{"id":"https://openalex.org/W7163037741","doi":"https://doi.org/10.1016/j.neucom.2026.134135","title":"A hybrid transformer deep Q-network for path planning","display_name":"A hybrid transformer deep Q-network for path planning","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W7163037741","doi":"https://doi.org/10.1016/j.neucom.2026.134135"},"language":"en","primary_location":{"id":"doi:10.1016/j.neucom.2026.134135","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.neucom.2026.134135","pdf_url":null,"source":{"id":"https://openalex.org/S45693802","display_name":"Neurocomputing","issn_l":"0925-2312","issn":["0925-2312","1872-8286"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neurocomputing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1016/j.neucom.2026.134135","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5137532335","display_name":"Jiawei Guo","orcid":"https://orcid.org/0009-0008-3962-8889"},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiawei Guo","raw_affiliation_strings":["Department of Mechanical Engineering, University of South Carolina, Columbia, SC, 29208"],"raw_orcid":"https://orcid.org/0009-0008-3962-8889","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of South Carolina, Columbia, SC, 29208","institution_ids":["https://openalex.org/I155781252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132926043","display_name":"Yichuan Cao","orcid":null},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yichuan Cao","raw_affiliation_strings":["Department of Mechanical Engineering, University of South Carolina, Columbia, SC, 29208"],"raw_orcid":"https://orcid.org/0009-0000-4277-0773","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of South Carolina, Columbia, SC, 29208","institution_ids":["https://openalex.org/I155781252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137543458","display_name":"Ge Song","orcid":null},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ge Song","raw_affiliation_strings":["Department of Mechanical Engineering, University of South Carolina, Columbia, SC, 29208"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of South Carolina, Columbia, SC, 29208","institution_ids":["https://openalex.org/I155781252"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041919496","display_name":"Junlin Ou","orcid":"https://orcid.org/0000-0003-2735-5840"},"institutions":[{"id":"https://openalex.org/I169615421","display_name":"Middle Tennessee State University","ror":"https://ror.org/02n1hzn07","country_code":"US","type":"education","lineage":["https://openalex.org/I169615421"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junlin Ou","raw_affiliation_strings":["Department of Engineering Technology, Middle Tennessee State University, Murfreesboro, TN, 37132"],"raw_orcid":"https://orcid.org/0000-0003-2735-5840","affiliations":[{"raw_affiliation_string":"Department of Engineering Technology, Middle Tennessee State University, Murfreesboro, TN, 37132","institution_ids":["https://openalex.org/I169615421"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5137524758","display_name":"\u738b\u6021 Yi WANG","orcid":null},"institutions":[{"id":"https://openalex.org/I155781252","display_name":"University of South Carolina","ror":"https://ror.org/02b6qw903","country_code":"US","type":"education","lineage":["https://openalex.org/I155781252"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yi Wang","raw_affiliation_strings":["Department of Mechanical Engineering, University of South Carolina, Columbia, SC, 29208"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of South Carolina, Columbia, SC, 29208","institution_ids":["https://openalex.org/I155781252"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5137524758"],"corresponding_institution_ids":["https://openalex.org/I155781252"],"apc_list":{"value":2470,"currency":"USD","value_usd":2470},"apc_paid":{"value":2470,"currency":"USD","value_usd":2470},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.68978647,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"696","issue":null,"first_page":"134135","last_page":"134135"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.3675999939441681,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.3675999939441681,"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.02850000001490116,"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.021299999207258224,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/transformer","display_name":"Transformer","score":0.5396999716758728},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4871000051498413},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.35030001401901245},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3310000002384186},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.25870001316070557}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