135,160,187,203,209,216],"facilitates":[20],"flexible":[21],"deployment.":[22],"In":[23],"this":[24],"paper,":[25],"novel":[27],"Deep":[28],"Reinforcement":[29],"Learning":[30],"(DRL)":[31],"based":[32],"autonomous":[33,128],"strategy":[35,83,193],"proposed":[37],"efficiently":[39],"reduce":[40],"the":[41,45,68,71,93,113,146,155,165,168,180,195,214],"unknown":[42],"area":[43],"of":[44,149,157,167,182,200,218],"workspace":[46],"provide":[48],"accurate":[49],"2D":[50],"map":[51,201],"construction":[52],"mobile":[54,210],"robots.":[55],"Different":[56],"from":[57],"existing":[58],"human-designed":[59],"techniques":[61],"that":[62,191],"usually":[63],"make":[64],"strong":[65],"assumptions":[66],"about":[67],"scenarios":[69],"tasks,":[72],"we":[73],"utilize":[74],"model-free":[76],"method":[77],"directly":[79],"learn":[80,127],"an":[81],"through":[84],"trial-and-error":[85],"interactions":[86],"with":[87,118,154],"complex":[88],"environments.":[89],"To":[90],"be":[91],"specific,":[92],"Generalized":[94,114],"Voronoi":[95,115],"Diagram":[96],"(GVD)":[97],"first":[99],"utilized":[100],"domain":[102],"conversion":[103],"obtain":[105],"high-dimensional":[107],"Topological":[108],"Environmental":[109],"Representation":[110],"(TER).":[111],"Then,":[112],"Networks":[116],"(GVN)":[117],"spatial":[119],"awareness":[120],"episodic":[122],"memory":[123],"designed":[125],"policies":[130],"interactively":[131],"online.":[132],"For":[133],"complete":[134],"efficient":[136],"exploration,":[137],"Invalid":[138],"Action":[139],"Masking":[140],"(IAM)":[141],"employed":[143],"reshape":[145],"configuration":[147],"space":[148,159,162],"cope":[153],"explosion":[156],"action":[158],"observation":[161],"caused":[163],"by":[164],"expansion":[166],"range.":[170],"Furthermore,":[171],"well-designed":[173],"reward":[174],"function":[175],"leveraged":[177],"guide":[179],"learning":[181],"policies.":[183],"Extensive":[184],"baseline":[185],"tests":[186],"comparative":[188],"simulations":[189],"show":[190],"our":[192,219],"outperforms":[194],"state-of-the-art":[196],"strategies":[197],"in":[198],"terms":[199],"quality":[202],"speed.":[205],"Sufficient":[206],"ablation":[207],"studies":[208],"robot":[211],"experiments":[212],"demonstrate":[213],"effectiveness":[215],"superiority":[217],"strategy.":[220]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}