6395000219345093},{"id":"https://openalex.org/C66322947","wikidata":"https://www.wikidata.org/wiki/Q11658","display_name":"Transformer","level":3,"score":0.5396999716758728},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4871000051498413},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.35030001401901245},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3310000002384186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32030001282691956},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.27309998869895935},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2655999958515167},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.26420000195503235},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.25870001316070557},{"id":"https://openalex.org/C117323899","wikidata":"https://www.wikidata.org/wiki/Q1907989","display_name":"Distribution transformer","level":4,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1016/j.neucom.2026.134135","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.neucom.2026.134135","pdf_url":null,"source":{"id":"https://openalex.org/S45693802","display_name":"Neurocomputing","issn_l":"0925-2312","issn":["0925-2312","1872-8286"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neurocomputing","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1016/j.neucom.2026.134135","is_oa":true,"landing_page_url":"https://doi.org/10.1016/j.neucom.2026.134135","pdf_url":null,"source":{"id":"https://openalex.org/S45693802","display_name":"Neurocomputing","issn_l":"0925-2312","issn":["0925-2312","1872-8286"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Neurocomputing","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2982109826","https://openalex.org/W3136025385","https://openalex.org/W4205266671","https://openalex.org/W4225283319","https://openalex.org/W4285813067","https://openalex.org/W4293057403","https://openalex.org/W4302287685","https://openalex.org/W4386432187","https://openalex.org/W4387693951","https://openalex.org/W4389461439","https://openalex.org/W4399426392","https://openalex.org/W4399457766","https://openalex.org/W4400187966","https://openalex.org/W4400510961","https://openalex.org/W4405574717","https://openalex.org/W4416748432"],"related_works":[],"abstract_inverted_index":{"Reinforcement":[0],"learning":[1],"has":[2],"shown":[3],"strong":[4],"potential":[5,188],"for":[6,44,189],"robotic":[7,191],"path":[8,180],"planning":[9,181],"in":[10,49,162],"dynamic":[11,55,105,164],"environments.":[12],"However,":[13],"existing":[14],"methods":[15],"often":[16],"struggle":[17],"to":[18,99,117,123,130,141],"capture":[19,100],"complex":[20],"spatiotemporal":[21],"dependencies":[22],"involving":[23],"moving":[24],"obstacles.":[25,56,108],"In":[26],"this":[27],"work,":[28],"we":[29],"propose":[30],"a":[31,37,63,82,89,134],"Hybrid":[32,90],"Transformer":[33,91],"Path":[34],"Planner":[35],"(HyTra-Planner),":[36],"Parameterized":[38],"Deep":[39],"Q-Network":[40],"(P-DQN)-based":[41],"framework":[42],"designed":[43],"efficient":[45,179],"and":[46,54,95,103,147,154,165,177],"reliable":[47],"navigation":[48,127],"environments":[50,167],"with":[51,78],"both":[52,101,163],"static":[53],"HyTra-Planner":[57,170],"presents":[58],"four":[59],"key":[60],"innovations.":[61],"First,":[62],"History":[64],"Memory":[65],"Generation":[66],"Network":[67],"(HMGN)":[68],"dynamically":[69],"updates":[70],"temporal":[71,96,104],"memory":[72],"by":[73],"combining":[74],"current":[75],"spatial":[76,94,102],"features":[77],"historical":[79],"information,":[80],"offering":[81],"richer":[83],"representation":[84],"of":[85,93,107],"environmental":[86],"dynamics.":[87],"Second,":[88],"consists":[92],"attention":[97],"modules":[98],"patterns":[106],"Third,":[109],"an":[110],"Adaptive":[111],"Step":[112],"Strategy":[113],"allows":[114],"the":[115],"agent":[116],"adjust":[118],"its":[119,187],"step":[120],"size":[121],"according":[122],"local":[124],"risks,":[125],"improving":[126],"efficiency":[128,149],"compared":[129],"fixed-step":[131],"methods.":[132],"Finally,":[133],"novel":[135],"Dense":[136],"Reward":[137],"Mechanism":[138],"is":[139],"proposed":[140],"consider":[142],"goal":[143],"proximity,":[144],"obstacle":[145],"avoidance,":[146],"action":[148],"altogether,":[150],"which":[151],"delivers":[152],"continuous":[153],"informative":[155],"feedback":[156],"that":[157,169],"accelerates":[158],"convergence.":[159],"Extensive":[160],"experiments":[161],"hybrid":[166],"demonstrate":[168],"achieves":[171],"higher":[172],"success":[173],"rates,":[174],"faster":[175],"convergence,":[176],"more":[178],"than":[182],"state-of-the-art":[183],"DQN":[184],"baselines,":[185],"validating":[186],"real-time":[190],"navigation.":[192]},"counts_by_year":[],"updated_date":"2026-06-04T06:14:18.571774","created_date":"2026-06-02T00:00:00"}